INS configuration using D1h commands

D1h Command Structure

The INS Configuration message has many subcommands, but the message ID remains the same for all as shown. The Trimble ProPoint engine immediately applies these changes. To activate these changes in the legacy INS engine, the receiver needs to be re-powered or reset using the Command 58h, RESETRCVR (Reset Receiver) message.

INS configuration generic format
Byte #	Item	Type	Value	Description
0	STX	Char	02h	Start transmission.
1	STATUS	Char	00h
2	Message ID	Char	D1h
3	LENGTH	Char	??h
Data Byte Start
4	Subcommand	Char	??h
Data Byte End
Length+4	Checksum	Char	??h	(status + ID + length + data bytes) modulo 256
Length+5	ETX	Char	03h	End transmission

The following commands describe only the specific data portion block of the generic message format.

1. Get INS Mode and Current Dynamic Model

Subcommand 01h requests the current INS mode and dynamic model:

Byte #	Item	Type	Value
Data byte start
4	Subcommand	Char	01h
Data byte end

Subcommand 01h returns the current INS mode and dynamic model:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	01h
5	INS enable	Char	0 or 1	Enable/Disable INS mode: 0 – Disabled 1 – Enabled
6	Dynamic model	Char	??h	Dynamic Model: 0 – Kinematic (no dynamic model) 1 – Human portable 2 – Mapping vehicle 3 – Off-road vehicle (stationary start) 4 – Construction heavy equipment 5 – Agriculture farm equipment 6 – Airborne rotor 7 – Airborne fixed wing 8 – Marine 9 – Rail 11 – Automotive 14 – Off-road vehicle (moving start) 33 – Static (base station, no dynamic model)
Data byte end

2. Set INS Enable/Disable and Dynamic Model

Subcommand 02h sets the INS mode and dynamic model (valid dynamic models are limited by product and model).

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	02h
5	INS enable	Char	0 or 1	Enable/Disable INS mode: 0 – Disabled 1 – Enabled
6	Dynamic model	Char	??h	0 – Kinematic (no dynamic model) 1 – Human portable 2 – Mapping vehicle 3 – Off-road vehicle (stationary start) 4 – Construction heavy equipment 5 – Agriculture farm equipment 6 – Airborne rotor 7 – Airborne fixed wing 8 – Marine 9 – Rail 11 – Automotive 14 – Off-road vehicle (moving start) 33 – Static (base station, no dynamic model)
Data byte end

3. Get MAG state

Subcommand 07h requests the current magnetometer mode:

Byte #	Item	Type	Value
Data byte start
4	Subcommand	Char	07h
Data byte end

Subcommand 07h returns the current magnetometer mode:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	07h
5	MAG enable	Char	0 or 1	Enable/Disable MAG: 0 – Disabled 1 – Enabled
Data byte end

4. Set MAG Enable/Disable

Subcommand 08h sets the magnetometer mode:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	08h
5	MAG enable	Char	0 or 1	Enable/Disable MAG: 0 – Disabled 1 – Enabled
Data byte end

5. Get Static Bench Testing State

Subcommand 09h requests the current Static Bench Testing state:

Byte #	Item	Type	Value
Data byte start
4	Subcommand	Char	09h
Data byte end

Subcommand 09h returns the current Static Bench Testing state:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	09h
5	Static Bench Testing status	Char	0 or 1	Enable/Disable Static Bench Test: 0 – Disabled 1 – Enabled
6–9	Heading	Float	-180 to 180	Heading (degrees)
Data byte end

6. Set Static Bench Testing Enable/Disable

Subcommand 0Ah sets the Static Bench Testing state:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	0Ah
5	Static Bench Testing Status	Char	0 or 1	Enable/Disable Static Bench Test: 0 – Disabled 1 – Enabled
6–9	Heading	Float	-180 to 180	Heading (degrees)
Data byte end

7. Get Reference to Primary GNSS Lever Arm

Subcommand 10h requests the current reference to the Primary GNSS Lever Arm:

Byte #	Item	Type	Value
Data byte start
4	Subcommand	Char	10h
Data byte end

Subcommand 10h returns the current reference to the Primary GNSS Lever Arm:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	10h
5–12	X (m)	Double	Meters	X (m)
13–20	Y (m)	Double	Meters	Y (m)
21–28	Z (m)	Double	Meters	Z (m)
29–36	Standard deviation (m)	Double	Meters	Standard deviation (m)
Data byte end

