MSG_INSTALL_ALIGN

MSG_INSTALL_ALIGN
Packet ID	0x80
Length	73
Read / Write	Read
Offset	Size	Format	Field	Unit	Description
0	1	Uint8_t	Permanent
1	36	float32_t	Alignment_DCM[3][3]		对齐旋转矩阵
37	4	float32_t	GNSS_antenna_offset_X	m	GNSS天线X方向偏移
41	4	float32_t	GNSS_antenna_offset_Y	m	GNSS天线Y方向偏移
45	4	float32_t	GNSS_antenna_offset_Z	m	GNSS天线Z方向偏移
49	4	float32_t	Odometer_offset_X	m	里程计X方向偏移
53	4	float32_t	Odometer_offset_Y	m	里程计Y方向偏移
57	4	float32_t	Odometer_offset_Z	m	里程计Z方向偏移
61	4	float32_t	External_data_offset_X	m	外部数据X方向偏移
65	4	float32_t	External_data_offset_Y	m	外部数据Y方向偏移
69	4	float32_t	External_data_offset_Z	m	外部数据Z方向偏移

Alignment DCM

The alignment DCM (direction cosine matrix) is used to represent an alignment offset of Spatial Dual from it's standard alignment. A DCM is used rather than euler angles for accuracy reasons. To convert euler angles to DCM please use the formula below with angles in radians.

DCM[0][0] = cos(heading) * cos(pitch)

DCM[0][1] = sin(heading) * cos(pitch)

DCM[0][2] = -sin(pitch)

DCM[1][0] = -sin(heading) * cos(roll) + cos(heading) * sin(pitch) * sin(roll)

DCM[1][1] = cos(heading) * cos(roll) + sin(heading) * sin(pitch) * sin(roll)

DCM[1][2] = cos(pitch) * sin(roll) DCM[2][0] = sin(heading) * sin(roll) + cos(heading) * sin(pitch) * cos(roll) DCM[2][1] = -cos(heading) * sin(roll) + sin(heading) * sin(pitch) * cos(roll)

DCM[2][2] = cos(pitch) * cos(roll)