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|  MIL-D-70789A (AR)
APPENDIX C
***************************************************************************
INHIBIT ZERO VELOCITY UPDATES
30.3.11 Command:
Prime System
To:
DRU
From:
Function: This command shall inhibit zero-velocity updates. The command may
be used during laboratory evaluation of attitude and position drift under
static conditions. The inhibit command together with the enable command
(30.3.12) may be used in vehicles that move very slowly during part of a
mission.
DRU Response:
STATUS DATA Message
COMMAND STRUCTURE
ERROR DET. CODE
DATA
COMMAND
SEQUENCE
FLAG(F)
CHARACTERS(E)
CHARACTERS(D]
FLAG(F) NUMBER(M) CODE(C)
01111110
16 Bits
NONE
01111
01111110
XXX
**************************************"*************************************
ENABLE ZERO-VELOCITY UPDATES
30.3.12 Command:
Prime System
To: DRU
From:
Function: This command shall enable zero-velocity updates. The command may
during laboratory evaluation of attitude and position drift under
static conditions. The enable command together with the inhibit command
(30.3.12) may be used on vehicles that move very slowly during part of a
Upon turn-on, the DRU automatically shall enable zero-velocity
q ission.
updates.
STATUS DATA Message
DRU Response:
COMMAND STRUCTURE
ERROR DET. CODE
COMMAND
DATA
SEQUENCE
FLAG(F)
CHARACTERS(E)
CHARACTERS(D)
NUMBER(N)
CODE(C)
FLAG(F)
0111110
16 Bits
NONE
10101
01112110
XXX
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