GIMBALLEDPVA
Display Gimballed Position
|
Platform: |
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S |
Use the GIMBALLEDPVA log to view the re-calculated position, velocity and attitude of the gimbal null position whenever a new INPUTGIMBALANGLE command is received.
This log should only be requested with the ONCHANGED or ONNEW trigger.
This log provides the position information in the user datum. To determine the datum being used, log the INSDATUMINFO log.
Message ID: 1321
Log Type: Asynch
Recommended Input:
log gimballedpvaa onnew
ASCII Example:
#GIMBALLEDPVAA,USB1,0,58.0,FINESTEERING,2209,492397.728,02000020,65c2,16809;2209,492397.728000000,51.15043715731,-114.03067884053,1080.3608,-0.0013,0.0007,0.0012,-0.317910813,0.298591270,157.994258109,INS_SOLUTION_GOOD*a8ca2418
|
Field |
Field Type |
Description |
Format |
Binary Bytes |
Binary Offset |
|
1 |
Log header |
GIMBALLEDPVA header For information about log headers, see ASCII, Abbreviated ASCII or Binary. |
- |
H |
0 |
|
2 |
Week |
GPS week |
Ulong |
4 |
H |
|
3 |
Seconds |
Seconds from week start |
Double |
8 |
H+4 |
|
4 |
Latitude |
Latitude [degrees] |
Double |
8 |
H+12 |
|
5 |
Longitude |
Longitude [degrees] |
Double |
8 |
H+20 |
|
6 |
Height |
Ellipsoidal height [m] |
Double |
8 |
H+28 |
|
7 |
North Velocity |
Velocity in a northerly direction |
Double |
8 |
H+36 |
|
8 |
East Velocity |
Velocity in an easterly direction |
Double |
8 |
H+44 |
|
9 |
Up Velocity |
Velocity in an upward direction |
Double |
8 |
H+52 |
|
10 |
Roll |
Right-handed rotation from local level around the y-axis in degrees |
Double |
8 |
H+60 |
|
11 |
Pitch |
Right-handed rotation from local level around the x-axis in degrees |
Double |
8 |
H+68 |
|
12 |
Azimuth |
Right-handed rotation from local level around the z-axis in degrees |
Double |
8 |
H+76 |
|
13 |
Status |
INS status, see Table: Inertial Solution Status |
Enum |
4 |
H+84 |
|
14 |
xxxx |
32-bit CRC |
Hex |
4 |
H+88 |
|
15 |
[CR][LF] |
Sentence Terminator (ASCII only) |
- |
- |
- |