AHRS400 Series User’s Manual
Page 24
Doc# 7430-0004-01 Rev. A
6 Appendix B. AHRS Output Quick Reference
GR
is the G-range of the accelerometers. For example, if your DMU has ±
2 G accelerometers, GR = 2.
RR
is the rate range of the rate sensors. For example, if your DMU has ±
100
°
/s rate sensors, RR = 100.
6.1
Analog Output Conversion
Accelerometer
Use sensitivity, offset from
calibration sheet. Output is raw
sensor voltage.
Rate Sensor
Rate
(
°
/s)
=
V
out
(V)
* RR * 1.5/4.096
Pin 5
X axis accelerometer, raw
Pin 8
Roll rate sensor
Pin 6
Y axis accelerometer, raw
Pin 9
Pitch rate sensor
Pin 7
Z axis accelerometer, raw
Pin 10 Yaw rate sensor
Magnetometer (Scaled Mode)
Mag
(Gauss)
=
V
out
(V)
* 1.25 * 1.5/4.096
Roll, Pitch, Yaw (Angle Mode)
Angle
(
°
) =
V
out
(V)
* FA/4.096
Pin 12
X axis magnetometer
Pin 12 Roll Angle
FA = 180
Pin 13
Y axis magnetometer
Pin 13
Pitch Angle FA = 90
Pin 14 Z axis magnetometer
Pin 14
Yaw angle
FA = 180
6.2
Digital Output Conversion
Data is sent as 16-bit signed integer for all but Temperature. Temperature
sensor data is sent as unsigned integer.
Acceleration
Roll, Pitch, Yaw (Angle Mode)
Accel
(G)
= data * GR * 1.5/2
15
Angle
(
°
)
= data * 180/2
15
Rate
Magnetic Field
Rate
(
°
/s)
= data * RR * 1.5/2
15
Mag
(Gauss)
= data * 1.25 * 1.5/2
15
Temperature
Temperature
(
°
C)
=
[(data * 5/4096)
– 1.375]*44.44
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