External Magnetometers Packet
Heading can be derived using the magnetometers of an additional external Advanced Navigation product to input external magnetometer values.
The 2D, 3D or automatic magnetic calibration of Certus cannot be used to calibrate the external magnetometer values. External magnetometers need to be calibrated before feeding into Certus.
To use External Magnetic Heading, disable Magnetic Heading Enabled and Automatic Magnetic Calibration Enabled options in the Filter Options of the Configuration Menu.
When sending external magnetometers the external heading flag will become active.
| External Magnetometers Packet | ||||
|---|---|---|---|---|
| Packet ID | 75 | |||
| Length | 17 | |||
| Read / Write | Read / Write | |||
| Field # | Bytes Offset | Data Type | Size | Description |
| 1 | 0 | fp32 | 4 | Delay (s) |
| 2 | 4 | fp32 | 4 | Magnetometer X (milligauss) |
| 3 | 8 | fp32 | 4 | Magnetometer Y (milligauss) |
| 4 | 12 | fp32 | 4 | Magnetometer Z (milligauss) |
| 6 | 16 | u8 | 1 | External Magnetometer Flags |
External Magnetometers Packet
External Magnetometers Flags
| Bit | Description |
|---|---|
| 0 | Magnetometers failure |
| 1 | Magnetometers over-range |
External magnetometers Flags