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:
$DVPDL,101234000,50000,0.001263,-0.019663,-0.745226,-0.000,0.001,-0.005,100*22Field
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 Tracker 650.
adp
Angle Delta Pitch
Angle delta from previous message, in radians. Always 0 for Tracker 650.
ady
Angle Delta Yaw
Angle delta from previous message, in radians. Always 0 for Tracker 650.
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 Cerulean 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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