NAVATT (Sub ID 0x00D)
Output Vehicle’s Attitude and Heading Information
Applicable to: UM621 series, UM681A
| ID | Field | Description | Type | Bytes | Bytes Offset |
|---|---|---|---|---|---|
| 1 | Hour | U8 | Hour 0 to 23 (UTC); 0xFF means invalid | 1 | 0 |
| 2 | Min | U8 | Minute 0 to 59 (UTC); 0xFF means invalid | 1 | 1 |
| 3 | mSec | U16 | Millisecond; 0xFFFF means invalid | 2 | 2 |
| 4 | quality | U8 | Current quality: 0 - Invalid 1 - Coarse 2 - Precise |
1 | 4 |
| 5 | roll_v | S32 | Roll; unit: 1e-5 deg; 0x80000000 means invalid | 4 | 5 |
| 6 | pitch_v | S32 | Pitch; unit: 1e-5 deg; 0x80000000 means invalid | 4 | 9 |
| 7 | yaw_v | S32 | Yaw; unit: 1e-5 deg; 0x80000000 means invalid | 4 | 13 |
| 8 | roll_acc | U32 | Roll accuracy; unit: 1e-5 deg; 0xFFFFFFFF means invalid | 4 | 17 |
| 9 | pitch_acc | U32 | Pitch accuracy; unit: 1e-5 deg; 0xFFFFFFFF means invalid | 4 | 21 |
| 10 | yaw_acc | U32 | Yaw accuracy; unit: 1e-5 deg; 0xFFFFFFFF means invalid | 4 | 25 |
| Total | 29 |