SMC Networks IMU-007 - Tro; Mdl

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IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
4.2.21 TRO
Data Frame
$PHTRO,y.yy,M,x.xx,B*cs<CR><LF>
Example
$PHTRO,0.03,M,0.15,B*59
Bitrate
Max output Rate
115200
100
57600
100
38400
100
19200
73
9600
36
4800
18
Description
Form
Start Characters
$PHTRO
Pitch angle (y.yy)
Degrees Resolution 0.01°
Sign (M)
P Positive M Negative (+ve=bow down)
Roll angle (x.xx)
Degrees Resolution 0.01°
Sign (B)
B roll to port, T roll to starboard
Checksum
*cs
Termination characters
<CR><LF>
4.2.22 MDL
Data Frame
Hhhhh.P±pppp.R±pppp.<CR><LF>
Example
H0000.P-0201.R+0268.
Bitrate
Max output Rate
115200
100
57600
100
38400
100
19200
83
9600
41
4800
20
Description
Form
Heading identifier
H
Heading*10 (hhhh)
Degrees Resolution 0.1° (SMC outputs 0000)
Pitch identifier
P
Pitch Angle*100 (pppp)
Degrees Resolution 0.01° (+ve= bow down)
Roll Designator
R
Roll Angle*100 (rrrr)
Degrees Resolution 0.01° (+ve=port up)
Termination Characters
<CR><LF>