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CFG – EKF (0x06 0x12)
It’s a poll request. It’s used to poll EKF configuration. The module responds the same
message defined below.
Header ID Data Length Data Checksum
0xB5 0x62 0x06 0x12 0 None CK_A CK_B
CFG – EKF (0x06 0x12)
It’s an I/O message. It’s used to set/get EKF configuration.
Header ID Data Length Data Checksum
0xB5 0x62 0x06 0x12 16 See below CK_A CK_B
Data
Offset bytes Format Descriptions Notes
0 U1 EKF status 1 – disabled
0 – enabled
1 U1 Flags Bit 0 – reserved (always 0)
Bit 1 – clear temperature
compensation table
Bit 2 – clear stored calibration
Bit 3 – reserved (always 0)
Bit 4 – set nominal tacho pulses
as defined in Field “
N
ominal
pulses per kilometer”
Bit 5 – set nominal gyro values
as defined in Fields “
N
ominal
gyro zero point output” and
“Nominal gyro sensitivity”
Bit 6 – set temperature table
configuration as defined in Fields
“Maximum allowable RMS
threshold” and “ The time
interval for saving temperature
table to flash”
Bit 7 – set direction pin and gyro
sense meaning as defined in
Field “Inverse_flags”