Modules

Here is a list of all modules:

[detail level 12345]

▼MicroStrain Serialization	Serialization functions for reading and writing to byte buffers
MicroStrain Serialization [C]	(De)serialization in C
MicroStrain Serialization [CPP]
▼MIP
▼MIP C API	This module contains functions and classes for communicating with a MIP device in C
▼Mip Commands	Contains all MIP command definitions
►3dm Commands
(0x0C,0x01) Poll Imu Message	Poll the device for an IMU message with the specified format
(0x0C,0x02) Poll Gnss Message	Poll the device for an GNSS message with the specified format
(0x0C,0x03) Poll Filter Message	Poll the device for an Estimation Filter message with the specified format
(0x0C,0x08) Imu Message Format	Set, read, or save the format of the IMU data packet
(0x0C,0x09) Gps Message Format	Set, read, or save the format of the GNSS data packet
(0x0C,0x0A) Filter Message Format	Set, read, or save the format of the Estimation Filter data packet
(0x0C,0x06) Imu Get Base Rate	Get the base rate for the IMU data in Hz
(0x0C,0x07) Gps Get Base Rate	Get the base rate for the GNSS data in Hz
(0x0C,0x0B) Filter Get Base Rate	Get the base rate for the Estimation Filter data in Hz
(0x0C,0x0D) Poll Data	Poll the device for a message with the specified descriptor set and format
(0x0C,0x0E) Get Base Rate	Get the base rate for the specified descriptor set in Hz
(0x0C,0x0F) Message Format	Set, read, or save the format for a given data packet
(0x0C,0x04) Nmea Poll Data	Poll the device for a NMEA message with the specified format
(0x0C,0x0C) Nmea Message Format	Set, read, or save the NMEA message format
(0x0C,0x30) Device Settings	Save, Load, or Reset to Default the values for all device settings
(0x0C,0x40) Uart Baudrate	Read, Save, Load, or Reset to Default the baud rate of the main communication channel
(0x0C,0x10) Factory Streaming	Configures the device for recording data for technical support
(0x0C,0x11) Datastream Control	Enable/disable the selected data stream
(0x0C,0x21) Constellation Settings	This command configures which satellite constellations are enabled and how many channels are dedicated to tracking each constellation
(0x0C,0x22) Gnss Sbas Settings	Configure the SBAS subsystem
(0x0C,0x23) Gnss Assisted Fix	Set the options for assisted GNSS fix
(0x0C,0x24) Gnss Time Assistance	Provide the GNSS subsystem with initial time information
(0x0C,0x50) Imu Lowpass Filter	Advanced configuration for the IMU data quantity low-pass filters
(0x0C,0x28) Pps Source	Controls the Pulse Per Second (PPS) source
(0x0C,0x41) Gpio Config	Configures the user GPIO pins on the connector for use with several built-in functions or for general input or output
(0x0C,0x42) Gpio State	Allows the state of the pin to be read or controlled
(0x0C,0x43) Odometer	Configures the hardware odometer interface
(0x0C,0x2A) Get Event Support	Lists the available trigger or action types
(0x0C,0x2B) Event Control	Enables or disables event triggers
(0x0C,0x2C) Get Event Trigger Status
(0x0C,0x2D) Get Event Action Status
(0x0C,0x2E) Event Trigger	Configures various types of event triggers
(0x0C,0x2F) Event Action	Configures various types of event actions
(0x0C,0x37) Accel Bias	Configures the user specified accelerometer bias
(0x0C,0x38) Gyro Bias	Configures the user specified gyroscope bias
(0x0C,0x39) Capture Gyro Bias	Samples gyro for a specified time range and writes the averaged result to the Gyro Bias vector in RAM
(0x0C,0x3A) Mag Hard Iron Offset	Configure the user specified magnetometer hard iron offset vector
(0x0C,0x3B) Mag Soft Iron Matrix	Configure the user specified magnetometer soft iron offset matrix
(0x0C,0x3E) Coning Sculling Enable	Controls the Coning and Sculling Compenstation setting
(0x0C,0x31) Sensor 2 Vehicle Transform Euler	Sets the sensor-to-vehicle frame transformation using Yaw, Pitch, Roll Euler angles. These are the Yaw, Pitch, and Roll mounting angles of the sensor with respect to vehicle frame of reference, and describe the transformation of vectors from the sensor body frame to the vehicle frame. Note: This is the transformation, the inverse of the rotation defined in our legacy products. The transformation may be stored in the device as a matrix or quaternion. When Euler angles are read back from the device, they may not be exactly equal to the Euler angles used to set the transformation, but they are functionally equivalent, such that they result in the same transformation. This transformation to the vehicle frame will be applied to the following output quantities: IMU: Scaled Acceleration Scaled Gyro Scaled Magnetometer Delta Theta Delta Velocity Complementary Filter Orientation Estimation Filter: Estimated Orientation, Quaternion Estimated Orientation, Matrix Estimated Orientation, Euler Angles Estimated Linear Acceleration Estimated Angular Rate Estimated Gravity Vector Changing this setting will force all low-pass filters, the complementary filter, and the estimation filter to reset
(0x0C,0x32) Sensor 2 Vehicle Transform Quaternion	Set the sensor to vehicle frame transformation using unit length quaternion
(0x0C,0x33) Sensor 2 Vehicle Transform Dcm	Set the sensor to vehicle frame transformation using a using a 3 x 3 direction cosine matrix EQSTART M_{ned}^{veh} EQEND, stored in row-major order in a 9-element array
(0x0C,0x51) Complementary Filter	Configure the settings for the complementary filter which produces the following (0x80) descriptor set values: attitude matrix (0x80,09), quaternion (0x80,0A), and Euler angle (0x80,0C) outputs
(0x0C,0x52) Sensor Range	Changes the IMU sensor gain
(0x0C,0x53) Calibrated Sensor Ranges	Returns the supported sensor ranges which may be used with the 3DM Sensor Range (0x0C,0x52) command
(0x0C,0x54) Lowpass Filter	This command controls the low-pass anti-aliasing filter supported data quantities
►Aiding Commands
(0x13,0x01) Frame Config	Defines an aiding frame associated with a specific sensor frame ID. The frame ID used in this command should mirror the frame ID used in the aiding command (if that aiding measurement is measured in this reference frame)
(0x13,0x1F) Echo Control	Controls command response behavior to external aiding commands
(0x13,0x21) Pos Ecef	Cartesian vector position aiding command. Coordinates are given in the WGS84 ECEF system
(0x13,0x22) Pos Llh	Geodetic position aiding command. Coordinates are given in WGS84 geodetic latitude, longitude, and height above the ellipsoid. Uncertainty is given in NED coordinates, which are parallel to incremental changes in latitude, longitude, and height
(0x13,0x23) Height Above Ellipsoid	Estimated value of the height above ellipsoid
(0x13,0x28) Vel Ecef	ECEF velocity aiding command. Coordinates are given in the WGS84 ECEF frame
(0x13,0x29) Vel Ned	NED velocity aiding command. Coordinates are given in the local North-East-Down frame
