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: |
ID Format output.attitude.id_format
ID format of the message
| Type | Default | Options |
|---|---|---|
| integer | 0 | Standard (11-bit): |
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: |
Attitude interpretation¶
Heading¶
The heading output is 0° to 360° degrees counterclockwise from north, as illustrated below.
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.