System State Packet
| System State Packet | ||||
|---|---|---|---|---|
| Packet ID | 20 | |||
| Length | 100 | |||
| Read / Write | Read | |||
| Field # | Bytes Offset | Data Type | Size | Description |
| 1 | 0 | u16 | 2 | System Status |
| 2 | 2 | u16 | 2 | Filter Status |
| 3 | 4 | u32 | 4 | Unix Time Seconds |
| 4 | 8 | u32 | 4 | Microseconds |
| 5 | 12 | fp64 | 8 | Latitude (rad) |
| 6 | 20 | fp64 | 8 | Longitude (rad) |
| 7 | 28 | fp64 | 8 | Height (m) |
| 8 | 36 | fp32 | 4 | Velocity north (m/s) |
| 9 | 40 | fp32 | 4 | Velocity east (m/s) |
| 10 | 44 | fp32 | 4 | Velocity down (m/s) |
| 11 | 48 | fp32 | 4 | Body acceleration X (m/s/s) |
| 12 | 52 | fp32 | 4 | Body acceleration Y (m/s/s) |
| 13 | 56 | fp32 | 4 | Body acceleration Z (m/s/s) |
| 14 | 60 | fp32 | 4 | G force (g) |
| 15 | 64 | fp32 | 4 | Roll (radians) |
| 16 | 68 | fp32 | 4 | Pitch (radians) |
| 17 | 72 | fp32 | 4 | Heading (radians) |
| 18 | 76 | fp32 | 4 | Angular velocity X (rad/s) |
| 19 | 80 | fp32 | 4 | Angular velocity Y (rad/s) |
| 20 | 84 | fp32 | 4 | Angular velocity Z (rad/s) |
| 21 | 88 | fp32 | 4 | Latitude standard deviation (m) |
| 22 | 92 | fp32 | 4 | Longitude standard deviation (m) |
| 23 | 96 | fp32 | 4 | Height standard deviation (m) |
System State Packet
System Status
This field contains 16 bits that indicate problems with the system. These are boolean fields with a zero indicating false and one indicating true.
| Bit | Description |
|---|---|
| 0 | System Failure |
| 1 | Accelerometer Sensor Failure |
| 2 | Gyroscope Sensor Failure |
| 3 |
|
| 4 |
|
| 5 |
|
| 6 | Accelerometer Over Range |
| 7 | Gyroscope Over Range |
| 8 |
|
| 9 |
|
| 10 | Minimum Temperature Alarm |
| 11 |
|
| 12 |
|
| 13 |
|
| 14 |
|
| 15 |
|
System Status
Filter Status
This field contains 16 bits that indicate the status of the filters. These are boolean fields with a zero indicating false and one indicating true.
| Bit | Description |
|---|---|
| 0 | Orientation Filter Initialised |
| 1 | Navigation Filter Initialised |
| 2 | Heading Initialised |
| 3 | UTC Time Initialised |
| 4 | GNSS Fix Status |
| 5 | |
| 6 | |
| 7 |
|
| 8 |
|
| 9 | Internal GNSS Enabled |
| 10 | Heading Active |
| 11 | Velocity Heading Enabled |
| 12 |
|
| 13 | External Position Active |
| 14 | External Velocity Active |
| 15 | External Heading Active |
Filter Status
GNSS Fix Status
| Value | Bit 6 | Bit 5 | Bit 4 | Description |
|---|---|---|---|---|
| 0 | 0 | 0 | 0 | No GNSS fix |
| 1 | 0 | 0 | 1 | 2D GNSS fix |
| 2 | 0 | 1 | 0 | 3D GNSS fix |
| 3 | 0 | 1 | 1 | SBAS GNSS fix |
| 4 | 1 | 0 | 0 | Differential GNSS fix |
| 5 | 1 | 0 | 1 | PPP GNSS fix |
| 6 | 1 | 1 | 0 | RTK Float GNSS fix |
| 7 | 1 | 1 | 1 | RTK Fixed GNSS fix |
GNSS Fix Status
Unix Time Seconds
This field provides the Unix time in seconds, using the standard epoch of January 1, 1970.
Microseconds
This field provides the sub-second component of time. It is represented as microseconds since the last second. Minimum value is 0 and maximum value is 999999.