(0x13,0x2A) Vel Body Frame	Estimated of velocity of the vehicle in the frame associated with the given sensor ID, relative to the vehicle frame
(0x13,0x31) Heading True
(0x13,0x32) Magnetic Field	Estimate of magnetic field in the frame associated with the given sensor ID
(0x13,0x33) Pressure	Estimated value of air pressure
►Base Commands
(0x01,0x01) Ping	Test Communications with a device
(0x01,0x02) Set Idle	Turn off all device data streams
(0x01,0x03) Get Device Info	Get the device ID strings and firmware version number
(0x01,0x04) Get Device Descriptors	Get the command and data descriptors supported by the device
(0x01,0x05) Built In Test	Run the device Built-In Test (BIT)
(0x01,0x06) Resume	Take the device out of idle mode
(0x01,0x07) Get Extended Descriptors	Get the command and data descriptors supported by the device
(0x01,0x08) Continuous Bit	Report result of continuous built-in test
(0x01,0x09) Comm Speed	Controls the baud rate of a specific port on the device
(0x01,0x72) Gps Time Update	Set device internal GPS time When combined with a PPS input signal applied to the I/O connector, this command enables complete synchronization of data outputs with an external time base, such as GPS system time. Since the hardware PPS synchronization can only detect the fractional number of seconds when pulses arrive, complete synchronization requires that the user provide the whole number of seconds via this command. After achieving PPS synchronization, this command should be sent twice: once to set the time-of-week and once to set the week number. PPS synchronization can be verified by monitoring the time sync status message (0xA0, 0x02) or the valid flags of any shared external timestamp (0x–, D7) data field
(0x01,0x7E) Soft Reset	Resets the device
►Filter Commands
(0x0D,0x01) Reset	Resets the filter to the initialization state
(0x0D,0x02) Set Initial Attitude	Set the sensor initial attitude
(0x0D,0x14) Estimation Control	Estimation Control Flags
(0x0D,0x16) External Gnss Update	Provide a filter measurement from an external GNSS
(0x0D,0x17) External Heading Update	Provide a filter measurement from an external heading source
(0x0D,0x1F) External Heading Update With Time	Provide a filter measurement from an external heading source at a specific GPS time
(0x0D,0x21) Tare Orientation	Tare the device orientation
(0x0D,0x10) Vehicle Dynamics Mode	Controls the vehicle dynamics mode
(0x0D,0x11) Sensor To Vehicle Rotation Euler	Set the sensor to vehicle frame rotation using Yaw, Pitch, Roll Euler angles
(0x0D,0x4E) Sensor To Vehicle Rotation Dcm	Set the sensor to vehicle frame rotation using a row-major direction cosine matrix
(0x0D,0x4F) Sensor To Vehicle Rotation Quaternion	Set the sensor to vehicle frame rotation using a quaternion
(0x0D,0x12) Sensor To Vehicle Offset	Set the sensor to vehicle frame offset, expressed in the sensor frame
(0x0D,0x13) Antenna Offset	Configure the GNSS antenna offset
(0x0D,0x15) Gnss Source	Control the source of GNSS information used to update the Kalman Filter
(0x0D,0x18) Heading Source	Control the source of heading information used to update the Kalman Filter
(0x0D,0x19) Auto Init Control	Filter Auto-initialization Control
(0x0D,0x1A) Accel Noise	Accelerometer Noise Standard Deviation
(0x0D,0x1B) Gyro Noise	Gyroscope Noise Standard Deviation
(0x0D,0x1C) Accel Bias Model	Accelerometer Bias Model Parameters
(0x0D,0x1D) Gyro Bias Model	Gyroscope Bias Model Parameters
(0x0D,0x47) Altitude Aiding	Select altitude input for absolute altitude and/or vertical velocity. The primary altitude reading is always GNSS. Aiding inputs are used to improve GNSS altitude readings when GNSS is available and to backup GNSS during outages
(0x0D,0x4B) Pitch Roll Aiding	Select pitch/roll aiding input. Pitch/roll reading is always derived from GNSS corrected inertial solution. Aiding inputs are used to improve that solution during periods of low dynamics and GNSS outages
(0x0D,0x1E) Auto Zupt	The ZUPT is triggered when the scalar magnitude of the GNSS reported velocity vector is equal-to or less than the threshold value. The device will NACK threshold values that are less than zero (i.e.negative.)
(0x0D,0x20) Auto Angular Zupt	Zero Angular Rate Update The ZUPT is triggered when the scalar magnitude of the angular rate vector is equal-to or less than the threshold value. The device will NACK threshold values that are less than zero (i.e.negative.)
(0x0D,0x22) Commanded Zupt	Please see the device user manual for the maximum rate of this message
(0x0D,0x23) Commanded Angular Zupt	Please see the device user manual for the maximum rate of this message
(0x0D,0x27) Mag Capture Auto Cal	This command captures the current value of the auto-calibration, applies it to the current fixed hard and soft iron calibration coefficients, and replaces the current fixed hard and soft iron calibration coefficients with the new values. This may be used in place of (or in addition to) a manual hard and soft iron calibration utility. This command also resets the auto-calibration coefficients. Function selector SAVE is the same as issuing the 0x0C, 0x3A and 0x0C, 0x3B commands with the SAVE function selector
(0x0D,0x28) Gravity Noise	Set the expected gravity noise 1-sigma values. This function can be used to tune the filter performance in the target application
(0x0D,0x29) Pressure Altitude Noise	Set the expected pressure altitude noise 1-sigma values. This function can be used to tune the filter performance in the target application
(0x0D,0x2B) Hard Iron Offset Noise	Set the expected hard iron offset noise 1-sigma values. This function can be used to tune the filter performance in the target application
(0x0D,0x2C) Soft Iron Matrix Noise	Set the expected soft iron matrix noise 1-sigma values. This function can be used to tune the filter performance in the target application
(0x0D,0x42) Mag Noise	Set the expected magnetometer noise 1-sigma values. This function can be used to tune the filter performance in the target application
(0x0D,0x4C) Inclination Source	Set/Get the local magnetic field inclination angle source
(0x0D,0x43) Magnetic Declination Source	Set/Get the local magnetic field declination angle source
(0x0D,0x4D) Mag Field Magnitude Source	Set/Get the local magnetic field magnitude source
(0x0D,0x26) Reference Position	Set the Lat/Long/Alt reference position for the sensor
(0x0D,0x44) Accel Magnitude Error Adaptive Measurement	Enable or disable the gravity magnitude error adaptive measurement. This function can be used to tune the filter performance in the target application
(0x0D,0x45) Mag Magnitude Error Adaptive Measurement	Enable or disable the magnetometer magnitude error adaptive measurement. This feature will reject magnetometer readings that are out of range of the thresholds specified (fixed adaptive) or calculated internally (auto-adaptive)
