SMC Networks IMU-108 - Trh

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IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
4.2.20 TRH
Data Frame
$PHTRH,y.yy,P,x.xx,T,h.hh,O*cs<CR><LF>
Example
$PHTRH,0.12,P,8.51,T,0.09,O*05
Bitrate
Max output Rate
115200
100
57600
100
38400
100
19200
57
9600
28
4800
14
Description
Form
Start Characters
$PHTRH
Pitch angle (y.yy)
Degrees Resolution 0.01°
Sign (P)
P Positive M Negative (+ve=bow down)
Roll (x.xx)
Degrees Resolution 0.01°
Sign (T)
B roll to port, T roll to starboard
Heave
Meters Resolution 0.01m
Sign (O)
O upwards U downwards acceleration
Checksum
*cs
Termination characters
<CR><LF>