INSUPDATESTATUS
INS Update Status
Platform: |
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S |
This log provides the most recent INS update information used by the system. It provides information about what updates were performed in the INS filter at the specified time.
Multiple INSUPDATESTATUS logs may be published each epoch. For example, any DMI or external updates will trigger an independent, asynchronous log. These asynchronous logs may show that other updates are not being used because they are the only valid update applied at the specified time.
In the ASCII example below, the first INSUPDATESTATUS log shows 22 phase and 24 doppler updates were applied at 416218.000 and the second INSUPDATESTATUS log shows the DMI update was USED at 416218.002.
Message ID: 1825
Log Type: Asynch
Recommended Input:
log insupdatestatus onchanged
ASCII Example:
#INSUPDATESTATUSA,COM3,0,49.0,FINESTEERING,2117,416218.000,02004020,78f1,32768;INS_PSRSP,0,22,24,INACTIVE,USED,0b0020c3,007ff3bf,0,0*c1d6e8bc
#INSUPDATESTATUSA,COM3,0,49.0,FINESTEERING,2117,416218.002,02004020,78f1,32768;INS_PSRSP,0,0,0,USED,INACTIVE,0b0020c3,007ff3bf,0,0*0aa584c7
Field |
Field Type |
Description |
Format |
Binary Bytes |
Binary Offset |
1 |
Log header |
INSUPDATESTATUS header For information about log headers, see ASCII, Abbreviated ASCII or Binary. |
- |
H |
0 |
2 |
PosType |
Type of GNSS solution used for the last INS filter update. |
Enum |
4 |
H |
3 |
NumPSR |
Number of raw pseudorange observations used in the last INS filter update. |
Integer |
4 |
H+4 |
4 |
NumADR |
Number of raw phase observations used in the last INS filter update. |
Integer |
4 |
H+8 |
5 |
NumDOP |
Number of raw doppler observations used in the last INS filter update. |
Integer |
4 |
H+12 |
6 |
DMI Update Status |
Distance measurement instrument (wheel sensor) status. |
Enum |
4 |
H+16 |
7 |
ALIGN Update Status |
Status of the ALIGN update during the last INS filter update. |
Enum |
4 |
H+20 |
8 |
Ext sol stat |
Extended solution status |
Hex |
4 |
H+24 |
9 |
INS Enabled Updates |
Enabled INS updates. |
Hex |
4 |
H+28 |
10 |
Reserved |
Ulong |
4 |
H+32 |
|
11 |
Reserved |
Ulong |
4 |
H+36 |
|
12 |
xxxx |
32-bit CRC (ASCII, Binary and Short Binary only) |
Hex |
4 |
H+40 |
13 |
[CR][LF] |
Sentence terminator (ASCII only) |
- |
- |
- |