(0x0D,0x46) Mag Dip Angle Error Adaptive Measurement	Enable or disable the magnetometer dip angle error adaptive measurement. This function can be used to tune the filter performance in the target application
(0x0D,0x50) Aiding Measurement Enable	Enables / disables the specified aiding measurement source
(0x0D,0x05) Run	Manual run command
(0x0D,0x51) Kinematic Constraint	Controls kinematic constraint model selection for the navigation filter
(0x0D,0x52) Initialization Configuration	Controls the source and values used for initial conditions of the navigation solution
(0x0D,0x53) Adaptive Filter Options	Configures the basic setup for auto-adaptive filtering. See product manual for a detailed description of this feature
(0x0D,0x54) Multi Antenna Offset	Set the antenna lever arm
(0x0D,0x55) Rel Pos Configuration	Configure the reference location for filter relative positioning outputs
(0x0D,0x56) Ref Point Lever Arm	Lever arm offset with respect to the sensor for the indicated point of reference. 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)
(0x0D,0x60) Speed Measurement	Speed aiding measurement, where speed is defined as rate of motion along the vehicle's x-axis direction. Can be used by an external odometer/speedometer, for example. This command cannot be used if the internal odometer is configured
(0x0D,0x61) Speed Lever Arm	Lever arm offset for speed measurements. This is used to compensate for an off-center measurement point having a different speed due to rotation of the vehicle. The typical use case for this would be an odometer attached to a wheel on a standard 4-wheeled vehicle. If the odometer is on the left wheel, it will report higher speed on right turns and lower speed on left turns. This is because the outside edge of the curve is longer than the inside edge
(0x0D,0x63) Wheeled Vehicle Constraint Control	Configure the wheeled vehicle kinematic constraint
(0x0D,0x62) Vertical Gyro Constraint Control	Configure the vertical gyro kinematic constraint
(0x0D,0x64) Gnss Antenna Cal Control	Configure the GNSS antenna lever arm calibration
(0x0D,0x03) Set Initial Heading	Set the initial heading angle
►Gnss Commands
(0x0E,0x01) Receiver Info	Return information about the GNSS receivers in the device
(0x0E,0x02) Signal Configuration	Configure the GNSS signals used by the device
(0x0E,0x10) Rtk Dongle Configuration	Configure the communications with the RTK Dongle connected to the device
►Rtk Commands
(0x0F,0x01) Get Status Flags
(0x0F,0x02) Get Imei
(0x0F,0x03) Get Imsi
(0x0F,0x04) Get Iccid
(0x0F,0x06) Connected Device Type
(0x0F,0x07) Get Act Code
(0x0F,0x08) Get Modem Firmware Version
(0x0F,0x05) Get Rssi	Get the RSSI and connected/disconnected status of modem
(0x0F,0x0A) Service Status	The 3DMRTK will send this message to the server to indicate that the connection should remain open. The Server will respond with information and status
(0x0F,0x20) Prod Erase Storage	This command will erase the selected media to a raw and uninitialized state. ALL DATA WILL BE LOST. This command is only available in calibration mode
(0x0F,0x21) Led Control	This command allows direct control of the LED on the 3DM RTK. This command is only available in calibration mode or Production Test Mode
(0x0F,0x22) Modem Hard Reset	This command will clear the modem flash. THIS MUST NOT BE DONE OFTEN AS IT CAN DAMAGE THE FLASH! This command is only available in calibration mode
►System Commands
(0x7F,0x10) Comm Mode	Advanced specialized communication modes
▼Mip Data	Contains all MIP data definitions
►Filter Data
(0x82,0x01) Position Llh	Filter reported position in the WGS84 geodetic frame
(0x82,0x02) Velocity Ned	Filter reported velocity in the NED local-level frame
(0x82,0x03) Attitude Quaternion	4x1 vector representation of the quaternion describing the orientation of the device with respect to the NED local-level frame. This quaternion satisfies the following relationship:
(0x82,0x04) Attitude Dcm	3x3 Direction Cosine Matrix EQSTART M_{ned}^{veh} EQEND describing the orientation of the device with respect to the NED local-level frame. This matrix satisfies the following relationship:
(0x82,0x05) Euler Angles	Filter reported Euler angles describing the orientation of the device with respect to the NED local-level frame. The Euler angles are reported in 3-2-1 (Yaw-Pitch-Roll, AKA Aircraft) order
(0x82,0x06) Gyro Bias	Filter reported gyro bias expressed in the sensor frame
(0x82,0x07) Accel Bias	Filter reported accelerometer bias expressed in the sensor frame
(0x82,0x08) Position Llh Uncertainty	Filter reported 1-sigma position uncertainty in the NED local-level frame
(0x82,0x09) Velocity Ned Uncertainty	Filter reported 1-sigma velocity uncertainties in the NED local-level frame
(0x82,0x0A) Euler Angles Uncertainty	Filter reported 1-sigma Euler angle uncertainties. The uncertainties are reported in 3-2-1 (Yaw-Pitch-Roll, AKA Aircraft) order
(0x82,0x0B) Gyro Bias Uncertainty	Filter reported 1-sigma gyro bias uncertainties expressed in the sensor frame
(0x82,0x0C) Accel Bias Uncertainty	Filter reported 1-sigma accelerometer bias uncertainties expressed in the sensor frame
(0x82,0x11) Timestamp	GPS timestamp of the Filter data
(0x82,0x10) Status	Device-specific filter status indicators
(0x82,0x0D) Linear Accel	Filter-compensated linear acceleration expressed in the vehicle frame. Note: The estimated gravity has been removed from this data leaving only linear acceleration
(0x82,0x13) Gravity Vector	Filter reported gravity vector expressed in the vehicle frame
(0x82,0x1C) Comp Accel	Filter-compensated acceleration expressed in the vehicle frame
(0x82,0x0E) Comp Angular Rate	Filter-compensated angular rate expressed in the vehicle frame
(0x82,0x12) Quaternion Attitude Uncertainty	Filter reported quaternion uncertainties
(0x82,0x0F) Wgs84 Gravity Mag	Filter reported WGS84 gravity magnitude
(0x82,0x14) Heading Update State	Filter reported heading update state
(0x82,0x15) Magnetic Model	The World Magnetic Model is used for this data. Please refer to the device user manual for the current version of the model. A valid GNSS location is required for the model to be valid
(0x82,0x17) Accel Scale Factor	Filter reported accelerometer scale factor expressed in the sensor frame
(0x82,0x19) Accel Scale Factor Uncertainty	Filter reported 1-sigma accelerometer scale factor uncertainty expressed in the sensor frame
(0x82,0x16) Gyro Scale Factor	Filter reported gyro scale factor expressed in the sensor frame
(0x82,0x18) Gyro Scale Factor Uncertainty	Filter reported 1-sigma gyro scale factor uncertainty expressed in the sensor frame
(0x82,0x1A) Mag Bias	Filter reported magnetometer bias expressed in the sensor frame
(0x82,0x1B) Mag Bias Uncertainty	Filter reported 1-sigma magnetometer bias uncertainty expressed in the sensor frame
(0x82,0x20) Standard Atmosphere	Filter reported standard atmosphere parameters
(0x82,0x21) Pressure Altitude	Filter reported pressure altitude
