Note: You can configure the device to output this register at a fixed rate
using the Async Data Output Type Register in the System subsystem.
Once configured the data in this register will be sent out with the $VNINE
header.
5.3.4.16 VNISL
Output Type: INS State - LLA
Register ID: 72
Async Header: ISL
Access: Read Only
Size (Bytes): 72
Example Read Response: $VNRRG, 72, +170.420, +001.398, +001.806, +00.000295, -
00.000911, - 00.000905, +32.95680804, - 096.71414860, +00179.592, +000.181, -
000.073, -000.050, +00.209, -00.322, -10.040*52
Table 5-24:
VNISL Settings
Offset Name Format Unit Description
0 Yaw float deg Yaw angle relative to true north.
4 Pitch float deg Pitch angle relative to horizon.
8 Roll float deg Roll angle relative to horizon.
12 Latitude double deg Estimated position in geodetic latitude.
20 Longitude double deg Estimated position in geodetic longitude.
28 Altitude double m Estimated height above ellipsoid. (WGS84)
36 VelocityX float m/s Estimated velocity in NED frame. (North)
40 VelocityY float m/s Estimated velocity in NED frame. (East)
44 VelocityZ float m/s Estimated velocity in NED frame. (Down)
48 AccelX float m/s
2
Estimated acceleration in body frame. (X-axis)
52 AccelY float m/s
2
Estimated acceleration in body frame. (Y-axis)
56 AccelZ float m/s
2
Estimated acceleration in body frame. (Z-axis)
296 VersaSync User Manual
APPENDIX
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