Attitude (1 Hz, 8 byte)

Note

A good attitude output requires the use of automotive sensor fusion.

Configuration file fields

This section is autogenerated from the Rule Schema.

GNSS attitude (1000 ms) output.attitude

State output.attitude.state

Type Default Options
integer 1

Disable: 0 Enable: 1

ID Format output.attitude.id_format

ID format of the message

Type Default Options
integer 0

Standard (11-bit): 0 Extended (29-bit): 1

Message ID (hex) output.attitude.id

ID of the message in hex. Example: 00435354.

Type Default
string 01

Trigger method output.attitude.trigger

Transmission trigger method. Push: Signal is periodically transmitted. Poll: Signal is transmitted on request

Type Default Options
integer 0

Push: 0 Poll: 1


Attitude interpretation

Heading

The heading output is 0° to 360° degrees counterclockwise from north, as illustrated below.

../../../_images/attitude_heading.svg

Vehicle heading

If the vehicle is headed east (heading in direction towards east), then the heading angle will be 90°.

Note

If the vehicle is headed straight north, the heading angle can underflow or overflow (from 0 to 360 and 360 to 0), resulting in discontinuous output value.

Pitch

The pitch output is -90° to 90°. The angle is zero when the vehicle is placed on a horizontal surface, positive when going up-hill and negative going down-hill.

Roll

The roll output is -180° to 180°. The angle is zero when the vehicle is placed on a horizontal surface, positive when leaning right and negative leaning left (as seen from the drivers perspective).

Frame layout

Note

The frame layout is defined in the CANmod.gps DBC file

The altitude frame contains vehicle roll, pitch and heading information with accuracy.

Name

Bitpos

Length

Factor

Offset

Min

Max

Unit

AttitudeValid

0

1

1

0

0

1

°

Roll

1

12

0.1

-180

-180

180

°

RollAccuracy

13

9

0.1

0

0

50

°

Pitch

22

12

0.1

-90

-90

90

°

PitchAccuracy

34

9

0.1

0

0

50

°

Heading

43

12

0.1

0

0

360

°

HeadingAccuracy

55

9

0.1

0

0

50

°

AttitudeValid

The AttitudeValid signal can take one of the following values:

  • 0: Invalid

  • 1: Valid

Decoding example

Raw attitude frame payload:

  • Hex: 19627050AF014E75 (byte 0 to the right)

  • Bin: 000110010 110001001110 000010100 001010111100 000001010 011100111010 1 (bit 0 to the right)

HeadingAccuracy(9)

Heading(12)

PitchAccuracy(9)

Pitch(12)

RollAccuracy(9)

Roll(12)

AttitudeValid(1)

Raw (bin)

000110010

110001001110

000010100

001010111100

000001010

011100111010

1

Raw (dec)

50

3150

20

700

10

1850

1

Scaled

5.0

315.0

2.0

70.0

1.0

185.0

1

Offset

5.0

315.0

2.0

-20.0

1.0

5.0

1

The vehicle is headed North/North-West (315°), going down-hill 20° with a 5° right roll.