(0x82,0x22) Density Altitude
(0x82,0x30) Antenna Offset Correction	Filter reported GNSS antenna offset in vehicle frame
(0x82,0x31) Antenna Offset Correction Uncertainty	Filter reported 1-sigma GNSS antenna offset uncertainties in vehicle frame
(0x82,0x34) Multi Antenna Offset Correction	Filter reported GNSS antenna offset in vehicle frame
(0x82,0x35) Multi Antenna Offset Correction Uncertainty	Filter reported 1-sigma GNSS antenna offset uncertainties in vehicle frame
(0x82,0x25) Magnetometer Offset	Filter reported magnetometer hard iron offset in sensor frame
(0x82,0x26) Magnetometer Matrix	Filter reported magnetometer soft iron matrix in sensor frame
(0x82,0x28) Magnetometer Offset Uncertainty	Filter reported 1-sigma magnetometer hard iron offset uncertainties in sensor frame
(0x82,0x29) Magnetometer Matrix Uncertainty	Filter reported 1-sigma magnetometer soft iron matrix uncertainties in sensor frame
(0x82,0x2A) Magnetometer Covariance Matrix
(0x82,0x2C) Magnetometer Residual Vector	Filter reported magnetometer measurement residuals in vehicle frame
(0x82,0x32) Clock Correction	Filter reported GNSS receiver clock error parameters
(0x82,0x33) Clock Correction Uncertainty	Filter reported 1-sigma GNSS receiver clock error parameters
(0x82,0x43) Gnss Pos Aid Status	Filter reported GNSS position aiding status
(0x82,0x44) Gnss Att Aid Status	Filter reported dual antenna GNSS attitude aiding status
(0x82,0x45) Head Aid Status	Filter reported GNSS heading aiding status
(0x82,0x42) Rel Pos Ned	Filter reported relative position, with respect to configured reference position
(0x82,0x40) Ecef Pos	Filter reported ECEF position
(0x82,0x41) Ecef Vel	Filter reported ECEF velocity
(0x82,0x36) Ecef Pos Uncertainty	Filter reported 1-sigma position uncertainty in the ECEF frame
(0x82,0x37) Ecef Vel Uncertainty	Filter reported 1-sigma velocity uncertainties in the ECEF frame
(0x82,0x46) Aiding Measurement Summary	Filter reported aiding measurement summary. This message contains a summary of the specified aiding measurement over the previous measurement interval ending at the specified time
(0x82,0x47) Odometer Scale Factor Error	Filter reported odometer scale factor error. The total scale factor estimate is the user indicated scale factor, plus the user indicated scale factor times the scale factor error
(0x82,0x48) Odometer Scale Factor Error Uncertainty	Filter reported odometer scale factor error uncertainty
(0x82,0x49) Gnss Dual Antenna Status	Summary information for status of GNSS dual antenna heading estimate
(0x82,0x50) Aiding Frame Config Error	Filter reported aiding source frame configuration error
(0x82,0x51) Aiding Frame Config Error Uncertainty	Filter reported aiding source frame configuration error uncertainty
►Gnss Data
(0x81,0x03) Pos Llh	GNSS reported position in the WGS84 geodetic frame
(0x81,0x04) Pos Ecef	GNSS reported position in the Earth-centered, Earth-Fixed (ECEF) frame
(0x81,0x05) Vel Ned	GNSS reported velocity in the NED frame
(0x81,0x06) Vel Ecef	GNSS reported velocity in the Earth-centered, Earth-Fixed (ECEF) frame
(0x81,0x07) Dop	GNSS reported dilution of precision information
(0x81,0x08) Utc Time	GNSS reported Coordinated Universal Time
(0x81,0x09) Gps Time	GNSS reported GPS Time
(0x81,0x0A) Clock Info	GNSS reported receiver clock parameters
(0x81,0x0B) Fix Info	GNSS reported position fix type
(0x81,0x0C) Sv Info	GNSS reported space vehicle information
(0x81,0x0D) Hw Status	GNSS reported hardware status
(0x81,0x0E) Dgps Info	GNSS reported DGNSS status
(0x81,0x0F) Dgps Channel	GNSS reported DGPS Channel Status status
(0x81,0x10) Clock Info 2	GNSS reported receiver clock parameters
(0x81,0x11) Gps Leap Seconds	GNSS reported leap seconds (difference between GPS and UTC Time)
(0x81,0x12) Sbas Info	GNSS SBAS status
(0x81,0x13) Sbas Correction	GNSS calculated SBAS Correction
(0x81,0x14) Rf Error Detection	GNSS Error Detection subsystem status
(0x81,0x30) Base Station Info	RTCM reported base station information (sourced from RTCM Message 1005 or 1006)
(0x81,0x31) Rtk Corrections Status
(0x81,0x20) Satellite Status	Status information for a GNSS satellite
(0x81,0x22) Raw	GNSS Raw observation
(0x81,0x61) Gps Ephemeris	GPS Ephemeris Data
(0x81,0x63) Galileo Ephemeris	Galileo Ephemeris Data
(0x81,0x62) Glo Ephemeris	Glonass Ephemeris Data
(0x81,0x71) Gps Iono Corr	Ionospheric Correction Terms for GNSS
(0x81,0x73) Galileo Iono Corr	Ionospheric Correction Terms for Galileo
►Sensor Data
(0x80,0x01) Raw Accel	Three element vector representing the sensed acceleration. This quantity is temperature compensated and expressed in the sensor body frame
(0x80,0x02) Raw Gyro	Three element vector representing the sensed angular rate. This quantity is temperature compensated and expressed in the sensor body frame
(0x80,0x03) Raw Mag	Three element vector representing the sensed magnetic field. This quantity is temperature compensated and expressed in the vehicle frame
(0x80,0x16) Raw Pressure	Scalar value representing the sensed ambient pressure. This quantity is temperature compensated
(0x80,0x04) Scaled Accel	3-element vector representing the sensed acceleration. This quantity is temperature compensated and expressed in the vehicle frame
(0x80,0x05) Scaled Gyro	3-element vector representing the sensed angular rate. This quantity is temperature compensated and expressed in the vehicle frame
(0x80,0x06) Scaled Mag	3-element vector representing the sensed magnetic field. This quantity is temperature compensated and expressed in the vehicle frame
(0x80,0x17) Scaled Pressure	Scalar value representing the sensed ambient pressure
(0x80,0x07) Delta Theta	3-element vector representing the time integral of angular rate. This quantity is the integral of sensed angular rate over the period set by the IMU message format. It is expressed in the vehicle frame
(0x80,0x08) Delta Velocity	3-element vector representing the time integral of acceleration. This quantity is the integral of sensed acceleration over the period set by the IMU message format. It is expressed in the vehicle frame
(0x80,0x09) Comp Orientation Matrix	3x3 Direction Cosine Matrix EQSTART M_{ned}^{veh} EQEND describing the orientation of the device with respect to the NED local-level frame. This matrix satisfies the following relationship:
(0x80,0x0A) Comp Quaternion	4x1 vector representation of the quaternion describing the orientation of the device with respect to the NED local-level frame. This quaternion satisfies the following relationship:
(0x80,0x0C) Comp Euler Angles	Euler angles describing the orientation of the device with respect to the NED local-level frame. The Euler angles are reported in 3-2-1 (Yaw-Pitch-Roll, AKA Aircraft) order
(0x80,0x0B) Comp Orientation Update Matrix	DEPRECATED!
(0x80,0x0D) Orientation Raw Temp	DEPRECATED!
(0x80,0x0E) Internal Timestamp	DEPRECATED!
(0x80,0x0F) Pps Timestamp	DEPRECATED!
