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SPAN-SE User Manual Rev 1
Appendix B
Commands
1. Azimuth is positive in a clockwise direction while yaw is positive in a counter-clockwise
direction when looking toward the axis origin. Yaw follows the right-handed system
convention where as azimuth follows the surveying convention.
2. The data in the RAWIMUS log is never mapped. The axes referenced in the RAWIMUS log
description form the IMU enclosure frame (as marked on the enclosure).
Abbreviated ASCII Syntax:
Message ID: 567
SETIMUORIENTATION switch
Abbreviated ASCII Example:
SETIMUORIENTATION 1
Field
Field
Type
ASCII
Value
Binary
Value
Description
Binary
Format
Binary
Bytes
Binary
Offset
1
Log
Header
-
-
This field contains the
command name or the message
header depending on whether
the command is abbreviated
ASCII, ASCII or binary,
respectively.
-
H
0
2
Switch
0
0
IMU determines axis
orientation automatically
during coarse alignment.
(default)
ENUM
4
H
1
1
IMU
X
axis is pointing
UP
2
2
IMU
X
axis is pointing
DOWN
3
3
IMU
Y
axis is pointing
UP
4
4
IMU
Y
axis is pointing
DOWN
5
5
IMU
Z
axis is pointing
UP
6
6
IMU
Z
axis is pointing
DOWN
