SMC Networks IMU-108 - Psmcd

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IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
4.2.4 PSMCD
Data Frame
$PSMCD,±xx.xx,±yy.yy,±xv.xv,±yv,yv,±zv.zv,c*cs<CR><LF>
Example
$PSMCD,+03.11,+08.97,-20.53,-11.11,-04.04,4*7F
Bitrate
Max output Rate
115200
100
57600
100
38400
75
19200
35
9600
10
4800
5
Description
Form
Start Characters
$PSMCD
Roll Angle (xx.xx)
Degrees Resolution 0.01° (+ve=port up)
Pitch Angle (yy.yy)
Degrees Resolution 0.01° (+ve=bow down)
Roll Velocity (xv.xv)
Degrees/second Resolution 0.01°
Pitch Velocity (yv.yv)
Degrees/second Resolution 0.01°
Yaw Velocity (zv.zv)
Degrees/second Resolution 0.01°
Counter (c)
Output message Counter 0-9
Checksum (cs)
XOR checksum
Termination Characters
<CR><LF>