Table of Contents
Advertisement
HMR3000 User's Guide
CCD
Conditioned Compass Data
$PTNTCCD,x.x,x.x,x.x,x.x,x.x,x.x,x.x*hh<cr><lf>
This sentence provides conditioned tilt and magnetic measurements for diagnostic use. The fields are, in order:
TiltX
32768 times tangent of angle, between compass board north-south axis and level plane. This value is the
difference between the raw tilt measurements normalized, linearized, and filtered according to parameter
settings. The pitch measurement is determined by taking the arctan of TiltX/32768.
TiltY
Same as TiltX but for the compass board east-west axis (roll).
MagX normalized and filtered magnetic field strength along the north-south axis of the compass
board. This value has been adjusted for any hard-iron offset determined during calibration
(or tuned manually).
MagY same as MagX but along the compass board east-west axis.
MagZ same as MagX and MagY, but along the axis perpendicular to the plane of the board. This
value has been adjusted both for gain variation with the X-Y sensor pair and for hard-iron.
MagT Total magnetic field strength
Heading
Presented in degrees or mils depending on the setting in EEPROM. This field will be null if
the heading cannot be calculated.
Eg.
In Degree Mode
$PTNTCCD,522,-472,109,1841,677,1964,86.3*44
In Mil Mode
$PTNTCCD,-25187,351,-3909,1899,-4394,6180,1838*58
ASCII Message
The special ASCII display message normally consists of a string of 4 digits that represent the heading in degrees and
tenths, followed by a terminating carriage return character. Heading is corrected for deviation and variation when these
factors are programmed in the EEPROM. When the heading cannot be transmitted due to a magnetometer or tilt signal
out of range, then 4 minus signs are transmitted instead.
Eg.
In Degree Mode
3.11 NMEA Checksum Field
This absolute value is calculated by exclusive OR operation on the 8 data bits (ASCII code) (no start or stop bits) of each
character in the message, between, but excluding "$" and "*" (or between "#" and "*") characters. The hexadecimal value
of the most significant and the least significant 4 bits of the result is converted to two ASCII characters (0-9, A-F) for
transmission of the. The most significant character is transmitted first. These characters fill the "hh" positions in the
commands and command responses described within this user's guide.
www.honeywell.com
calculated heading based on the magnetometer and inclinometer data in this sentence.
15
Advertisement
Table of Contents