(0x80,0x12) Gps Timestamp	GPS timestamp of the SENSOR data
(0x80,0x14) Temperature Abs	SENSOR reported temperature statistics
(0x80,0x11) Up Vector	Gyro-stabilized 3-element vector representing the complementary filter's estimated vertical direction. This quantity is expressed in the vehicle frame
(0x80,0x10) North Vector	Gyro-stabilized 3-element vector representing the complementary filter's estimate of magnetic north. This quantity is expressed in the vehicle frame
(0x80,0x18) Overrange Status
(0x80,0x40) Odometer Data
►Shared Data
(0xFF,0xD0) Event Source	Identifies which event trigger caused this packet to be emitted
(0xFF,0xD1) Ticks	Time since powerup in multiples of the base rate
(0xFF,0xD2) Delta Ticks	Ticks since the last output of this field
(0xFF,0xD3) Gps Timestamp	Outputs the current GPS system time in time-of-week and week number format
(0xFF,0xD4) Delta Time	Time in the synchronized clock domain since the last output of this field within the same descriptor set and event instance
(0xFF,0xD5) Reference Timestamp	Internal reference timestamp
(0xFF,0xD6) Reference Time Delta	Delta time since the last packet
(0xFF,0xD7) External Timestamp	External timestamp in nanoseconds
(0xFF,0xD8) External Time Delta	Delta time since the last packet containing delta external (0xFF,0xD4) or delta gps time (0xFF,0xD8)
►System Data
(0xA0,0x01) Built In Test	Contains the continuous built-in-test (BIT) results
(0xA0,0x02) Time Sync Status	Indicates whether a sync has been achieved using the PPS signal
(0xA0,0x03) Gpio State	Indicates the state of all of the user GPIO pins
(0xA0,0x04) Gpio Analog Value	Indicates the analog value of the given user GPIO. The pin must be configured for analog input
▼Mip Command Handling	Functions for processing command responses
Pending Mip Commands
Mip Command Queue
▼Data Dispatch	System for issuing callbacks from MIP packets or fields
Dispatch Handler	This represents a binding between a MIP descriptor pair and a callback function
Mip Dispatcher	This is included in the Mip Interface to allow the registration of callbacks
▼Mip Fields	Functions for processing received MIP fields
Mip Field Accessors	Functions for inspecting a MIP field
Mip Field Iteration	Functions for iterating over fields in a MIP packet
Mip Interface	High-level C functions for controlling a MIP device
▼Mip Packet	Functions for building and processing MIP packets
Packet Building	Functions for building new MIP packets
Packet Inspection	Functions for accessing information about an existing MIP packet
Mip Parser	Functions for parsing MIP packets
▼C++ API	This module contains functions and classes for communicating with a MIP device in C++
▼Mip Commands	Contains all MIP command definitions
►3dm Commands
(0x0C,0x01) Poll Imu Message	Poll the device for an IMU message with the specified format
(0x0C,0x02) Poll Gnss Message	Poll the device for an GNSS message with the specified format
(0x0C,0x03) Poll Filter Message	Poll the device for an Estimation Filter message with the specified format
(0x0C,0x08) Imu Message Format	Set, read, or save the format of the IMU data packet
(0x0C,0x09) Gps Message Format	Set, read, or save the format of the GNSS data packet
(0x0C,0x0A) Filter Message Format	Set, read, or save the format of the Estimation Filter data packet
(0x0C,0x06) Imu Get Base Rate	Get the base rate for the IMU data in Hz
(0x0C,0x07) Gps Get Base Rate	Get the base rate for the GNSS data in Hz
(0x0C,0x0B) Filter Get Base Rate	Get the base rate for the Estimation Filter data in Hz
(0x0C,0x0D) Poll Data	Poll the device for a message with the specified descriptor set and format
(0x0C,0x0E) Get Base Rate	Get the base rate for the specified descriptor set in Hz
(0x0C,0x0F) Message Format	Set, read, or save the format for a given data packet
(0x0C,0x04) Nmea Poll Data	Poll the device for a NMEA message with the specified format
(0x0C,0x0C) Nmea Message Format	Set, read, or save the NMEA message format
(0x0C,0x30) Device Settings	Save, Load, or Reset to Default the values for all device settings
(0x0C,0x40) Uart Baudrate	Read, Save, Load, or Reset to Default the baud rate of the main communication channel
(0x0C,0x10) Factory Streaming	Configures the device for recording data for technical support
(0x0C,0x11) Datastream Control	Enable/disable the selected data stream
(0x0C,0x21) Constellation Settings	This command configures which satellite constellations are enabled and how many channels are dedicated to tracking each constellation
(0x0C,0x22) Gnss Sbas Settings	Configure the SBAS subsystem
(0x0C,0x23) Gnss Assisted Fix	Set the options for assisted GNSS fix
(0x0C,0x24) Gnss Time Assistance	Provide the GNSS subsystem with initial time information
(0x0C,0x50) Imu Lowpass Filter	Advanced configuration for the IMU data quantity low-pass filters
(0x0C,0x28) Pps Source	Controls the Pulse Per Second (PPS) source
(0x0C,0x41) Gpio Config	Configures the user GPIO pins on the connector for use with several built-in functions or for general input or output
(0x0C,0x42) Gpio State	Allows the state of the pin to be read or controlled
(0x0C,0x43) Odometer	Configures the hardware odometer interface
(0x0C,0x2A) Get Event Support	Lists the available trigger or action types
(0x0C,0x2B) Event Control	Enables or disables event triggers
(0x0C,0x2C) Get Event Trigger Status
(0x0C,0x2D) Get Event Action Status
(0x0C,0x2E) Event Trigger	Configures various types of event triggers
(0x0C,0x2F) Event Action	Configures various types of event actions
(0x0C,0x37) Accel Bias	Configures the user specified accelerometer bias
(0x0C,0x38) Gyro Bias	Configures the user specified gyroscope bias
(0x0C,0x39) Capture Gyro Bias	Samples gyro for a specified time range and writes the averaged result to the Gyro Bias vector in RAM
(0x0C,0x3A) Mag Hard Iron Offset	Configure the user specified magnetometer hard iron offset vector
(0x0C,0x3B) Mag Soft Iron Matrix	Configure the user specified magnetometer soft iron offset matrix
(0x0C,0x3E) Coning Sculling Enable	Controls the Coning and Sculling Compenstation setting
(0x0C,0x31) Sensor 2 Vehicle Transform Euler	Sets the sensor-to-vehicle frame transformation using Yaw, Pitch, Roll Euler angles. These are the Yaw, Pitch, and Roll mounting angles of the sensor with respect to vehicle frame of reference, and describe the transformation of vectors from the sensor body frame to the vehicle frame. Note: This is the transformation, the inverse of the rotation defined in our legacy products. The transformation may be stored in the device as a matrix or quaternion. When Euler angles are read back from the device, they may not be exactly equal to the Euler angles used to set the transformation, but they are functionally equivalent, such that they result in the same transformation. This transformation to the vehicle frame will be applied to the following output quantities: IMU: Scaled Acceleration Scaled Gyro Scaled Magnetometer Delta Theta Delta Velocity Complementary Filter Orientation Estimation Filter: Estimated Orientation, Quaternion Estimated Orientation, Matrix Estimated Orientation, Euler Angles Estimated Linear Acceleration Estimated Angular Rate Estimated Gravity Vector Changing this setting will force all low-pass filters, the complementary filter, and the estimation filter to reset
(0x0C,0x32) Sensor 2 Vehicle Transform Quaternion	Set the sensor to vehicle frame transformation using unit length quaternion
(0x0C,0x33) Sensor 2 Vehicle Transform Dcm	Set the sensor to vehicle frame transformation using a using a 3 x 3 direction cosine matrix EQSTART M_{ned}^{veh} EQEND, stored in row-major order in a 9-element array
(0x0C,0x51) Complementary Filter	Configure the settings for the complementary filter which produces the following (0x80) descriptor set values: attitude matrix (0x80,09), quaternion (0x80,0A), and Euler angle (0x80,0C) outputs
(0x0C,0x52) Sensor Range	Changes the IMU sensor gain
(0x0C,0x53) Calibrated Sensor Ranges	Returns the supported sensor ranges which may be used with the 3DM Sensor Range (0x0C,0x52) command
