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Outputs / SerialOrRS232

Serial Output Specification

Acceleration

Output rate200Hz
Channel number8 (0x08)
Data bytes4
Data bytes 1 and 2Lateral Acceleration
Format: Big endian integer (raw hex). 15 data bits, 1 sign bit.
Signing: Sign-and-magnitude. First bit (msb) is sign (0 => -ve).
Units: g
Scaling: Output = g × 256
Eg. Acc(g) = (byte 1 & 0x7F) + (byte 2 / 256)
If (byte 1 & 0x80) = 0, acc = -acc.
Data bytes 3 and 4Longitudinal Acceleration
Format: All format the same as lateral acceleration above.

Combined Speed

Output rate200Hz
Channel number64 (0x40)
Data bytes3
Data bytes 1 to 3Combined Accelerometer and GPS Speed
Format: Big endian (raw hex). 24 data bits, unsigned.
Units: kph
Scaling: Output = kph × 725.1315278
Eg. Speed(kph) = (byte1 × 0x10000 + byte2 × 0x100 + byte3) × 0.001379060159

GPS Position

Output rate20Hz
Channel number10 (0x0A)
Data bytes12
Data bytes 1 to 4Longitude
Format: Big endian (raw hex). 32 data bits.
Signing: Two’s complement
Units: Degrees
Scaling: Output = degrees × 1e7
Eg. Long(deg) = [(byte1 & 0x7F) × 224 + byte2 × 216 + byte3 × 28 + byte4] × 0.0000001
If (byte1 & 0x80) = 1, long = long - 231.
Data bytes 5 to 8Latitude
Format: All format the same as longitude above.
Data bytes 9 to 12Positional Accuracy Estimate
Format: Big endian (raw hex). 32 data bits, unsigned.
Units: cm
Scaling: None

GPS Speed

Output rate20Hz
Channel number11 (0x0B)
Data bytes8
Data bytes 1 to 4GPS Speed
Format: Big endian (raw hex). 32 data bits, unsigned.
Units: cm/s
Scaling: None
Data bytes 5 to 8GPS Speed Accuracy Estimate
Format: Big endian (raw hex). 32 data bits, unsigned.
Units: cm/s
Scaling: None

GPS Heading

Output rate20Hz
Channel number56 (0x38)
Data bytes8
Data bytes 1 to 4GPS Heading
Format: Big endian (raw hex). 32 data bits.
Signing: Two’s complement
Units: Degrees
Scaling: Output = degrees × 1e5

GPS Altitude

Output rate20Hz
Channel number57 (0x39)
Data bytes8
Data bytes 1 to 4GPS Altitude
Format: Big endian (raw hex). 32 data bits.
Signing: Two’s complement
Units: mm
Scaling: None
Data bytes 5 to 8GPS Altitude Accuracy Estimate
Format: Big endian (raw hex). 32 data bits, unsigned.
Units: mm
Scaling: None

GPS Time

Output rate20Hz
Channel number7 (0x07)
Data bytes4
Data bytes 1 to 4GPS Millisecond Time of Week
Format: Big endian (raw hex). 32 data bits, unsigned
Units: ms since midnight on Saturday.
Scaling: None

GPS MB-RTK Yaw Angle [SPEEDBOX-RTK only]

Output rate20Hz
Channel number80 (0x50)
Data bytes2
Data bytes 1 to 2GPS MB-RTK Yaw
Format: Big endian (raw hex). 16 data bits.
Signing: Two’s complement
Units: degrees
Scaling: Output = degrees × 100

GPS MB-RTK Pitch Angle [SPEEDBOX-RTK only]

Output rate20Hz
Channel number82 (0x52)
Data bytes3
Data bytes 1 to 2GPS MB-RTK Yaw
Format: Big endian (raw hex). 16 data bits.
Signing: Two’s complement
Units: degrees
Scaling: Output = degrees × 100
Data byte 3Reserved for future use.

GPS MB-RTK Estimated Baseline [SPEEDBOX-RTK only]

Output rate20Hz
Channel number90 (0x5A)
Data bytes4
Data bytes 1 to 2GPS MB-RTK Estimated Baseline
Format: Big endian (raw hex). 16 data bits, unsigned.
Units: mm
Scaling: None
Data bytes 3 to 4GPS MB-RTK Accuracy Estimate
Format: Big endian (raw hex). 16 data bits, unsigned.
Units: mm
Scaling: Output = mm × 10
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Page last modified on January 25, 2010, at 01:17 PM