$DVPDL and $DVPDX: DVL Position and Angle Deltas Messages
The $DVPDL/X messages supply odometry data intended for use in user-supplied dead reckoning or in user-built position-hold functions. It is output at a variable rate between 5Hz and 20 Hz. The $DVPDX message is the same as a $DVPDL message with a few extra fields tacked onto the end.
The Position Deltas X, Y and Z are in the vehicle coordinate frame as modified by the SET-SENSOR-ORIENTATION command.
The Pitch and Roll data and the standoff datum are in the sensor coordinate system and are not influenced by the SET-SENSOR-ORIENTATION command.
Format:
$DVPDL,tu,dtu,adr,adp,ady,pdx,pdy,pdz,c*hh
$DVPDX,tu,dtu,adr,adp,ady,pdx,pdy,pdz,c,mode,pitch,roll,stdoff*hh
Example:
Field | Name | DVL Notes |
tu | Time uSec | Time since system boot in microseconds |
dtu | Delta Time uSec | Time since the last message, in microseconds |
adr | Angle Delta Roll | Angle delta from previous message, in radians. Always 0 for DVL-50. |
adp | Angle Delta Pitch | Angle delta from previous message, in radians. Always 0 for DVL-50. |
ady | Angle Delta Yaw | Angle delta from previous message, in radians. Always 0 for DVL-50. |
pdx | Position Delta X | Position delta from previous message, in meters |
pdy | Position Delta Y | Position delta from previous message, in meters |
pdz | Position Delta Z | Position delta from previous message, in meters |
c | Confidence | 0..100, where 100 = maximum confidence, 0 = no confidence. If 0, assume all other fields after dtu are garbage. |
mode | System Mode | Used by Ceruean for diagnostic purposes |
pitch | Pitch | Rotation of the sensor head around the Y axis, with respect to the target plane, in degrees. Parallel = 0. Right-hand rule. |
roll | Roll | Rotation of the sensor head around the X axis, with respect to the target plane, in degrees. Parallel = 0. Right-hand rule. |
stdoff | Standoff | Distance between sensor head and target plane along a normal to the target plane, in meters. |
* | End of fields |
|
hh | Checksum | NMEA standard |
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