(0x0C,0x54) Lowpass Filter	This command controls the low-pass anti-aliasing filter supported data quantities
►Aiding Commands
(0x13,0x01) Frame Config	Defines an aiding frame associated with a specific sensor frame ID. The frame ID used in this command should mirror the frame ID used in the aiding command (if that aiding measurement is measured in this reference frame)
(0x13,0x1F) Echo Control	Controls command response behavior to external aiding commands
(0x13,0x21) Pos Ecef	Cartesian vector position aiding command. Coordinates are given in the WGS84 ECEF system
(0x13,0x22) Pos Llh	Geodetic position aiding command. Coordinates are given in WGS84 geodetic latitude, longitude, and height above the ellipsoid. Uncertainty is given in NED coordinates, which are parallel to incremental changes in latitude, longitude, and height
(0x13,0x23) Height Above Ellipsoid	Estimated value of the height above ellipsoid
(0x13,0x28) Vel Ecef	ECEF velocity aiding command. Coordinates are given in the WGS84 ECEF frame
(0x13,0x29) Vel Ned	NED velocity aiding command. Coordinates are given in the local North-East-Down frame
(0x13,0x2A) Vel Body Frame	Estimated of velocity of the vehicle in the frame associated with the given sensor ID, relative to the vehicle frame
(0x13,0x31) Heading True
(0x13,0x32) Magnetic Field	Estimate of magnetic field in the frame associated with the given sensor ID
(0x13,0x33) Pressure	Estimated value of air pressure
►Base Commands
(0x01,0x01) Ping	Test Communications with a device
(0x01,0x02) Set Idle	Turn off all device data streams
(0x01,0x03) Get Device Info	Get the device ID strings and firmware version number
(0x01,0x04) Get Device Descriptors	Get the command and data descriptors supported by the device
(0x01,0x05) Built In Test	Run the device Built-In Test (BIT)
(0x01,0x06) Resume	Take the device out of idle mode
(0x01,0x07) Get Extended Descriptors	Get the command and data descriptors supported by the device
(0x01,0x08) Continuous Bit	Report result of continuous built-in test
(0x01,0x09) Comm Speed	Controls the baud rate of a specific port on the device
(0x01,0x72) Gps Time Update	Set device internal GPS time When combined with a PPS input signal applied to the I/O connector, this command enables complete synchronization of data outputs with an external time base, such as GPS system time. Since the hardware PPS synchronization can only detect the fractional number of seconds when pulses arrive, complete synchronization requires that the user provide the whole number of seconds via this command. After achieving PPS synchronization, this command should be sent twice: once to set the time-of-week and once to set the week number. PPS synchronization can be verified by monitoring the time sync status message (0xA0, 0x02) or the valid flags of any shared external timestamp (0x–, D7) data field
(0x01,0x7E) Soft Reset	Resets the device
►Filter Commands
(0x0D,0x01) Reset	Resets the filter to the initialization state
(0x0D,0x02) Set Initial Attitude	Set the sensor initial attitude
(0x0D,0x14) Estimation Control	Estimation Control Flags
(0x0D,0x16) External Gnss Update	Provide a filter measurement from an external GNSS
(0x0D,0x17) External Heading Update	Provide a filter measurement from an external heading source
(0x0D,0x1F) External Heading Update With Time	Provide a filter measurement from an external heading source at a specific GPS time
(0x0D,0x21) Tare Orientation	Tare the device orientation
(0x0D,0x10) Vehicle Dynamics Mode	Controls the vehicle dynamics mode
(0x0D,0x11) Sensor To Vehicle Rotation Euler	Set the sensor to vehicle frame rotation using Yaw, Pitch, Roll Euler angles
(0x0D,0x4E) Sensor To Vehicle Rotation Dcm	Set the sensor to vehicle frame rotation using a row-major direction cosine matrix
(0x0D,0x4F) Sensor To Vehicle Rotation Quaternion	Set the sensor to vehicle frame rotation using a quaternion
(0x0D,0x12) Sensor To Vehicle Offset	Set the sensor to vehicle frame offset, expressed in the sensor frame
(0x0D,0x13) Antenna Offset	Configure the GNSS antenna offset
(0x0D,0x15) Gnss Source	Control the source of GNSS information used to update the Kalman Filter
(0x0D,0x18) Heading Source	Control the source of heading information used to update the Kalman Filter
(0x0D,0x19) Auto Init Control	Filter Auto-initialization Control
(0x0D,0x1A) Accel Noise	Accelerometer Noise Standard Deviation
(0x0D,0x1B) Gyro Noise	Gyroscope Noise Standard Deviation
(0x0D,0x1C) Accel Bias Model	Accelerometer Bias Model Parameters
(0x0D,0x1D) Gyro Bias Model	Gyroscope Bias Model Parameters
(0x0D,0x47) Altitude Aiding	Select altitude input for absolute altitude and/or vertical velocity. The primary altitude reading is always GNSS. Aiding inputs are used to improve GNSS altitude readings when GNSS is available and to backup GNSS during outages
(0x0D,0x4B) Pitch Roll Aiding	Select pitch/roll aiding input. Pitch/roll reading is always derived from GNSS corrected inertial solution. Aiding inputs are used to improve that solution during periods of low dynamics and GNSS outages
(0x0D,0x1E) Auto Zupt	The ZUPT is triggered when the scalar magnitude of the GNSS reported velocity vector is equal-to or less than the threshold value. The device will NACK threshold values that are less than zero (i.e.negative.)
(0x0D,0x20) Auto Angular Zupt	Zero Angular Rate Update The ZUPT is triggered when the scalar magnitude of the angular rate vector is equal-to or less than the threshold value. The device will NACK threshold values that are less than zero (i.e.negative.)
(0x0D,0x22) Commanded Zupt	Please see the device user manual for the maximum rate of this message
(0x0D,0x23) Commanded Angular Zupt	Please see the device user manual for the maximum rate of this message
(0x0D,0x27) Mag Capture Auto Cal	This command captures the current value of the auto-calibration, applies it to the current fixed hard and soft iron calibration coefficients, and replaces the current fixed hard and soft iron calibration coefficients with the new values. This may be used in place of (or in addition to) a manual hard and soft iron calibration utility. This command also resets the auto-calibration coefficients. Function selector SAVE is the same as issuing the 0x0C, 0x3A and 0x0C, 0x3B commands with the SAVE function selector
(0x0D,0x28) Gravity Noise	Set the expected gravity noise 1-sigma values. This function can be used to tune the filter performance in the target application
(0x0D,0x29) Pressure Altitude Noise	Set the expected pressure altitude noise 1-sigma values. This function can be used to tune the filter performance in the target application
(0x0D,0x2B) Hard Iron Offset Noise	Set the expected hard iron offset noise 1-sigma values. This function can be used to tune the filter performance in the target application
(0x0D,0x2C) Soft Iron Matrix Noise	Set the expected soft iron matrix noise 1-sigma values. This function can be used to tune the filter performance in the target application
(0x0D,0x42) Mag Noise	Set the expected magnetometer noise 1-sigma values. This function can be used to tune the filter performance in the target application
(0x0D,0x4C) Inclination Source	Set/Get the local magnetic field inclination angle source
(0x0D,0x43) Magnetic Declination Source	Set/Get the local magnetic field declination angle source
(0x0D,0x4D) Mag Field Magnitude Source	Set/Get the local magnetic field magnitude source
(0x0D,0x26) Reference Position	Set the Lat/Long/Alt reference position for the sensor
(0x0D,0x44) Accel Magnitude Error Adaptive Measurement	Enable or disable the gravity magnitude error adaptive measurement. This function can be used to tune the filter performance in the target application
(0x0D,0x45) Mag Magnitude Error Adaptive Measurement	Enable or disable the magnetometer magnitude error adaptive measurement. This feature will reject magnetometer readings that are out of range of the thresholds specified (fixed adaptive) or calculated internally (auto-adaptive)
