SMC Networks IMU-007 - Psmci

46
IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
4.2.9 PSMCI
Data Frame
$PSMCI,+rr.rr,+pp.pp,+yyy.y,+rv.rv,+pv.pv,+yv.yv,+su.su,+ww.ww,+hh.hh,+sv.sv,+sw.sw,+hv.hv,*cs<C
R><LF>
Example
$PSMCI,+03.01,-02.44,+200.6,+00.00,+00.01,-01.71,+00.07,+00.04,-00.03,-00.00,+00.01,-00.00,*6D
Bitrate
Max output Rate
115200
100
57600
57
38400
38
19200
19
9600
9
4800
4
Description
Form
Start Characters
$PSMCI
Roll (rr.rr)
Degrees Resolution 0.01° (+ve=port up)
Pitch (pp.pp)
Degrees Resolution 0.01° (+ve=bow down)
Yaw (yyy.y)
Degrees Resolution 0.1°
Roll velocity (rv.rv)
Degrees/second Resolution 0.01°
Pitch velocity (pv.pv)
Degrees/second Resolution 0.01°
Yaw velocity (yv.yv)
Degrees/second Resolution 0.01°
Surge (su.su)
Meters Resolution 0.01m
Sway (ww.ww)
Meters Resolution 0.01m
Heave (hh.hh)
Meters Resolution 0.01m
Surge velocity (sv.sv)
Meters/second Resolution 0.01m/s
Sway velocity (sw.sw)
Meters/second Resolution 0.01m/s
Heave velocity (hv.hv)
Meters/second Resolution 0.01m/s
Checksum (cs)
XOR checksum
Termination Characters
<CR><LF>