NMEA-0183 message: PASHR – Proprietary roll and pitch sentence

Roll and pitch information

An example of the PASHR message string is:

$PASHR,hhmmss.sss,hhh.hh,T,rrr.rr,ppp.pp,xxx.xx,a.aaa,b.bbb,c.ccc,d,e*hh<CR><LF>

Field	Meaning
0	Message ID $PASHR
1	hhmmss.ss - UTC time of data string
2	hhh.hhh – True Heading
3	T – flag to indicate that the Heading is True Heading (i.e. to True North)
4	rrr.rr – Roll Angle in degrees
5	ppp.pp – Pitch Angle in degrees
6	xxx.xx – Reserved Field (Not Supported)
7	a.aaa – Roll Angle accuracy estimate in degrees
8	b.bbb – Pitch Angle accuracy estimate in degrees
9	c.ccc – Heading Angle accuracy estimate in degrees
10	d – GNSS Quality: 0 – Fix not available 1 – GNSS SPS mode, fix valid 2 – Differential GPS, SPS 3 – GNSS PPS mode 4 – Fixed RTK mode 5 – Float RTK mode 6 – DR mode
11	e – IMU Alignment Status: 0 – GPS Only 1 – Coarse Leveling 2 – Degraded Solution 3 – Aligned 4 – Full Navigation Mode
12	hh – Checksum
<CR><LF>	Carrriage return and line feed