OXTS RT3003 - Page 121

RT User Manual
Revision: 190204
121
Table 59. Identifier 622h (1570), TrackSlipCurvaturePoint3
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Description Signal name
0 16 U ° 0.01 0
Measurement point 3
track angle
AngleTrackPoint3
16 16 S ° 0.01 0 Measurement point 3
slip angle
AngleSlipPoint3
32 16 S 1/m 0.0001 0 Measurement point 3
curvature
CurvaturePoint3
Note that the slip angle of point 3 will be close to 180° when driving backwards.
Table 60. Identifier 623h (1571), TrackSlipCurvaturePoint4
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Description Signal name
0 16 U ° 0.01 0 Measurement point 4
track angle
AngleTrackPoint4
16 16 S ° 0.01 0 Measurement point 4
slip angle
AngleSlipPoint4
32 16 S 1/m 0.0001 0 Measurement point 4
curvature
CurvaturePoint4
Note that the slip angle of point 4 will be close to 180° when driving backwards.
Table 61. Identifier 624h (1572), HeadingPitchRollFromSurf
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Description Signal name
0 16 U ° 0.01 0 Heading relative to the
road surface
AngleHeadingFromSurf
16 16 S ° 0.01 0 Pitch relative to the
road surface
AnglePitchFromSurf
32 16 S ° 0.01 0 Roll relative to the
road surface
AngleRollFromSurf
Note: the range of heading is 0 to 360°; the range of pitch is ±90°; the range of roll is ±180°. The road
surface angle needs to be defined in order for these measurements to be active.