(window.webpackJsonp=window.webpackJsonp||[]).push([[298],{613:function(t,_,v){"use strict";v.r(_);var e=v(10),d=Object(e.a)({},(function(){var t=this,_=t._self._c;return _("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[_("h1",{attrs:{id:"msg-ext-depth"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#msg-ext-depth"}},[t._v("#")]),t._v(" MSG_EXT_DEPTH")]),t._v(" "),_("p",[t._v("该数据包用于描述外部深度,深度数据在水平面上定义为0,在水平面以下定义为正数;而产品融合的高度为海拔高,因此用户需要知道在水平面时的海拔高是多少,假设为A米,深度传感器在当前水里获得的深度值为B米,则当前的海拔高为A-B米,将该值作为数据包里的Depth值,和Depth_standard_deviation一起通过FDILink外部输入的标准封装发送给模块,模块解析接收到的数据流同时进行相应的外部数据融合,这样能保证设备从水上到水下,或者水下到水上,高度数据能保持连续平滑;用户通过FDILink外部输入的标准封装发送给模块,模块解析接收到的数据流同时进行相应的外部数据融合,从而提高导航精度;上位机需要配置该数据对应输入的串口为External Depth,或者配置为Main和nav模式的串口也支持解析,同时AID融合开关需要打开AID_EXT_SLAM1_UPDATE,具体参考产品使用手册外部输入融合说明章节。")]),t._v(" "),_("table",[_("thead",[_("tr",[_("th",{staticStyle:{"text-align":"left"}},[t._v("MSG_EXT_DEPTH")]),t._v(" "),_("th"),t._v(" "),_("th"),t._v(" "),_("th"),t._v(" "),_("th"),t._v(" "),_("th")])]),t._v(" "),_("tbody",[_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("Packet ID")]),t._v(" "),_("td",[t._v("0x71")]),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td")]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("Length")]),t._v(" "),_("td",[t._v("8")]),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td")]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("Read / Write")]),t._v(" "),_("td",[t._v("Write")]),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td")]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("Offset")]),t._v(" "),_("td",[t._v("Size")]),t._v(" "),_("td",[t._v("Format")]),t._v(" "),_("td",[t._v("Field")]),t._v(" "),_("td",[t._v("Unit")]),t._v(" "),_("td",[t._v("Description")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("0")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("Depth")]),t._v(" "),_("td",[t._v("m")]),t._v(" "),_("td",[t._v("深度")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("Depth_standard_deviation")]),t._v(" "),_("td",[t._v("m")]),t._v(" "),_("td",[t._v("深度标准差")])])])])])}),[],!1,null,null,null);_.default=d.exports}}]);