INSCOMMAND
INS Control Command
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Platform: |
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S |
Use this command to enable or disable INS. When INS is disabled, no INS position, velocity or attitude is output (however IMU data is still available). Also, INS aiding of tracking reacquisition is disabled. If the command is used to disable INS and then re-enable it, the INS system has to go through its alignment procedure (equivalent to issuing a RESET command). See System Start-Up and Alignment Techniques for information about the SPAN alignment procedures.
Message ID: 379
Abbreviated ASCII Syntax:
INSCOMMAND action
Abbreviated ASCII Example:
INSCOMMAND ENABLE
|
Field |
Field Type |
ASCII Value |
Binary Value |
Description |
Binary Format |
Binary Bytes |
Binary Offset |
|
1 |
Command header |
- |
- |
INSCOMMAND header This field contains the command name for abbreviated ASCII or the message header for ASCII (see page 1) or Binary (see page 1). |
- |
H |
0 |
|
2 |
Action |
RESET |
0 |
Resets the GNSS/INS alignment without clearing the INS biases. |
Enum |
4 |
H |
|
DISABLE |
1 |
Disables INS navigation. |
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|
ENABLE |
2 |
Enables INS navigation where alignment initialization starts again if the Action parameter was previously set to DISABLE. |
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|
START_NO_TIME |
3 |
Raw IMU data will begin to flow upon system startup. IMU data collection can begin before the receiver has a GNSS solution. (default) |
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START_FINE_TIME |
4 |
RAWIMU data will only be output after the system reaches FINESTEERING. |
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RESTART |
5 |
Resets the GNSS/INS alignment and clears the INS biases. |