If a full-state filter is being used, are the rate-gyro and accelerometer biases available as outputs? How about the magnetometer biases?
Currently the biases are not available as outputs. ________________________ Note that the sys status word of the 0xC4 message has changed. The bits are now defined as follows: bits description —- ———– 31-16 reserved 15-8 GPS HDOP (divide by 5 for actual value) 7 Nonvolatile configuration valid 6 ECEF to NED transform update (~1 minute intervals) 5 GPS update from GPS receiver 4 reserved 3-0 Mode 0 = VG (vertical gyro mode) Initialization 1 = VG fast slew rate 2 = VG medium slew rate 3 = VG slow slew rate 4 = VG slow, eligible for INS mode 5 = INS mode Note that you can now save mag biases in nonvolatile memory on the MIDG. The new display utility supports this operation. However, since the new filter does not use the magnetometer, the relevance of this new functionality is reduced. It would be handy in the case that GPS is lost and the unit must run in vertical gyro mode slaved to the magnetometer for heading. ___________________________ The relevant links for the most recent
