Table 5-23:
Error Bitfield
Name
Bit Off-
set
Format Description
Reserved 0 1 bit Reserved for future use and not currently used.
IMU Error 1 1 bit High if IMU communication error is detected.
Mag/Pres
Error
2 1 bit High if Magnetometer or Pressure sensor error is detec-
ted.
GPS Error 3 1 bit High if GPS communication error is detected.
Note: You can configure the device to output this register at a fixed
rate using the Async Data Output Type Register in the System sub-
system. 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.
VersaSync User Manual 339
APPENDIX
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