VN-200 User Manual
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5.11.2
SerialStatus
The SerialStatus field provides a means of tracking real-time status information pertaining to the overall
state of the sensor measurements and onboard filtering algorithm. This information is very useful in
situations where action must be taken when certain crucial events occur, such as the detection of gyro
saturation or magnetic interference. As with the SerialCount, a typical serial asynchronous message
would appear as the following:
$VNYPR,+010.071,+000.278,-002.026*60
With the SerialStatus field set to one of the non-zero values, the same asynchronous message would
appear instead as:
$VNYPR,+010.071,+000.278,-002.026,S0000*1F
When the SerialStatus field is enabled the status will always be appended to the end of the message just
prior to the checksum. If both the SerialCount and SerialStatus are enabled, the SerialStatus will be
displayed first. The counter will be preceded by the ‘S’ character to distinguish it from the counter field.
The status consists of 4 hexadecimal characters.
Table 26 – AsyncStatus
Value
Description
0
OFF
1
ON
5.11.3
SPICount
The SPICount field provides a means of appending a time or counter to the end of all SPI packets. The
values for each of these counters come directly from the Synchronization Status Register.
Table 27 – SPICount Field
Mode
Value
Description
NONE
0
OFF
SYNCIN_COUNT
1
SyncIn Counter
SYNCIN_TIME
2
SyncIn Time
SYNCOUT_COUNT
3
SyncOut Counter
5.11.4
SPIStatus
The AsyncStatus field provides a means of tracking real-time status information pertaining to the overall
state of the sensor measurements and onboard filtering algorithm. This information is very useful in
situations where action must be taken when certain crucial events happen, such as the detection of gyro
saturation or magnetic interference.
Table 28 – SPIStatus
Value
Description
0
OFF
1
ON
