DEBUG Kalman Filter Channels - Support Centre (Staging)

Format:

Motorola

ID***

Data Bytes

0

1

2

3

4

5

6

7

0x700

RMS_HPOS

RMS_VPOS

32 bit float

0x701

RMS_HVEL

RMS_VVEL

32 bit float

0x702

POSCOV_xx

POSCOV_yy

32 bit float

0x703

POSCOV_zz

VELCOV_xx

32 bit float

0x704

VELCOV_yy

VELCOV_zz

32 bit float

0x705

T1

vx (m/s)

32 bit float

0x706

vy (m/s)

vz (m/s)

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.