INS configuration using D2h commands

D2h Command Structure

The INS Configuration message has other subcommands, which are not used by the BD/BX receivers. 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.

Byte #	Item	Type	Value	Description
0	STX	Char	02h	Start transmission.
1	STATUS	Char	00h
2	Message ID	Char	D2h
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 Reference to DMI/Rear Wheel Lever Arm

Subcommand 01h requests the current reference to the DMI/Rear Wheel Lever Arm:

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

Subcommand 01h returns the current reference to the DMI/Rear Wheel Lever Arm:

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

2. Set Reference to DMI/Rear Wheel Lever Arm

Subcommand 05h sets the reference to the DMI/Rear Wheel Lever Arm:

Byte #	Item	Type	Value	Description
Data byte start
4	Subcommand	Char	05h
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), recommended value is zero
Data byte end