USER MANUAL
URM18PH392 Rev A. May 2020 Page 55 of 86
4.4 P&O COMMANDS
Position and Orientation (P&O) commands cause VIPER™ to output P&O data either one frame at a time or in a
continuous stream.
A VIPER™ P&O frame is output via the USB and/or RS-422 connection. Both channels are used if DUAL OUTPUT
MODE is enabled (see Section 4.3.2).
A VIPER™ P&O frame is a binary structure that varies in size, depending on how many Sensors are connected to
the SEU.
STANDARD P&O FRAME 4.4.1
A standard VIPER™ P&O frame contains the information below. VIPER™ Command Manager displays the fields
identified with * by default. The other fields are available for display by configuring the P&O display parameters.
SEU ID ..................................................
32-bit SEU identifier configured by SEU ID command.
SEU Frame number .............................
32-bit number of frames tracked since the SEU was powered on, or since
frame count was reset. See Frame Count Reset
below.
Sensor count .......................................
32-bit number of Sensors’ P&O data that is contained in the frame
For each reporting Sensor:
Sensor number ...............................
7-bit numeric reflecting the SEU sensor port that the Sensor is plugged into.
Sensor button states ......................
2-bit states of any button switches integrated into the Sensor. A VIPER™
Stylus uses one of these bits.
Distortion level ...............................
8-bit numeric distortion level detected by the Sensor in levels 0-255.
Auxiliary digital input value ...........
10-bits of available data input for custom integrated hardware.
Sensor Position (X, Y, Z) .................
32-bit floating point Cartesian coordinates in position units configured by
the UNITS command.
Sensor Orientation .........................
Expressed as (3) or (4) 32-bit floating point values for Euler Angles
(Azimuth, Elevation, Roll) or a 4-term Orientation Quaternion Q(w, x, y, z)*,
as configured by the UNITS command.
[*Note the order of Quaternion components: Scalar value w is output first.]
The output summary above is not an exact representation of the byte structure of the P&O frame. Developers
will require exact frame specification provided in developer resources. Links to online developer resources are
provided in the Release Notes of the VIPER™ Host Software installation media.
Frame Count Reset
Frame Count may be reset in the CONTINUOUS PNO command by providing an argument to the command. In the
VIPER™ Command Manager, this is performed automatically each time Continuous Data is started.
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