# Data Packets
FDILink 数据包提供广泛的功能。fdilink 主要数据包包含两类State Packets 可以读取相关的系统状态以及导航数据。
这些包可以通过上位机配置后让导航系统按照一定频率主动发送，也可以通过 Request Packets 请求发送对应的 State Packets 。
# State Packets
| Packet ID | Name | Description | Length | R/W |
|---|---|---|---|---|
| 39 | MSG_VERSION | MSG_VERSION | 26 | R |
| 40 | MSG_IMU | MSG_IMU | 56 | R |
| 41 | MSG_AHRS | MSG_AHRS | 48 | R |
| 42 | MSG_INS_GPS | MSG_INS_GPS | 72 | R |
| 50 | MSG_SYS_STATE | MSG_SYS_STATE | 100 | R |
| 51 | MSG_UNIX_TIME | Unix Time Packet | 8 | R |
| 52 | MSG_FORMAT_TIME | Formatted Time Packet | 14 | R |
| 53 | MSG_STATUS | Status Packet | 4 | R |
| 54 | MSG_POS_STD_DEV | Position Standard Deviation Packet | 12 | R |
| 55 | MSG_VEL_STD_DEV | Velocity Standard Deviation Packet | 12 | R |
| 56 | MSG_EULER_ORIEN_STD_DEV | Euler Orientation Standard Deviation Packet | 12 | R |
| 57 | MSG_QUAT_ORIEN_STD_DEV | Quaternion Orientation Standard Deviation Packet | 16 | R |
| 58 | MSG_RAW_SENSORS | Raw Sensors Packet | 48 | R |
| 59 | MSG_RAW_GNSS | Raw GNSS Packet | 74 | R |
| 5A | MSG_SATELLITE | Satellites Packet | 9 | R |
| 5B | MSG_DETAILED_SATELLITE | Detailed Satellites Packet | Varies | R |
| 5C | MSG_GEODETIC_POS | Geodetic Position Packet | 32 | R |
| 5D | MSG_ECEF_POS | ECEF Position Packet | 24 | R |
| 5E | MSG_UTM_POS | UTM Position Packet | 14 | R |
| 5F | MSG_NED_VEL | NED Velocity Packet | 12 | R |
| 60 | MSG_BODY_VEL | Body Velocity Packet | 12 | R |
| 61 | MSG_ACCELERATION | Acceleration Packet | 12 | R |
| 62 | MSG_BODY_ACCELERATION | Body Acceleration Packet | 16 | R |
| 63 | MSG_EULER_ORIEN | Euler Orientation Packet | 12 | R |
| 64 | MSG_QUAT_ORIEN | Quaternion Orientation Packet | 16 | R |
| 65 | MSG_DCM_ORIEN | DCM Orientation Packet | 36 | R |
| 66 | MSG_ANGULAR_VEL | Angular Velocity Packet | 12 | R |
| 67 | MSG_ANGULAR_ACC | Angular Acceleration Packet | 12 | R |
| 68 | MSG_EXT_PV | External Position and Velocity Packet | 60 | W |
| 69 | MSG_EXT_POS | External Position Packet | 36 | W |
| 6A | MSG_EXT_VEL | External Velocity Packet | 24 | W |
| 6B | MSG_EXT_BODY_VEL | External Body Velocity Packet | 24 | W |
| 6C | MSG_EXT_HEADING | External Heading Packet | 8 | W |
| 6D | MSG_RUNNING_TIME | Running Time Packet | 8 | R |
| 6E | MSG_LOCAL_MAG_FIELD | Local Magnetic Field Packet | 24 | R |
| 70 | MSG_EXT_TIME | External Time Packet | 8 | W |
| 72 | MSG_GEOID_HEIGHT | Geoid Height Packet | 4 | R |
| 73 | MSG_RTCM_CORRECTIONS | RTCM Corrections Packet | Varies | W |
| 76 | MSG_HEAVE | Heave Packet | 16 | R |
| 77 | MSG_RAW_SATELLITE | Raw Satellite Data Packet | Varies | R |
| 61 | Raw Satellite Ephemeris Packet | Raw Satellite Ephemeris Packet | Varies | R |
| 69 | GNSS Receiver Information Packet (opens new window) | GNSS Receiver Information Packet | Varies | R |
| 7B | MSG_AUTOMOTIVE | Automotive Packet | 24 | R |
| 75 | External Magnetometers Packet (opens new window) | External Magnetometers Packet | 17 | R/W |
| 80 | Basestation Packet (opens new window) | Basestation Packet | 45 | R |
| 6F | MSG_ODOMETER_STATE | Odometer_*State_*Packet | 18 | R |
| 75 | MSG_WIND | Wind_Packet | 12 | R/W |
| 78 | MSG_GNSS_DUAL_ANT | Gnss_*Dual_*Ant_Packet | 134 | R |
| 7A | MSG_GIMBAL_STATE | GimBal_State_Packet | 8 | R |
| 7C | MSG_PACKET_TIMER_PERIOD | Time_period_Packet | 4 | R |
| 7D | MSG_PACKETS_PERIOD | Period_Packet | 7 | R |
| 80 | MSG_INSTALL_ALIGN | Install_Align_Packet | 73 | R |
| 81 | MSG_FILTER_OPTIONS | Filter_Options_Packet | 12 | R |
| 82 | MSG_GPIO_CONFIG | GPIO_Config_Packet | 5 | R |
| 83 | MSG_MAG_CALI_VALUES | Mag_Cali_Values_Packet | 49 | R |
| 84 | MSG_MAG_CALI_CONFIG | Mag_cali_config_packet | 1 | R |
| 85 | MSG_MAG_CALI_STATUS | Mag_Cali_status_packet | 3 | R |
| 86 | MSG_ODOMETER_CONFIG | Odometer_config_packet | 8 | R |
| 87 | MSG_SET_ZERO_ORIENT_ALIGN | Zero_orient_align_packet | 5 | W |
| 88 | MSG_REF_POINT_OFFSET | Ref_point_offset_packet | 49 | R |
| A0 | MSG_BAUD_RATES | baud_Rates_packet | 25 | R |
| A1 | MSG_SENSOR_RANGES | Sensor_Ranges_packet | 4 | R/W |
| A4 | MSG_DUAL_ANT | Dual_Ant_packet | 17 | R/W |
| 8A | MSG_USER_DATA | User_Data_packet | ||
| 71 | MSG_EXT_DEPTH | Ext_Depth_packet | 8 | W |
| 74 | MSG_PILOT_PRESS | Pilot_Press_packet | 8 | W |
| 79 | MSG_EXT_AIR | Ext_Air_Packet | 25 | W |
| 91 | MSG_EXT_SLAM1 | Ext_Slam1_Packet | 72 | W |
| 92 | MSG_EXT_SLAM2 | Ext_Slam2_Packet | 72 | W |
| 89 | MSG_EXT_ODOM | Ext_Odom_Packet | 21 | W |
| A0 | MSG_REQUEST_PACKET | Request_Packet | Varies | W |
# Request Packets
| Packet ID | Name | Description | Length | R/W |
|---|---|---|---|---|
| Request Packets | ||||
| A0 | MSG_REQUEST_PACKET | Request_Packet | Varies | W |