[General]
DevType = CANopenDevice
DeviceDll = CANopen
DeviceCtrlDll = CANopen
SyncMode=3
DataRate=20
MessageType=9				// formula
TimeOut=5.0
NumberOfMessages=1			// Number of messages defined in this file

[Msg(0)]	
MsgMode=0					// Input message
ID=2B1						// Message ID also used to request the device
IDStart=0					// start at 
IDLength=3					// Id lenght 
NewElement=1				// This message forwards the data block to the comps.
NumDataEntries=2
NormData(0).Entry=1
NormData(0).Formula=CanValue(var0,2,0)/100;
NormData(1).Entry=2
NormData(1).Formula=-CanValue(var0,2,2)/100;


[Attribs]
UserAttribs = 1
@tr.dev.ADFwebMultiFrame	= 0x403, 1		// use multiframe mode.
@tr.dev.SDEVOffset= 1,0.02
@tr.dev.SDEVRollPitch = 1,0.01
@tr.dev.SDEVHeading = 1,0.01
@tr.dev.SDEVVRULattency = 1,0.0
@tr.dev.SDEVFixHeave = 1,0.05
@tr.dev.SDEVDynHeave = 1,5
@tr.dev.SDEVRoll = 1,0.05
@tr.dev.SDEVPitch = 1,0.05
@tr.dev.TimeDelay = 1, 0.0
@tr.dev.DeviceOffset = 1, 1,1,Zero Offset,1,1,1,1,0.0,0.0,0.0
@tr.dev.HdgCor = 1, 0.0
@tr.dev.RollCor = 1, 0.0
@tr.dev.PitchCor = 1, 0.0
@tr.dev.HeaveCor = 17, 0.0
@tr.dev.HeaveDelay = 1, 0.0
@tr.dev.LinkCompsFromDevice = 19, 1
@tr.dev.GapCheckEnable = 1, 1
@tr.dev.MaxGapTime = 1, 1
@tr.dev.SDEParam=17,0
@tr.dev.OrderInfo = @L0,TimeDelay,DeviceOffset,HdgCor,RollCor,PitchCor,HeaveDelay,@L0,GapCheckEnable,@L1,MaxGapTime,@L0,SDEParam,@L1,SDEVOffset,SDEVRollPitch,SDEVHeading,SDEVFixHeave,SDEVDynHeave,SDEVRoll,SDEVPitch
LinkComps = 1
NumComps = 1
Comp(1) = 1017
Name(1) = Attitude computation
@tr.Comp(1).VruDataId = 3,1,1,5,1,0
@tr.Comp(1).HeaveFactor = 1, 1.0
@tr.Comp(1).InvertRoll =  1, 0
@tr.Comp(1).InvertPitch =  1, 0
@tr.Comp(1).AutoStaticComp = 1, 1
@tr.Comp(1).StaticRoll = 1, 0.0
@tr.Comp(1).StaticPitch = 1, 0.0
@tr.Comp(1).IntegrationPeriod = 1, 60.0
@tr.Comp(1).ButterworthFilter = 1, 0
@tr.Comp(1).Persentage = 1, 90
@tr.Comp(1).OrderInfo = @L0,VruDataId,HeaveFactor,InvertRoll,InvertPitch,AutoStaticComp,@L1,StaticRoll,StaticPitch,@L0,IntegrationPeriod,@L0,ButterworthFilter,@L1,Persentage


[CanDeviceInit(0)]
Name=Attutude
NodeId=0x31												//sensor node ID
CobId=0x2B1												//PDO object id
WaitTime=500											//msec
// init list is all hexicimal		-- init for DIS QG65-MD-90H --
CanInitCmd(0)=NMT,80									//NMT pre-operational state
CanInitCmd(1)=SDOtx,1800,01,C0,00,CobIdHi,CobIdLo		//set PDO0 invalid + no RTR allowed + CobId
CanInitCmd(2)=SDOtx,1800,02,FF							//set PDO0 trans type to sync =01 to timer = ff
CanInitCmd(3)=SDOtx,1800,05,00,32						//set PDO0 event time 100 mSec
CanInitCmd(4)=SDOtx,1A00,00,02						//set PDO0 mapping 1 data values
CanInitCmd(5)=SDOtx,1A00,01,64,01,01,10				//set PDO0 mapping index 6401, sub index 1, lentgh 16 bits
CanInitCmd(6)=SDOtx,1A00,02,64,01,02,10				//set PDO0 mapping index 6401, sub index 2, lentgh 16 bits
CanInitCmd(7)=SDOtx,1800,01,40,00,CobIdHi,CobIdLo		//set PDO0 valid + no RTR allowed + CobId
CanInitCmd(8)=SDOtx,1801,01,C0,00,01,81					//set PDO1 invalid + no RTR allowed + CobId
CanInitCmd(9)=SDOtx,1010,02,73,61,76,65					//save communication parameter
CanInitCmd(10)=NMT,01									//NMT operational state
CanInitCmd(11)=SDOtx,300E,00,01,F4                      //set Filter time to 500 mSec 250msec=00,FA, 500mSec = 01,F4 750 msec = 02,EE
CanInitCmd(12)=SDOtx,2300,00,AA                         //save settings

[CanDeviceSetNodeId(0)]
// NodeiD is obtained from CanDeviceInit
WaitTime=500
CanInitCmd(0)=OldId										//set use OldId
CanInitCmd(1)=SDOtx,3000,00,NewNodeId					//set New Node Id
CanInitCmd(2)=SDOtx,2300,00,AA							//save settings