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.