new ins status message definition as discussed with CRL
@@ -147,21 +147,22 @@ definitions:
fields:
- 8-31:
desc: Reserved
- - 5-7:
- desc: IMU Status
+ - 4-7:
+ desc: INS Error
values:
- - 0: IMU Ready
- - 1: No raw IMU data
- - 2: No raw IMU timestamp
- - 3: Unrecommended raw IMU rate
- - 3-4:
- desc: Initialization Routine Indicator
+ - 0: Reserved
+ - 1: IMU Data Error
+ - 2: INS License Error
+ - 3: IMU Calibration Data Error
+ - 3:
+ desc: GNSS Fix
values:
- - 0: None
- - 1: Initial startup
+ - 0: No GNSS fix available
+ - 1: GNSS fix
- 0-2:
- desc: INS Status
+ desc: Mode
values:
- - 0: INS ready
- - 1: INS initializing
- - 2: INS error
+ - 0: Awaiting initialization
+ - 1: Dynamically aligning
+ - 2: Ready
+ - 3: GNSS Outage exceeds max duration
