SMC Networks IMU-108 - Psmcm

49
IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
4.2.12 PSMCM
Data Frame
$PSMCM,+xx.xx,+yy.yy,+zzz.z,+ss.ss,+ww.ww,+hh.hh,+xv.xv,+yv.yv,+zv.zv,+ax.axa,+ay.aya,+az.aza*cs
<CR><LF>
Example
$PSMCM,-14.36,-21.70,+340.0,-00.01,+00.01,+00.07,-64.80,-19.89,-44.16,+00.047,+00.254,-
02.008*7C
Bitrate
Max output Rate
115200
100
57600
56
38400
37
19200
18
9600
9
4800
4
Description
Form
Start Characters
$PSMCM
Roll Angle (xx.xx)
Degrees Resolution 0.01° (+ve=port up)
Pitch Angle (yy.yy)
Degrees Resolution 0.01° (+ve=bow down)
Yaw (zz.zz)
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
Roll Velocity (xv.xv)
Degrees/second Resolution 0.01°/s
Pitch Velocity (yv.yv)
Degrees/second Resolution 0.01°/s
Yaw Velocity (zv.zv)
Degrees/second Resolution 0.01°/s
Acceleration X (ax.axa)
Meters/second
2
Resolution 0.001 m/s²
Acceleration Y (ay.aya)
Meters/second
2
Resolution 0.001 m/s²
Acceleration Z (az.aza)
Meters/second
2
Resolution 0.001 m/s²
Checksum (cs)
XOR checksum
Termination Characters
<CR><LF>