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MDL

The MDL TRIM CUBE protocol is a proprietary fixed-length ASCII text format, terminated with CR and LF.

Data:

  • Heading, pitch, roll

Format:

HxxxxP±yyyyR±zzzz<CR><LF>

MDL TRIM CUBE protocol description

FIELD N.

FIELD

DESCRIPTION

UNIT

DATA TYPE

NOTE

0

H

'H' character for heading

-

-


1

xxxx

heading angle in degrees multiplied by 10

[deg]

-

Four-digit integer without a sign, range: [0000, 3599].

Heading increase in clockwise direction.

2

P

'P' character for pitch

-

-


3

yyyy

pitch angle in degrees multiplied by 100

[deg]

-

Four-digit signed integer, range: [-8999, +8999]. Pitch is positive bow down.

4

R

'R' character for roll

-

-


5

zzzz

roll angle in degrees multiplied by 100

[deg]

-

Four-digit signed integer, range: [-8999, +8999]. Roll is positive port down.

Example:

MDL TRIM CUBE frame with raw example data is listed below.

Field 0

Field 1

Field 2

Field 3

Field 4

Field 5

H

2650

P

-16

R

-36

Decoded values:

  • Heading

    • Raw value: 2650, decoded value: 265.0 degrees.

  • Pitch

    • Raw value: -16, decoded value: -0.16 degrees.

  • Roll

    • Raw value: -36, decoded value: -0.36 degrees.


Note

The reference frame for data (e.g., roll) is configurable in the MDL protocol. Also, the data's location (e.g., MRU or MP1) is configurable.