Vector Sensor Reference Manual
94
$JATT,LEVEL,YES<CR><LF>
To turn this feature off, issue the following command.
$JATT,LEVEL,NO<CR><LF>
To determine the current status of this message, issue the following command.
$JATT,LEVEL<CR><LF>
6.8.8
$JATT,CSEP
This command polls the Vector Sensor for the current separation between antennas, as solved for
by the attitude algorithms. It has the following format.
$JATT,CSEP<CR><LF>
The Vector Sensor will reply with the following.
$JATT,x,CSEP,
Where ‘x‘ is the antenna separation in m.
6.8.9
$JATT,MSEP
This command is used to manually enter a custom separation between antennas (must be accurate
to within one to two centimeters). Using the new center-to-center measurement, send the
following command to the Vector Sensor.
$JATT,MSEP,sep<CR><LF>
Where ‘sep’ is the measured antenna separation entered in meters.
To show the current antenna separation, issue the following command.
$JATT,MSEP<CR><LF>
6.8.10
$JATT,HTAU
The heading time constant allows you to adjust the level of responsiveness of the true heading
measurement provided in the $HEHDT message. The default value of this constant is 0.5 seconds
of smoothing. Increasing the time constant will increase the level of heading smoothing.
The following command is used to adjust the heading time constant.
$JATT,HTAU,htau<CR><LF>
Where ‘htau’ is the new time constant that falls within the range of 0.0 to 3600.0 seconds.
Depending on the expected dynamics of the vessel, you may wish to adjust this parameter. For
instance, if the vessel is very large and is not able to turn quickly, increasing this time is reasonable.
