SMC Networks IMU-108 - Page 69

69
IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
Bitrate
Max output Rate
115200
100
57600
66
38400
44
19200
22
9600
11
4800
5
Description
Bytes Byte
offset
Form
Header
5 0 to 4
$BIN4
Counter
1 byte 5
0 – 255
Roll angle
4 6 to 9
-180 to +180 degrees (Maximum values no scaling)
C3340000 = -180
00000000 = 0
43340000 = +180
Pitch angle
4 10 to 13
-180 to +180 degrees
Yaw angle
4 14 to 17
0 to 360 degrees
Roll velocity
4 18 to 21
-180 to +180 degrees/second
Pitch Velocity
4 22 to 25
-180 to +180 degrees/second
Yaw Velocity
4 26 to 29
-180 to +180 degrees/second
Roll Acceleration
4 30 to 33
-180 to +180 degrees/second
2
Pitch Acceleration
4 34 to 37
-180 to +180 degrees/second
2
Yaw Acceleration
4 38 to 41
-180 to +180 degrees/second
2
Surge
4 42 to 45
Metres
Sway
4 46 to 49
Metres
Heave
4 50 to 53
Metres
Surge Velocity
4 54 to 57
Metres/second
Sway Velocity
4 58 to 61
Metres/second
Heave Velocity
4 62 to 65
Metres/second
Surge Acceleration
4 66 to 69
Metres/second
2
Sway Acceleration
4 70 to 73
Metres/second
2
Heave Acceleration
4 74 to 77
Metres/second
2
Termination characters
2 78 to 79
CR LF