SNRSTAT (Sub ID 0x00C)
Output Initialization Status
Applicable to: UM621 series, UM681A
| ID | Field | Type | Description | Bytes | Byte Offset |
|---|---|---|---|---|---|
| 1 | insstatus | S8 | INS initialization state: -1 - IMU device failure 0 - Disable 1 - Initialization started 2 - Known installation angle 3 - Initialization completed |
1 | 0 |
| 2 | odostatus | S8 | Odometer initialization status: -1 - Odometer device failure 0 - Disable 1 - Initialization of scale factor 2 - Initialization of scale factor completed 3 - Scale factor calibration completed |
1 | 1 |
| 3 | InstallState | S8 | -1 - IMU device failure, unable to estimate the installation angle 0 - Calibration in progress 1 - The quality of current satellite information is insufficient and better satellite conditions are needed 2 - The current vehicle mobility conditions are insufficient, and acceleration is required 3 - The current vehicle speed is too low, and it is required to increase the speed |
1 | 2 |
| 4 | mapstat | S8 | -2 - Abnormal map data is detected -1 - No port is configured to receive MAP information 0 - The port fails to receive MAP information or the MAP information transmission times out 1 - The MAP information is received but not applied to the integrated navigation 2 - The MAP information is received and applied to the integrated navigation |
1 | 3 |
| Total | 4 |