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[ins] xsens_mtig700

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This commit is contained in:
Christophe De Wagter
2013-05-20 15:22:19 +02:00
parent 63a527c093
commit 73aad0134c
3 changed files with 748 additions and 0 deletions
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conf/xsens_MTi-G.xml
+76
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@@ -73,6 +73,8 @@
<field name="period" format="U2"/>
</message>
<message name="SetOutputConfiguration" ID="0xC0" to="MT"/>
<message name="SetPeriod" ID="0x04" to="MT" length="2">
<field name="period" format="U2"/>
</message>
@@ -103,6 +105,10 @@
<field name="data" format="V"/>
</message>
<message name="MTData2" ID="0x36" to="host">
<field name="data" format="V"/>
</message>
<message name="ReqHeading" ID="Ox82" to="MT"/>
<message name="ReqHeadingAck" ID="0x83" to="host">
<field name="heading" format="R4" unit="rad"/>
@@ -147,6 +153,7 @@
</block>
</message>
<message name="ReqUTCTime" ID="0x60" to="MT"/>
<message name="UTCTime" ID="0x61" to="host">
<field name="time" format="U4" unit="ms"/>
@@ -258,6 +265,75 @@
<field name="valid" format="U1"/>
</data>
<data name="RateOfTurn" length="12">
<field name="x" format="R4" unit="m"/>
<field name="y" format="R4" unit="m"/>
<field name="z" format="R4" unit="m"/>
</data>
<data name="Acceleration" length="12">
<field name="x" format="R4" unit="m"/>
<field name="y" format="R4" unit="m"/>
<field name="z" format="R4" unit="m"/>
</data>
<message name="XDI_GpsSvInfo" id="88A0" to="host">
<field name="iTOW" format="U4"/>
<field name="nch" format="U1"/>
<field name="res1" format="U1"/>
<field name="res2" format="U2"/>
<block times="nch" length="12">
<field name="chn" format="U1"/>
<field name="svid" format="U1"/>
<field name="bitmask" format="U1"/>
<field name="qi" format="U1"/>
<field name="cnr" format="U1"/>
<field name="elev" format="I1"/>
<field name="azim" format="I2"/>
<field name="prRes" format="I4"/>
</block>
</message>
<data name="GpsSol" length="49">
<field name="iTOW" format="U4"/>
<field name="fTOW" format="I4"/>
<field name="week" format="I2"/>
<field name="fix" format="U1"/>
<field name="flags" format="U1"/>
<field name="ecef_x" format="I4"/>
<field name="ecef_y" format="I4"/>
<field name="ecef_z" format="I4"/>
<field name="pAcc" format="U4"/>
<field name="ecef_vx" format="I4"/>
<field name="ecef_vy" format="I4"/>
<field name="ecef_vz" format="I4"/>
<field name="sAcc" format="U4"/>
<field name="pDop" format="U2"/>
<field name="res1" format="U1"/>
<field name="numSv" format="U1"/>
<field name="res2" format="U1"/>
</data>
<data name="StatusWord" length="4">
<field name="status" format="U4"/>
</data>
<data name="LatLon" length="8">
<field name="lat" format="R4" unit="deg"/>
<field name="lon" format="R4" unit="deg"/>
</data>
<data name="Altitude" length="4">
<field name="h" format="R4" unit="m"/>
</data>
<data name="VelocityXYZ" length="12">
<field name="x" format="R4" unit="m/s"/>
<field name="y" format="R4" unit="m/s"/>
<field name="z" format="R4" unit="m/s"/>
</data>
<mask name="Temp" bitmask="0x0001"/>
<mask name="Calibrated" bitmask="0x0002"/>
<mask name="Orientation" bitmask="0x0004"/>