DEBUG Kalman Filter Channels

Updated on Mar 4, 2026
Format: 
Motorola
ID***
Data Bytes
0
1
2
3
4
5
6
7
0x700
RMS_HPOS
RMS_VPOS
32 bit float
32 bit float
0x701
RMS_HVEL
RMS_VVEL
32 bit float
32 bit float
0x702
POSCOV_xx
POSCOV_yy
32 bit float
32 bit float
0x703
POSCOV_zz
VELCOV_xx
32 bit float
32 bit float
0x704
VELCOV_yy
VELCOV_zz
32 bit float
32 bit float
0x705
T1
vx (m/s)
32 bit float
32 bit float
0x706
vy (m/s)
vz (m/s)
32 bit float
32 bit float
0x707
Latitude_raw (radians)
64 bit float
0x708
Longitude_raw (radians)
64 bit float
0x709
Altitude_raw (metres)
64 bit float
Notes:
Above to be output only when Kalman Filter enabled. ID's cannot be configured. Note that enabling ADAS as well as KF places a lot of extra payload on the bus, recommend 1Mbit baud rate.