SMC Networks IMU-007 - Psmch

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IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
4.2.8 PSMCH
Data Frame
$PSMCH,±xx.xxx,±yy.yyy,±hh.hh,±hv.hv<CR><LF>
Example
$PSMCH,-02.000,+05.856,-00.06,-00.01
Bitrate
Max output Rate
115200
100
57600
100
38400
96
19200
48
9600
24
4800
12
Description
Form
Start Characters
$PSMCH
Roll Angle (xx.xxx)
Degrees Resolution 0.001° (+ve=port up)
Pitch Angle (yy.yyy)
Degrees Resolution 0.001° (+ve=bow down)
Heave (hh.hh)
Meters Resolution 0.01m
Heave Velocity (hv.hv)
Meters/second Resolution 0.01m/s
Termination Characters
<CR><LF>