Memsic DMU380SA Series, User Manual

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DMU380SA Series
User’s Manual
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Doc# 7430-0026 Rev. 01 Page 58
A1 Payload Contents
Byte Offset Name Format Scaling Units Description
0 rollAngle I2 2*pi/2^16
[360°/2^16] Radians
[°] Roll angle
2 pitchAngle I2 2*pi/2^16
[360°/2^16] Radians
[°] Pitch angle
4 yawAngleMag I2 2*pi/2^16
[360°/2^16] Radians
[°] Yaw angle (magnetic
north)
6 xRateCorrected I2 7*pi/2^16
[1260°/2^16] rad/s
[°/sec] X angular rate Corrected
8 yRateCorrected I2 7*pi/2^16
[1260°/2^16] rad/s
[°/sec] Y angular rate Corrected
10 zRateCorrected I2 7*pi/2^16
[1260°/2^16] rad/s
[°/sec] Z angular rate Corrected
12 xAccel I2 20/2^16 g X accelerometer
14 yAccel I2 20/2^16 g Y accelerometer
16 zAccel I2 20/2^16 g Z accelerometer
18 xMag I2 20/2^16 Gauss X magnetometer
20 yMag I2 20/2^16 Gauss Y magnetometer
22 zMag I2 20/2^16 Gauss Z magnetometer
24 xRateTemp I2 200/2^16 Deg C X rate temperature
26 timeITOW U4 1 ms DMU ITOW (sync to GPS)
Not Implemented
30 BITstatus U2 - - Master BIT and Status
7.4.4 Angle Data Packet 2 (Default VG Data)
Angle Data (‘A2’ = 0x4132)
Preamble Packet Type Length Payload Termination
0x5555 0x4132 0x1E <A2 payload> <CRC (U2)>
This packet contains angle data and selected sensor data scaled in most cases to a signed
2^16 2’s complement number.
Data involving angular measurements include the factor pi
in the scaling and can be interpreted in either radians or degrees.
Angles: scaled to a range of [-pi,+pi) or [-180 deg to +180 deg).
Angular rates: scaled to range of 3.5* [-pi,+pi) or [-630 deg/sec to +630 deg/sec)
Accelerometers: scaled to a range of [-10,+10) g
Temperature: scaled to a range of [-100, +100) °C