OXTS RT3003 - Page 122

122
Oxford Technical Solutions
Table 62. Identifier 625h (1573), TrackSlipCurvaturePoint5
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Description Signal name
0 16 U ° 0.01 0 Measurement point 5
track angle
AngleTrackPoint5
16 16 S ° 0.01 0
Measurement point 5
slip angle
AngleSlipPoint5
32 16 S 1/m 0.0001 0 Measurement point 5
curvature
CurvaturePoint5
Note that the slip angle of point 5 will be close to 180° when driving backwards.
Table 63. Identifier 626h (1574), TrackSlipCurvaturePoint6
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Description Signal name
0 16 U ° 0.01 0 Measurement point 6
track angle
AngleTrackPoint6
16 16 S ° 0.01 0 Measurement point 6
slip angle
AngleSlipPoint6
32 16 S 1/m 0.0001 0
Measurement point 6
curvature
CurvaturePoint6
Note that the slip angle of point 6 will be close to 180° when driving backwards.
Table 64. Identifier 627h (1575), TrackSlipCurvaturePoint7
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Description Signal name
0 16 U ° 0.01 0
Measurement point 7
track angle
AngleTrackPoint7
16 16 S ° 0.01 0 Measurement point 7
slip angle
AngleSlipPoint7
32 16 S 1/m 0.0001 0 Measurement point 7
curvature
CurvaturePoint7
Note that the slip angle of point 7 will be close to 180° when driving backwards.