| EM datagrams on *.kmall format Reg.no. 410224 rev D

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Data Fields
KMbinary_def Struct Reference

#SKM - Sensor attitude data block. Data given timestamped, not corrected. More...

`#include <EMdgmFormat.h>`

## Data Fields
uint8_t | dgmType [4]
uint16_t | numBytesDgm
uint16_t | dgmVersion
uint32_t | time_sec
uint32_t | time_nanosec
uint32_t | status
Position.
double | latitude_deg
double | longitude_deg
float | ellipsoidHeight_m
Attitude.
float | roll_deg
float | pitch_deg
float | heading_deg
float | heave_m
Rates.
float | rollRate
float | pitchRate
float | yawRate
Velocities.
float | velNorth
float | velEast
float | velDown
Errors in data. Sensor data quality, as standard deviations.
float | latitudeError_m
float | longitudeError_m
float | ellipsoidHeightError_m
float | rollError_deg
float | pitchError_deg
float | headingError_deg
float | heaveError_m
Acceleration.
float | northAcceleration
float | eastAcceleration
float | downAcceleration

## Detailed Description

#SKM - Sensor attitude data block. Data given timestamped, not corrected.

See Coordinate systems for definition of positive angles and axis.

## Field Documentation

uint8_t dgmType[4]

#KMB

uint16_t numBytesDgm

Datagram length in bytes. The length field at the start (4 bytes) and end of the datagram (4 bytes) are included in the length count.

uint16_t dgmVersion

Datagram version.

uint32_t time_sec

Time from inside KM sensor data. Unit second. Epoch 1970-01-01 time. Ignoring leap second. Nanosec part to be added for more exact time.
If time is unavailable from attitude sensor input, time of reception on serial port is added to this field.

uint32_t time_nanosec

Nano seconds remainder. Nanosec part to be added to time_sec for more exact time.
If time is unavailable from attitude sensor input, time of reception on serial port is added to this field.

uint32_t status

Bit pattern for indicating validity of sensor data, and reduced performance. The status word consists of 32 single bit flags numbered from 0 to 31, where 0 is the least significant bit.
Bit number 0-7 indicate if from a sensor data is invalid. 0 = valid data, 1 = invalid data.
Bit number 16-> indicate if data from sensor has reduced performance. 0 = valid data, 1 = reduced performance.

Invalid data:

Bit number | Sensor data
--- | ---
0 | Horizontal position and velocity
1 | Roll and pitch
2 | Heading
3 | Heave and vertical velocity
4 | Acceleration
5 | Error fields
6 | Delayed heave

Reduced performance:

Bit number | Sensor data
--- | ---
16 | Horizontal position and velocity
17 | Roll and pitch
18 | Heading
19 | Heave and vertical velocity
20 | Acceleration
21 | Error fields
22 | Delayed heave

double latitude_deg

Position in decimal degrees.

double longitude_deg

Position in decimal degrees.

float ellipsoidHeight_m

Height of sensor reference point above the ellipsoid. Positive above ellipsoid. ellipsoidHeight_m is not corrected for motion and installation offsets of the position sensor.

float roll_deg

Roll. Unit degree.

float pitch_deg

Pitch. Unit degree.

float heading_deg

Heading of vessel. Unit degree. Relative to the fixed coordinate system, i.e. true north.

float heave_m

Heave. Unit meter. Positive downwards.

float rollRate

Roll rate. Unit degree/s

float pitchRate

Pitch rate. Unit degree/s

float yawRate

Yaw (heading) rate. Unit degree/s

float velNorth

Velocity North (X). Unit m/s

float velEast

Velocity East (Y). Unit m/s

float velDown

Velocity downwards (Z). Unit m/s

float latitudeError_m

Latitude error. Unit meter.

float longitudeError_m

Longitude error. Unit meter.

float ellipsoidHeightError_m

Ellipsoid height error. Unit meter.

float rollError_deg

Roll error. Unit degree.

float pitchError_deg

Pitch error. Unit degree.

float headingError_deg

Heading error. Unit degree.

float heaveError_m

Heave error. Unit meter.

float northAcceleration

Unit m/s^2.

float eastAcceleration

Unit m/s^2.

float downAcceleration

Unit m/s^2.

The documentation for this struct was generated from the following file:

- EMdgmFormat.h