SMC Networks IMU-108 - Psmcc

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IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
4.2.3 PSMCC
Data Frame
$PSMCC,+xx.xx,+yy.yy,+zzz.z,+ss.ss,+ww.ww,+hh.hh,+sv.sv,+sw.sw,+hv.hv,+ax.axa,+ay.aya,+az.aza*cs
Example
$PSMCC,-09.42,-02.85,+144.1,+00.28,-00.05,+00.00,+00.01,-00.00,+00.00,+00.004,-00.000,-
00.005*71
Bitrate
Max output Rate
115200
100
57600
50
38400
25
19200
10
9600
5
4800
2
Description
Form
Start Characters
$PSMCC
Roll Angle (xx.xx)
Degrees Resolution 0.01° (+ve=port up)
Pitch Angle (yy.yy)
Degrees Resolution 0.01° (+ve=bow down)
Yaw (zzz.z)
Degrees Resolution 0.1°
Surge (ss.ss)
Meters Resolution 0.01m
Sway (ww.ww)
Meters Resolution 0.01m
Heave (hh.hh)
Meters Resolution 0.01m
Surge Velocity (sv.sv)
Meter/second Resolution 0.01m/s
Sway Velocity (sw.sw)
Meter/second Resolution 0.01m/s
Heave Velocity (hv.hv)
Meter/second Resolution 0.01m/s
Acceleration X (ax.axa)
Meter/second
2
Resolution 0.001m/s2
Acceleration Y (ay.aya)
Meter/second
2
Resolution 0.001m/s2
Acceleration Z (az.aza)
Meter/second
2
Resolution 0.001m/s2
Checksum (cs)
XOR checksum
Termination Characters
<CR><LF>