SMC Networks IMU-007 - Tcm2

54
IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
4.2.19 TCM2
Data Frame
$C<ccc.c>P<±p.pp>R<±r.rr>X<x.xx>Y<y.yy>Z<z.zz>T<t.t>E<eee>*cs<CR><LF>
Example
$C51.7P0.1R-0.0X0.00Y0.00Z0.00T0.0E000*3A
Bitrate
Max output Rate
115200
100
57600
100
38400
85
19200
42
9600
21
4800
10
Description
Form
Start Characters
$
Compass identifier
C
Yaw (ccc.c)
Degrees Resolution 0.1°
Pitch identifier
P
Pitch angle (p.pp)
Degrees Resolution 0.1° (+ve=bow down)
Roll identifier
R
Roll Angle (r.rr)
Degrees Resolution 0.1° (+ve=port up)
Magnetic field X axis identifier
X
Magnetic field X axis (x.xx)
µT micro Tesla X axis Resolution 0.00µT
Magnetic field Y axis identifier
Y
Magnetic field Y axis (y.yy)
µT micro Tesla Y axis Resolution 0.00µT
Magnetic field Z axis identifier
Z
Magnetic field Z axis (z.zz)
µT micro Tesla Z axis Resolution 0.00µT
Temperature internal identifier
T
Temperature (t.t)
Degrees Celsius Resolution 0.1°
Magnetic status identifier
E
Magnetic status (eee)
Magnetic Distortion flag 001 if a magnetic anomaly is nearby
else 000
Checksum
*cs
Termination characters
<CR><LF>