Reference Point Offsets Packet

The reference point offsets packet can be used to adjust the measurement point that all data is referenced to. By default all the values of this packet are zero and the measurement point that all data is referenced to is the centre of the Boreas unit. The primary reference point offset can be used to adjust the measurement point to a different location on the vehicle, in the body co-ordinate frame. The primary reference point offset applies to all data output including NMEA etc as well as heave point 1.

Heave point 2 is reserved for use for the Centre of Gravity (COG) Lever Arm offset to improve coarse heading alignment.

The other heave point offsets do not apply to heave point 1 in the Heave Packet.

Reference Point Offsets Packet
Packet ID				194
Length				49
Read / Write				Read / Write
Field #	Bytes Offset	Data Type	Size	Description
1	0	u8	1	Permanent
2	1	fp32	4	Heave point 1 offset X (m) / Primary reference point offset X (m)
3	5	fp32	4	Heave point 1 offset Y (m) / Primary reference point offset Y (m)
4	9	fp32	4	Heave point 1 offset Z (m) / Primary reference point offset Z (m)
5	13	fp32	4	Heave point 2 offset X (m) N.B. Used for COG Lever Arm Offset
6	17	fp32	4	Heave point 2 offset Y (m) N.B. Used for COG Lever Arm Offset
7	21	fp32	4	Heave point 2 offset Z (m) N.B. Used for COG Lever Arm Offset
8	25	fp32	4	Heave point 3 offset X (m)
9	29	fp32	4	Heave point 3 offset Y (m)
10	33	fp32	4	Heave point 3 offset Z (m)
11	37	fp32	4	Heave point 4 offset X (m)
12	41	fp32	4	Heave point 4 offset Y (m)
13	45	fp32	4	Heave point 4 offset Z (m)