Vectornav VN-100, User Manual

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32 UM001
(if present) selects Groups 8-14, and so on. The sequence of group selection bytes will always end with a
byte whose extension bit is not set.
Name Bit Offset Description
Output Group 1 0 Common Group
Output Group 2 1 Time Group
Output Group 3 2 IMU Group
Output Group 5 4 Attitude Group
Output group 4, 6, & 7 are not used on the VN-100. The bits for these unused output groups must be
set to zero.
Groups 8-14 are not used, however they are reserved for use in future firmware versions.
4.2.2 OutputFields
The OutputField parameter consists of a series of one or more 16-bit words per selected output group
(see OutputGroup parameter) which are used to identify the selected output fields for that group. The
first series of one or more words corresponds to the fields for the first selected group, followed by a series
of word(s) for the next selected group, and so on. Each 16-bit word consists of 15 group selection bits (Bit
0 through Bit 14) and an extension bit (Bit 15). The extension bit in each word is used to indicate the
presence of a following continuation word to select additional (higher-numbered) output fields for the
current group. The first word corresponding to a specific group selects fields 1-15 (with bit offsets 0-14,
respectively), the second word (if present) selects fields 16-30, and so on. Each sequence of field selection
words corresponding to a selected output group ends with a word whose extension bit is not set, and is
then followed by a sequence of words for the next selected group (if any).
Below is a list of the available output fields for each output group.
Bit
Offset
Group 1
Common
Group 2
Time
Group 3
IMU
Group 5
Attitude
0 TimeStartup TimeStartup ImuStatus VpeStatus
1 Reserved UncompMag YawPitchRoll
2 TimeSyncIn UncompAccel Quaternion
3 YawPitchRoll UncompGyro DCM
4 Quaternion TimeSyncIn Temp MagNed
5 AngularRate Pres AccelNed
6 Reserved DeltaTheta LinearAccelBody
7 Reserved SyncInCnt DeltaVel LinearAccelNed
8 Accel SyncOutCnt Mag YprU
9 Imu TimeStatus Accel
10 MagPres Gyro
11 DeltaTheta
12 VpeStatus
13 SyncInCnt
14
15