Orolia GSG-5 Series, User Manual With Scpi Manual, Page: 344 / 392

Sensor SENSOR_TYPE keyword
Gyroscope GYRoscope
Odometer ODOmeter
3D Odometer ODOMETER3D, ODO3D
6.4.1.1 Accelerometer
The accelerometer outputs acceleration in the XYZ axis. The typical case where the device
is flat relative to the surface of the Earth appears as -STANDARD_GRAVITY in the Z axis,
and X and Y values as zero.
Sensor data
values[0] – Acceleration along the x-axis, in g
values[1] – Acceleration along the y-axis, in g
values[2] – Acceleration along the z-axis, in g
6.4.1.2 Linear Accelerometer
The linear accelerometer outputs acceleration force to XYZ axis, excluding force of grav-
ity. In all other aspects it is like the accelerometer above.
6.4.1.3 Gravimeter
The gravimeter outputs the gravity force against the XYZ axis. In all other aspects it is like
the accelerometer above.
6.4.1.4 Gyroscope
The gyroscope sensor measures the rate of rotation around the X, Y and Z axis. Unlike the
accelerometer, the gyro is not affected by gravity. The coordinate system is the same as is
used for the acceleration sensor. Rotation is positive in the counter-clockwise direction for
pitch and roll (not yaw). That is, an observer looking from some positive location on the x, y.
or z axis at a device positioned on the origin would report positive rotation if the device
appeared to be rotating counter clockwise.
Sensor data
values[0] – Angular speed around the x-axis, in radians/second
values[1] – Angular speed around the y-axis, in radians/second
328 User Manual GSG-5/6 Series Rev. 27
6.4 Sensors Command Reference