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EM datagrams on *.kmall format
Reg. nr. 410224 rev J
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EM datagrams on *.kmall format
Reg. nr. 410224 rev J
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Sensor (S) output datagram - info of KMB datagrams. More...
#include <EMdgmFormat.h>
Data Fields | |
| uint16_t | numBytesInfoPart |
| uint8_t | sensorSystem |
| uint8_t | sensorStatus |
| uint16_t | sensorInputFormat |
| uint16_t | numSamplesArray |
| uint16_t | numBytesPerSample |
| uint16_t | sensorDataContents |
Sensor (S) output datagram - info of KMB datagrams.
Definition at line 314 of file EMdgmFormat.h.
| uint16_t numBytesInfoPart |
Size in bytes of current struct. Used for denoting size of rest of datagram in cases where only one datablock is attached.
Definition at line 318 of file EMdgmFormat.h.
| uint8_t sensorSystem |
Attitude system number, as numbered in installation parameters. E.g. system 0 referes to system ATTI_1 in installation datagram #IIP.
Definition at line 319 of file EMdgmFormat.h.
| uint8_t sensorStatus |
Sensor status. Summarise the status fields of all KM binary samples added in this datagram (status in struct KMbinary_def). Only available data from input sensor format is summarised. Available data found in sensorDataContents.
Bits 0 -7 common to all sensors and #MRZ sensor status:
| Bit number | Sensor data |
|---|---|
| 0 | 1 = Sensor is chosen as active. |
| 1 | 1 = Sensor is chosen as active attitude velocity if using attitude split. |
| 2 | 0 = Data OK 1 = Reduced performance |
| 3 | 0 |
| 4 | 0 = Data OK 1 = Invalid data |
| 5 | 0 |
| 6 | 0 = Velocity from sensor 1 = Velocity calculated by PU |
Definition at line 320 of file EMdgmFormat.h.
| uint16_t sensorInputFormat |
Format of raw data from input sensor, given in numerical code according to table below.
| Code | Sensor format |
|---|---|
| 1 | KM binary Sensor Input |
| 2 | EM 3000 data |
| 3 | Sagem |
| 4 | Seapath binary 11 |
| 5 | Seapath binary 23 |
| 6 | Seapath binary 26 |
| 7 | POS M/V GRP 102/103 |
Definition at line 336 of file EMdgmFormat.h.
| uint16_t numSamplesArray |
Number of KM binary sensor samples added in this datagram.
Definition at line 348 of file EMdgmFormat.h.
| uint16_t numBytesPerSample |
Length in bytes of one whole KM binary sensor sample.
Definition at line 349 of file EMdgmFormat.h.
| uint16_t sensorDataContents |
Field to indicate which information is available from the input sensor, at the given sensor format.
0 = not available
1 = data is available
The bit pattern is used to determine KMbinary_def.sensorStatus in the #KMB samples. Only data available from the sensor is checked up against the invalid/reduced performance in the sensor status EMdgmSKMinfo_def.sensorStatus.
E.g. the Binary 23 format does not contain delayed heave. This is indicated by setting bit 5 and 6 in sensorDataContents to 0. In each sample in #KMB output from PU, the status field (struct KMbinary_def) for INVALID delayed heave (bit 5 and 6) is set to 1. EMdgmSKMinfo_def.sensorStatus will then be set to 0 if all available data is ok.
Expected data field in sensor input:
| Bit number | Sensor data |
|---|---|
| 0 | Horizontal position and velocity |
| 1 | Roll and pitch |
| 2 | Heading |
| 3 | Heave |
| 4 | Acceleration |
| 5 | Delayed heave |
| 6 | Delayed heave |
Definition at line 350 of file EMdgmFormat.h.
1.8.17