Contains constants representing information on Inertial MIP Packets
Types
Inertial Packet Bytes
INERTIAL_PACKET_START_OF_PACKET
0x7565 - The full start of packet value of any inertial packet
INERTIAL_PACKET_SOP1
0x75 - The first (start of packet) byte of any inertial packet
INERTIAL_PACKET_SOP2
0x65 - The second (start of packet) byte of any inertial packet
COMMAND_SET_BASE
0x01 - The Base command set is common to many MicroStrain devices. With the Base command set it is possible to identify many properties and do basic functions on a device even if you do not recognize its specialized functionality or data. The commands work the same way on all devices that implement this set.
COMMAND_SET_3DM
0x0C - The 3DM command set is common to the MicroStrain Inertial sensors that support the MIP packet protocol. Because of the unified set of commands, it is easy to migrate code from one inertial sensor to another.
COMMAND_SET_NAV_FILTER
0x0D - The Navigation Filter command set is specific to MicroStrain Inertial Navigation sensors.
COMMAND_SET_SYSTEM
0x7F - The System Command set provides a set of advanced commands that are specific to devices such as the 3DMGX3-35 that have multiple intelligent internal sensor blocks. These commands allow special mode such as talking directly to the native protocols of the embedded sensor blocks. For example, with the 3DM-GX3-35, you may switch into a mode that talks directly to the internal u-blox chip or directly to the embedded 3DM-GX3-25 AHRS. This allows you to use code or utilities written specifically for the native u-blox protocols (NMEA or UBX) and 3DM-GX3-25 protocols (original single byte commands or ASPP packet protocol).
Inertial Packet Information
MIP_MIN_PACKET_SIZE
8 - The minimum number of bytes to make a valid MIP packet (0x75, 0x65, Descriptor Set, Payload Len, Payload, Checksum)
MIP_NUM_BYTES_BEFORE_PAYLOAD
4 - The number of bytes in the MIP packets before the payload
MIP_NUM_BYTES_AFTER_PAYLOAD
2 - The number of bytes in the MIP packets after the payload