Reference point lever arm (0x0D,0x56)

Description

Lever arm offset with respect to the sensor for the indicated point of reference.
Notes

This is used to change the location of the indicated point of reference, and will affect filter position and velocity outputs. Changing this setting from default will result in a global position offset that depends on vehicle attitude, and a velocity offset that depends on vehicle attitude and angular rate.
The lever arm is defined by a 3-element vector that points from the sensor to the desired reference point, with (x,y,z) components given in the vehicle's reference frame.

Note, if the reference point selector is set to VEH (1), this setting will affect the following data fields: (0x82, 0x01), (0x82, 0x02), (0x82, 0x40), (0x82, 0x41), and (0x82, 42)

Offset Limits
Reference Point VEH (1): 10 m magnitude (default)
Parameter Name Data Type Description
Field Length u8 4
Descriptor u8 0x56
Function Selector u8 This command supports the following MIP function selectors:
Write Read Save Load Default [WRSLD]
Ref Point Sel u8 enum Reserved, must be 1
NameValueDescription
VEH1Defines the origin of the vehicle
Lever Arm Offset vector3f [m] Lever arm offset vector in the vehicle's reference frame.
Ack/Nack Reply See standard MIP ack/nack reply format.
Response Data Data Type Description
Response Length u8 3
Response Descriptor u8 0xD6
Ref Point Sel u8 enum Reserved, must be 1
NameValueDescription
VEH1Defines the origin of the vehicle
Lever Arm Offset vector3f [m] Lever arm offset vector in the vehicle's reference frame.