Ascension laserBIRD, Installation And Operation Manual

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laserBIRD™ Installation and Operation Guide
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POSITION/QUATERNION
ASCII HEX DECIMAL BINARY
Command Byte ] 5D 93 01011101
In the POSITION/QUATERNION mode, The Bird outputs the X, Y, and Z position and the four
quaternion parameters, q
0
, q
1
, q
2
, and q
3
which describe the orientation of the sensor with respect
to the Scanner. The output record is in the following format for the fourteen transmitted bytes:
MSB LSB
7 6 5 4 3 2 1 0 BYTE #
1 X8 X7 X6 X5 X4 X3 X2 #1 LSbyte X
0 X15 X14 X13 X12 X11 X10 X9 #2 MSbyte X
0 Y8 Y7 Y6 Y5 Y4 Y3 Y2 #3 LSbyte Y
0 Y15 Y14 Y13 Y12 Y11 Y10 Y9 #4 MSbyte Y
0 Z8 Z7 Z6 Z5 Z4 Z3 Z2 #5 LSbyte Z
0 Z15 Z14 Z13 Z12 Z11 Z10 Z9 #6 MSbyte Z
0 B8 B7 B6 B5 B4 B3 B2 #7 LSbyte q
0
0 B15 B14 B13 B12 B11 B10 B9 #8 MSbyte q
0
0 B8 B7 B6 B5 B4 B3 B2 #9 LSbyte q
1
0 B15 B14 B13 B12 B11 B10 B9 #10 MSbyte q
1
0 B8 B7 B6 B5 B4 B3 B2 #11 LSbyte q
2
0 B15 B14 B13 B12 B11 B10 B9 #12 MSbyte q
2
0 B8 B7 B6 B5 B4 B3 B2 #13 LSbyte q
3
0 B15 B14 B13 B12 B11 B10 B9 #14 MSbyte q
3
See POSITION mode and QUATERNION mode for number ranges and scaling.