AHRS400 Series User’s Manual
Doc# 7430-0004-01 Rev. A
Page 27
8 Appendix D. AHRS Command Quick Reference
Command
(ASCII)
Response
Description
R
H
Reset: Resets the DMU firmware to default operating
mode of Voltage Mode and Polled operation.
r
R
Change to Voltage Mode.
c
C
Change to Scaled Sensor Mode.
a
A
Change to Angle Mode (VG Mode).
P
None
Change to polled mode. Data packets sent when a G
is received by the DMU.
C
None
Change to continuous data transmit mode. Data
packets streamed continuously. Packet rate is
dependent on operating mode. Sending "G" stops
data transmission.
G
Data
Packet
Get Data. Requests a packet of data from the DMU.
Data format depends on operating mode.
S
ASCII
String
Query DMU serial number. Returns serial number as
32-bit binary number.
v
ASCII
String
Query DMU version ID string. Returns ASCII string.
b
Change
baud rate
Autobaud detection. Send "b"; DMU will respond “B”;
change baud rate; send "a"; DMU will send "A" when
new baud rate is detected.
s
S
Start Soft iron calibration. DMU should be rotated
through at least one complete turn (360
°
of rotation)
with the system basically level.
u
U
End Soft iron calibration. Calibration is saved in
EEPROM.
h
H
Clear hard iron calibration.
t
T
Clear Soft Iron Calibration
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