INSCONFIG

Determine required settings for post-processing or system analysis

Platform: 

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

This log is the single message required to determine all required settings for post-processing or system analysis. This log is asynchronous and published for any change to the included fields. It is intended to be recorded occasionally though it could be updated frequently at system startup. The INSCONFIG log may also be logged synchronously with the ONTIME trigger, but this log should NOT be requested at a high rate (limited to 1 Hz).

Message ID: 1945

Log Type: Asynch

Recommended Input:

log insconfig onchanged

ASCII Example:

#INSCONFIGA,USB1,0,66.5,FINESTEERING,2209,338183.000,02000020,bba4,16809;EPSON_G320,5,50,20,DEFAULT,7fd1bf,AUTOMATIC,ROVER,FALSE,0,0,0,17,0,0,0,0,0,0,0,1,RBV,IMUBODY,0.0000,0.0000,0.0000,3.0000,3.0000,3.0000,FROM_COMMAND*996d7655

Field

Field Type

Description

Binary Format

Binary Bytes

Binary Offset

1

Log header

INSCONFIG header

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

-

H

0

2

IMU Type

IMU type. See Table: IMU Type.

Enum

4

H

3

Mapping

Mapping / Orientation

Uchar

1

H+4

4

Initial Alignment Velocity

Minimum Alignment Velocity entered by the user (see the SETALIGNMENTVEL command).

Velocity (m/s) is scaled by 10 for 10 cm/s precision

Uchar

1

H+5

5

Heave Window

Length of the heave window in seconds (if set using the SETHEAVEWINDOW command)

Ushort

2

H+6

6

Profile

Profile setting (see the SETINSPROFILE command)

Enum

4

H+8

7

INS Enabled Updates

Enabled INS updates (see Table: INS Update Values)

Hex

4

H+12

8

Alignment Mode

Alignment mode configured on the system (see the ALIGNMENTMODE command)

Enum

4

H+16

9

Relative INS Output Frame

The user specified output frame of the Relative INS Vector (see SETRELINSOUTPUTFRAME command)

If not specified, the default value appears.

Enum

4

H+20

10

Relative INS Output Direction

The User specified Output direction of the Relative INS Vector (From or To Base-Rover) (see the SETRELINSOUTPUTFRAME command).

If not specified, the default value appears. TRUE if From Base, FALSE (Default) if From Rover

Bool

4

H+24

11

INS Receiver Status

Lower byte- INS Reset. Corresponds numerically to the INS Reset as described by the INSResetEnum

Second byte-
= 0x01 if an IMU Communication Error (Receiver status bit 17).
= 0x00 otherwise.
Other values are reserved for future use.

Upper 2 bytes - reserved.

Hex

4

H+28

12

INS Seed Enabled

INS Seed Enable setting
(see the INSSEED command)
Enabled = 1, Disabled = 0

Uchar

1

H+32

13

INS Seed Validation

INS Seed Validation setting
(see the INSSEED command)

Uchar

1

H+33

14

Reserved 1

N/A

2

H+34

15

Reserved 2

N/A

4

H+36

16

Reserved 3

N/A

4

H+40

17

Reserved 4

N/A

4

H+44

18

Reserved 5

N/A

4

H+48

19

Reserved 6

N/A

4

H+52

20

Reserved 7

N/A

4

H+56

21

Number of Translations

Number of translation entries to follow

Ulong

4

H+60

22

Translation

Translation to follow (see Table: Translation Offset Types)

Enum

4

variable

23

Frame

Frame of translation (IMUBODY or VEHICLE)

Enum

4

variable

24

X Offset

X Offset

Float

4

variable

25

Y Offset

Y Offset

Float

4

variable

26

Z Offset

Z Offset

Float

4

variable

27

X Uncertainty

X Uncertainty

Float

4

variable

28

Y Uncertainty

Y Uncertainty

Float

4

variable

29

Z Uncertainty

Z Uncertainty

Float

4

variable

30

Translation Source

Source of translation (see Table: Source Status)

Enum

4

variable

 

Next Translation

variable

Number of Rotations

Number of rotation entries to follow

Ulong

4

variable

variable

Rotation

Rotation to follow (see Table: Rotational Offset Types)

Enum

4

variable

variable

Frame

Frame of rotation (IMUBODY or VEHICLE)

Enum

4

variable

variable

X Rotation

X Rotation

Float

4

variable

variable

Y Rotation

Y Rotation

Float

4

variable

variable

Z Rotation

Z Rotation

Float

4

variable

variable

X Rotation Std Dev

X Rotation offset standard deviation (degrees)

Float

4

variable

variable

Y Rotation STD Dev

Y Rotation offset standard deviation (degrees)

Float

4

variable

variable

Z Rotation STD Dev

Z Rotation offset standard deviation (degrees)

Float

4

variable

variable

Rotation Source

Source of rotation (see Table: Source Status)

Enum

4

variable

 

Next Rotation

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

 

[CR][LF]

Sentence terminator (ASCII only)

-

-

-