INSCALSTATUS

Offset calibration status

Platform: 

OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S

This log reports the status and estimated values of the currently running offset calibration.

Message ID: 1961

Log Type: Asynch

Abbreviated ASCII Syntax:

log inscalstatus onchanged

ASCII Example:

#INSCALSTATUSA,USB1,0,51.5,FINESTEERING,2209,494041.015,02010020,c0db,16809;RBV,0.0000,0.0000,-0.0000,45.0000,45.0000,45.0000,INSUFFICIENT_SPEED,0*62a2839c

Field

Field Type

Description

Binary Format

Binary Bytes

Binary Offset

1

Log header

INSCALSTATUS header

For information about log headers, see ASCII, Abbreviated ASCII or Binary.

-

H

0

2

Offset Type

Type of offset (see Table: Offset Type).

Enum

4

H

3

X axis offset

IMU body frame X-axis offset (metres or degrees)

Float

4

H+4

4

Y axis offset

IMU body frame Y-axis offset (metres or degrees)

Float

4

H+8

5

Z axis offset

IMU body frame Z-axis offset (metres or degrees)

Float

4

H+12

6

X uncertainty

IMU body frame X-axis offset uncertainty (metres or degrees)

Float

4

H+16

7

Y uncertainty

IMU body frame Y-axis offset uncertainty (metres or degrees)

Float

4

H+20

8

Z uncertainty

IMU body frame Z-axis offset uncertainty (metres or degrees)

Float

4

H+24

9

Source Status

Source from which offset values originate (see Table: Source Status).

Enum

4

H+28

10

Multi-line Calibration Count

Counter for number of completed calibrations cumulatively averaged.

Ulong

4

H+32

11

xxxx

32-bit CRC (ASCII and Binary only).

Hex

4

H+36

12

[CR][LF]

Sentence terminator (ASCII only).

-

-

-

Units for the axis offset and uncertainty values (fields 3-8) are in metres for translational offset components and degrees for rotational offset components.

Offset Type

Binary

ASCII

Description

1

ANT1

Primary IMU to antenna lever arm

8

ALIGN

Align offset

11

RBV

IMU body to vehicle offset
Source Status

Binary

ASCII

Description

1

FROM_NVM

Offset values originate from saved parameters in NVM

2

CALIBRATING

Offset values originate from a currently running calibration process

3

CALIBRATED

Offset values originate from a completed calibration process

4

FROM_COMMAND

Offset values originate from a user command

5

Reserved

6

FROM_DUAL_ANT

Offset values originate from a dual antenna Align solution

7

INS_CONVERGING

Offset values originate from initial input values. Calibration process on hold until INS solution is converged.

8

INSUFFICIENT_SPEED

Offset values originate from a currently running calibration process. Further estimation on hold due to insufficient speed.

9

HIGH_ROTATION

Offset values originate from a currently running calibration process. Further estimation on hold due to high vehicle rotations.