(0x0D,0x46) Mag Dip Angle Error Adaptive Measurement	Enable or disable the magnetometer dip angle error adaptive measurement. This function can be used to tune the filter performance in the target application
(0x0D,0x50) Aiding Measurement Enable	Enables / disables the specified aiding measurement source
(0x0D,0x05) Run	Manual run command
(0x0D,0x51) Kinematic Constraint	Controls kinematic constraint model selection for the navigation filter
(0x0D,0x52) Initialization Configuration	Controls the source and values used for initial conditions of the navigation solution
(0x0D,0x53) Adaptive Filter Options	Configures the basic setup for auto-adaptive filtering. See product manual for a detailed description of this feature
(0x0D,0x54) Multi Antenna Offset	Set the antenna lever arm
(0x0D,0x55) Rel Pos Configuration	Configure the reference location for filter relative positioning outputs
(0x0D,0x56) Ref Point Lever Arm	Lever arm offset with respect to the sensor for the indicated point of reference. 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)
(0x0D,0x60) Speed Measurement	Speed aiding measurement, where speed is defined as rate of motion along the vehicle's x-axis direction. Can be used by an external odometer/speedometer, for example. This command cannot be used if the internal odometer is configured
(0x0D,0x61) Speed Lever Arm	Lever arm offset for speed measurements. This is used to compensate for an off-center measurement point having a different speed due to rotation of the vehicle. The typical use case for this would be an odometer attached to a wheel on a standard 4-wheeled vehicle. If the odometer is on the left wheel, it will report higher speed on right turns and lower speed on left turns. This is because the outside edge of the curve is longer than the inside edge
(0x0D,0x63) Wheeled Vehicle Constraint Control	Configure the wheeled vehicle kinematic constraint
(0x0D,0x62) Vertical Gyro Constraint Control	Configure the vertical gyro kinematic constraint
(0x0D,0x64) Gnss Antenna Cal Control	Configure the GNSS antenna lever arm calibration
(0x0D,0x03) Set Initial Heading	Set the initial heading angle
►Gnss Commands
(0x0E,0x01) Receiver Info	Return information about the GNSS receivers in the device
(0x0E,0x02) Signal Configuration	Configure the GNSS signals used by the device
(0x0E,0x10) Rtk Dongle Configuration	Configure the communications with the RTK Dongle connected to the device
►Rtk Commands
(0x0F,0x01) Get Status Flags
(0x0F,0x02) Get Imei
(0x0F,0x03) Get Imsi
(0x0F,0x04) Get Iccid
(0x0F,0x06) Connected Device Type
(0x0F,0x07) Get Act Code
(0x0F,0x08) Get Modem Firmware Version
(0x0F,0x05) Get Rssi	Get the RSSI and connected/disconnected status of modem
(0x0F,0x0A) Service Status	The 3DMRTK will send this message to the server to indicate that the connection should remain open. The Server will respond with information and status
(0x0F,0x20) Prod Erase Storage	This command will erase the selected media to a raw and uninitialized state. ALL DATA WILL BE LOST. This command is only available in calibration mode
(0x0F,0x21) Led Control	This command allows direct control of the LED on the 3DM RTK. This command is only available in calibration mode or Production Test Mode
(0x0F,0x22) Modem Hard Reset	This command will clear the modem flash. THIS MUST NOT BE DONE OFTEN AS IT CAN DAMAGE THE FLASH! This command is only available in calibration mode
►System Commands
(0x7F,0x10) Comm Mode	Advanced specialized communication modes
▼Mip Data	Contains all MIP data definitions
►Filter Data
(0x82,0x01) Position Llh	Filter reported position in the WGS84 geodetic frame
(0x82,0x02) Velocity Ned	Filter reported velocity in the NED local-level frame
(0x82,0x03) Attitude Quaternion	4x1 vector representation of the quaternion describing the orientation of the device with respect to the NED local-level frame. This quaternion satisfies the following relationship:
(0x82,0x04) Attitude Dcm	3x3 Direction Cosine Matrix EQSTART M_{ned}^{veh} EQEND describing the orientation of the device with respect to the NED local-level frame. This matrix satisfies the following relationship:
(0x82,0x05) Euler Angles	Filter reported Euler angles describing the orientation of the device with respect to the NED local-level frame. The Euler angles are reported in 3-2-1 (Yaw-Pitch-Roll, AKA Aircraft) order
(0x82,0x06) Gyro Bias	Filter reported gyro bias expressed in the sensor frame
(0x82,0x07) Accel Bias	Filter reported accelerometer bias expressed in the sensor frame
(0x82,0x08) Position Llh Uncertainty	Filter reported 1-sigma position uncertainty in the NED local-level frame
(0x82,0x09) Velocity Ned Uncertainty	Filter reported 1-sigma velocity uncertainties in the NED local-level frame
(0x82,0x0A) Euler Angles Uncertainty	Filter reported 1-sigma Euler angle uncertainties. The uncertainties are reported in 3-2-1 (Yaw-Pitch-Roll, AKA Aircraft) order
(0x82,0x0B) Gyro Bias Uncertainty	Filter reported 1-sigma gyro bias uncertainties expressed in the sensor frame
(0x82,0x0C) Accel Bias Uncertainty	Filter reported 1-sigma accelerometer bias uncertainties expressed in the sensor frame
(0x82,0x11) Timestamp	GPS timestamp of the Filter data
(0x82,0x10) Status	Device-specific filter status indicators
(0x82,0x0D) Linear Accel	Filter-compensated linear acceleration expressed in the vehicle frame. Note: The estimated gravity has been removed from this data leaving only linear acceleration
(0x82,0x13) Gravity Vector	Filter reported gravity vector expressed in the vehicle frame
(0x82,0x1C) Comp Accel	Filter-compensated acceleration expressed in the vehicle frame
(0x82,0x0E) Comp Angular Rate	Filter-compensated angular rate expressed in the vehicle frame
(0x82,0x12) Quaternion Attitude Uncertainty	Filter reported quaternion uncertainties
(0x82,0x0F) Wgs84 Gravity Mag	Filter reported WGS84 gravity magnitude
(0x82,0x14) Heading Update State	Filter reported heading update state
(0x82,0x15) Magnetic Model	The World Magnetic Model is used for this data. Please refer to the device user manual for the current version of the model. A valid GNSS location is required for the model to be valid
(0x82,0x17) Accel Scale Factor	Filter reported accelerometer scale factor expressed in the sensor frame
(0x82,0x19) Accel Scale Factor Uncertainty	Filter reported 1-sigma accelerometer scale factor uncertainty expressed in the sensor frame
(0x82,0x16) Gyro Scale Factor	Filter reported gyro scale factor expressed in the sensor frame
(0x82,0x18) Gyro Scale Factor Uncertainty	Filter reported 1-sigma gyro scale factor uncertainty expressed in the sensor frame
(0x82,0x1A) Mag Bias	Filter reported magnetometer bias expressed in the sensor frame
(0x82,0x1B) Mag Bias Uncertainty	Filter reported 1-sigma magnetometer bias uncertainty expressed in the sensor frame
(0x82,0x20) Standard Atmosphere	Filter reported standard atmosphere parameters
(0x82,0x21) Pressure Altitude	Filter reported pressure altitude
(0x82,0x22) Density Altitude
(0x82,0x30) Antenna Offset Correction	Filter reported GNSS antenna offset in vehicle frame
(0x82,0x31) Antenna Offset Correction Uncertainty	Filter reported 1-sigma GNSS antenna offset uncertainties in vehicle frame
(0x82,0x34) Multi Antenna Offset Correction	Filter reported GNSS antenna offset in vehicle frame
(0x82,0x35) Multi Antenna Offset Correction Uncertainty	Filter reported 1-sigma GNSS antenna offset uncertainties in vehicle frame
(0x82,0x25) Magnetometer Offset	Filter reported magnetometer hard iron offset in sensor frame
(0x82,0x26) Magnetometer Matrix	Filter reported magnetometer soft iron matrix in sensor frame
(0x82,0x28) Magnetometer Offset Uncertainty	Filter reported 1-sigma magnetometer hard iron offset uncertainties in sensor frame
(0x82,0x29) Magnetometer Matrix Uncertainty	Filter reported 1-sigma magnetometer soft iron matrix uncertainties in sensor frame
(0x82,0x2A) Magnetometer Covariance Matrix
