ADU2 datasheet(69/162 Pages) ETC

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Command Response Formats

Page 57

Commands Detailed Descriptions

$PASHQ,3DF

Queries for the configuration of the attitude parameters.

An example response is:

V12: +009.987 -004.554 +000.444

V13: +010.000 +010.000 +000.000

V14: +000.000 +014.000 +004.300

OFFSET ANG: +000.00 +00.00 +00.00

MAX CYCL: 0.150 SMOOTHING: N

MAX BRMS: 0.040

MAX ANGLE: 05

MAX MRMS: 0.005

SRCH RAT : 0.5

HKF: 999 000 1.0E-2 1.0E+0

PKF: 020 000 4.0E-2 1.0E+0

RKF: 020 000 4.0E-2 1.0E+0

STATIC:

$PASHQ,AT2

Queries the AT2 structure.

Table 5.2 lists the structure of the AT2 message in ASCII:

Table 5.2: AT2 Data in ASCII Format

Variable

Description

Header

$PASHR,AT2

GPS Receive Time

Seconds of Week

Heading

Degrees

Pitch

Degrees

Roll

Degrees

Baseline rms error (BRMS)

Meters

Measurement rms error (MRMS)

Meters

Reset

Attitude Reset Flag

Last State

0—no search in progress

>0—start from last completed

state

Double Differences (each vector)

Each digit is the number of double

differences for V12, V13, V14

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