8. Set Reference to Primary GNSS Lever Arm

Subcommand 20h sets the reference to the Primary GNSS Lever Arm:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	20h
5–12	X (m)	Double	Meters	X (m)
13–20	Y (m)	Double	Meters	Y (m)
21–28	Z (m)	Double	Meters	Z (m)
29–36	Standard deviation (m)	Double	Meters	Standard deviation (m)
Data byte end

9. Get Reference to IMU Lever Arm

Subcommand 12h requests the current reference to the IMU Lever Arm:

Byte #	Item	Type	Value
Data byte start
4	Subcommand	Char	12h
Data byte end

Subcommand 12h returns the current reference to the IMU Lever Arm:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	12h
5–12	X (m)	Double	Meters	X (m)
13–20	Y (m)	Double	Meters	Y (m)
21–28	Z (m)	Double	Meters	Z (m)
Data byte end

10. Set Reference to IMU Lever Arm

Subcommand 22h sets the reference to the IMU Lever Arm:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	22h
5–12	X (m)	Double	Meters	X (m)
13–20	Y (m)	Double	Meters	Y (m)
21–28	Z (m)	Double	Meters	Z (m)
Data byte end

11. Get Reference to IMU Mounting Angles

Subcommand 13h requests the current reference to the IMU Mounting Angles:

Byte #	Item	Type	Value
Data byte start
4	Subcommand	Char	13h
Data byte end

Subcommand 13h returns the current reference to the IMU Mounting Angles:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	13h
5–12	X (degrees)	Double	degrees	rotation about X (degrees)
13–20	Y (degrees)	Double	degrees	rotation about Y (degrees)
21–28	Z (degrees)	Double	degrees	rotation about Z (degrees)
Data byte end

12. Set Reference to IMU Mounting Angles

Subcommand 23h sets the reference to the IMU Mounting Angles:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	23h
5–12	X (degrees)	Double	degrees	rotation about X (degrees)
13–20	Y (degrees)	Double	degrees	rotation about Y (degrees)
21–28	Z (degrees)	Double	degrees	rotation about Z (degrees)
Data byte end

13. Get Vehicle to Reference Mounting Angles

Subcommand 14h requests the current Vehicle to Reference Mounting Angles:

Byte #	Item	Type	Value
Data byte start
4	Subcommand	Char	14h
Data byte end

Subcommand 14h returns the current Vehicle to Reference Mounting Angles:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	14h
5–12	X (degrees)	Double	Degrees	Rotation about X (degrees)
13–20	Y (degrees)	Double	Degrees	Rotation about Y (degrees)
21–28	Z (degrees)	Double	Degrees	Rotation about Z (degrees)
Data byte end

14. Set Vehicle to Reference Mounting Angles

Subcommand 24h sets the Vehicle to Reference Mounting Angles:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	24h
5–12	X (degrees)	Double	Degrees	Rotation about X (degrees)
13–20	Y (degrees)	Double	Degrees	Rotation about Y (degrees)
21–28	Z (degrees)	Double	Degrees	Rotation about Z (degrees)
Data byte end

15. Get GAMS State

Subcommand 48h requests the current GAMS mode:

Byte #	Item	Type	Value
Data byte start
4	Subcommand	Char	48h
Data byte end

If the receiver is not capable of GAMS operation, the message NACK is returned, otherwise subcommand 48h returns the current GAMS mode:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	48h
5	GAMS enable	Char	0 or 1	Enable/Disable GAMS: 0 - Disable 1 - Enable
Data byte end

16. Set GAMS Enable/Disable

Subcommand 38h sets the GAMS mode:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	38h
5	GAMS enable	Char	0 or 1	Enable/Disable GAMS: 0 - Disable 1 - Enable
Data byte end

17. Get Primary GNSS to Secondary GNSS Lever Arm

Subcommand 46h requests the current Primary GNSS to the Secondary GNSS Lever Arm:

Byte #	Item	Type	Value
Data byte start
4	Subcommand	Char	46h
Data byte end

Subcommand 46h returns the current Primary GNSS to the Secondary GNSS Lever Arm:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	46h
5–12	X (m)	Double	meters	X (m)
13–20	Y (m)	Double	meters	Y (m)
21–28	Z (m)	Double	meters	Z (m)
29–36	Standard deviation (m)	Double	meters	Standard deviation (m)
Data byte end

18. Set Primary GNSS to Secondary GNSS Lever Arm

Subcommand 36h sets the Primary GNSS to the Secondary GNSS Lever Arm:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	36h
5–12	X (m)	Double	meters	X (m)
13–20	Y (m)	Double	meters	Y (m)
21–28	Z (m)	Double	meters	Z (m)
29–36	Standard deviation (m)	Double	meters	Standard deviation (m)
Data byte end