(0x82,0x2C) Magnetometer Residual Vector	Filter reported magnetometer measurement residuals in vehicle frame
(0x82,0x32) Clock Correction	Filter reported GNSS receiver clock error parameters
(0x82,0x33) Clock Correction Uncertainty	Filter reported 1-sigma GNSS receiver clock error parameters
(0x82,0x43) Gnss Pos Aid Status	Filter reported GNSS position aiding status
(0x82,0x44) Gnss Att Aid Status	Filter reported dual antenna GNSS attitude aiding status
(0x82,0x45) Head Aid Status	Filter reported GNSS heading aiding status
(0x82,0x42) Rel Pos Ned	Filter reported relative position, with respect to configured reference position
(0x82,0x40) Ecef Pos	Filter reported ECEF position
(0x82,0x41) Ecef Vel	Filter reported ECEF velocity
(0x82,0x36) Ecef Pos Uncertainty	Filter reported 1-sigma position uncertainty in the ECEF frame
(0x82,0x37) Ecef Vel Uncertainty	Filter reported 1-sigma velocity uncertainties in the ECEF frame
(0x82,0x46) Aiding Measurement Summary	Filter reported aiding measurement summary. This message contains a summary of the specified aiding measurement over the previous measurement interval ending at the specified time
(0x82,0x47) Odometer Scale Factor Error	Filter reported odometer scale factor error. The total scale factor estimate is the user indicated scale factor, plus the user indicated scale factor times the scale factor error
(0x82,0x48) Odometer Scale Factor Error Uncertainty	Filter reported odometer scale factor error uncertainty
(0x82,0x49) Gnss Dual Antenna Status	Summary information for status of GNSS dual antenna heading estimate
(0x82,0x50) Aiding Frame Config Error	Filter reported aiding source frame configuration error
(0x82,0x51) Aiding Frame Config Error Uncertainty	Filter reported aiding source frame configuration error uncertainty
►Gnss Data
(0x81,0x03) Pos Llh	GNSS reported position in the WGS84 geodetic frame
(0x81,0x04) Pos Ecef	GNSS reported position in the Earth-centered, Earth-Fixed (ECEF) frame
(0x81,0x05) Vel Ned	GNSS reported velocity in the NED frame
(0x81,0x06) Vel Ecef	GNSS reported velocity in the Earth-centered, Earth-Fixed (ECEF) frame
(0x81,0x07) Dop	GNSS reported dilution of precision information
(0x81,0x08) Utc Time	GNSS reported Coordinated Universal Time
(0x81,0x09) Gps Time	GNSS reported GPS Time
(0x81,0x0A) Clock Info	GNSS reported receiver clock parameters
(0x81,0x0B) Fix Info	GNSS reported position fix type
(0x81,0x0C) Sv Info	GNSS reported space vehicle information
(0x81,0x0D) Hw Status	GNSS reported hardware status
(0x81,0x0E) Dgps Info	GNSS reported DGNSS status
(0x81,0x0F) Dgps Channel	GNSS reported DGPS Channel Status status
(0x81,0x10) Clock Info 2	GNSS reported receiver clock parameters
(0x81,0x11) Gps Leap Seconds	GNSS reported leap seconds (difference between GPS and UTC Time)
(0x81,0x12) Sbas Info	GNSS SBAS status
(0x81,0x13) Sbas Correction	GNSS calculated SBAS Correction
(0x81,0x14) Rf Error Detection	GNSS Error Detection subsystem status
(0x81,0x30) Base Station Info	RTCM reported base station information (sourced from RTCM Message 1005 or 1006)
(0x81,0x31) Rtk Corrections Status
(0x81,0x20) Satellite Status	Status information for a GNSS satellite
(0x81,0x22) Raw	GNSS Raw observation
(0x81,0x61) Gps Ephemeris	GPS Ephemeris Data
(0x81,0x63) Galileo Ephemeris	Galileo Ephemeris Data
(0x81,0x62) Glo Ephemeris	Glonass Ephemeris Data
(0x81,0x71) Gps Iono Corr	Ionospheric Correction Terms for GNSS
(0x81,0x73) Galileo Iono Corr	Ionospheric Correction Terms for Galileo
►Sensor Data
(0x80,0x01) Raw Accel	Three element vector representing the sensed acceleration. This quantity is temperature compensated and expressed in the sensor body frame
(0x80,0x02) Raw Gyro	Three element vector representing the sensed angular rate. This quantity is temperature compensated and expressed in the sensor body frame
(0x80,0x03) Raw Mag	Three element vector representing the sensed magnetic field. This quantity is temperature compensated and expressed in the vehicle frame
(0x80,0x16) Raw Pressure	Scalar value representing the sensed ambient pressure. This quantity is temperature compensated
(0x80,0x04) Scaled Accel	3-element vector representing the sensed acceleration. This quantity is temperature compensated and expressed in the vehicle frame
(0x80,0x05) Scaled Gyro	3-element vector representing the sensed angular rate. This quantity is temperature compensated and expressed in the vehicle frame
(0x80,0x06) Scaled Mag	3-element vector representing the sensed magnetic field. This quantity is temperature compensated and expressed in the vehicle frame
(0x80,0x17) Scaled Pressure	Scalar value representing the sensed ambient pressure
(0x80,0x07) Delta Theta	3-element vector representing the time integral of angular rate. This quantity is the integral of sensed angular rate over the period set by the IMU message format. It is expressed in the vehicle frame
(0x80,0x08) Delta Velocity	3-element vector representing the time integral of acceleration. This quantity is the integral of sensed acceleration over the period set by the IMU message format. It is expressed in the vehicle frame
(0x80,0x09) Comp Orientation Matrix	3x3 Direction Cosine Matrix EQSTART M_{ned}^{veh} EQEND describing the orientation of the device with respect to the NED local-level frame. This matrix satisfies the following relationship:
(0x80,0x0A) Comp Quaternion	4x1 vector representation of the quaternion describing the orientation of the device with respect to the NED local-level frame. This quaternion satisfies the following relationship:
(0x80,0x0C) Comp Euler Angles	Euler angles describing the orientation of the device with respect to the NED local-level frame. The Euler angles are reported in 3-2-1 (Yaw-Pitch-Roll, AKA Aircraft) order
(0x80,0x0B) Comp Orientation Update Matrix	DEPRECATED!
(0x80,0x0D) Orientation Raw Temp	DEPRECATED!
(0x80,0x0E) Internal Timestamp	DEPRECATED!
(0x80,0x0F) Pps Timestamp	DEPRECATED!
(0x80,0x12) Gps Timestamp	GPS timestamp of the SENSOR data
(0x80,0x14) Temperature Abs	SENSOR reported temperature statistics
(0x80,0x11) Up Vector	Gyro-stabilized 3-element vector representing the complementary filter's estimated vertical direction. This quantity is expressed in the vehicle frame
(0x80,0x10) North Vector	Gyro-stabilized 3-element vector representing the complementary filter's estimate of magnetic north. This quantity is expressed in the vehicle frame
(0x80,0x18) Overrange Status
(0x80,0x40) Odometer Data
►Shared Data
(0xFF,0xD0) Event Source	Identifies which event trigger caused this packet to be emitted
(0xFF,0xD1) Ticks	Time since powerup in multiples of the base rate
(0xFF,0xD2) Delta Ticks	Ticks since the last output of this field
(0xFF,0xD3) Gps Timestamp	Outputs the current GPS system time in time-of-week and week number format
(0xFF,0xD4) Delta Time	Time in the synchronized clock domain since the last output of this field within the same descriptor set and event instance
(0xFF,0xD5) Reference Timestamp	Internal reference timestamp
(0xFF,0xD6) Reference Time Delta	Delta time since the last packet
(0xFF,0xD7) External Timestamp	External timestamp in nanoseconds
(0xFF,0xD8) External Time Delta	Delta time since the last packet containing delta external (0xFF,0xD4) or delta gps time (0xFF,0xD8)
►System Data
(0xA0,0x01) Built In Test	Contains the continuous built-in-test (BIT) results
(0xA0,0x02) Time Sync Status	Indicates whether a sync has been achieved using the PPS signal
(0xA0,0x03) Gpio State	Indicates the state of all of the user GPIO pins
(0xA0,0x04) Gpio Analog Value	Indicates the analog value of the given user GPIO. The pin must be configured for analog input
▼MicroStrain API
▼MicroStrain C API
MicroStrain Logging [C]	High-level C functions for logging information from within the MicroStrain SDK
MicroStrain C++ API
▼Platform specific utilities
Serial Port	A simple implementation for reading and writing to/from a serial port
TCP Client	Simple implementation for reading and writing to a tcp client socket
Extra utilities