UM001
91
7
Attitude Subsystem
7.1
Commands
7.1.1
Known Magnetic Disturbance Command
This command is used to notify the VN-100 that a magnetic disturbance is present. When the VN-100
receives this command it will tune out the magnetometer and will pause the current hard/soft iron
calibration if it is enabled. A single parameter is provided to tell the VN-100 whether the disturbance is
present or not.
0 – No Disturbance is present
1 – Disturbance is present
Example Magnetic Disturbance Command
Example Command
Message
UART Command
$VNKMD,1*47
UART Response
$VNKMD,1*47
SPI Command (8 bytes)
08 01 00 00 (shown as hex)
SPI Response (8 bytes)
00 08 01 00 (shown as hex)
7.1.2
Known Acceleration Disturbance Command
This command is used to notify the VN-100 that an acceleration disturbance is present. When the VN-
100 receives this command it will tune out the accelerometer. A single parameter is provided to tell the
VN-100 whether the disturbance is present or not.
0 – No Disturbance is present
1 – Disturbance is present
Example Acceleration Disturbance Command
Example Command
Message
UART Command
$VNKAD,1*4B
UART Response
$VNKAD,1*4B
SPI Command (8 bytes)
09 01 00 00 (shown as hex)
SPI Response (8 bytes)
00 09 01 00 (shown as hex)
7.1.3
Set Gyro Bias Command
This command will instruct the VN-100 to copy the current gyro bias estimates into register 74. After
sending this command you will need to issue the write settings command in the System subsystem to save
the state of this register to flash memory. Once saved the VN-100 will use these bias estimates as the
initial state at startup.
Example Gyro Bias Command
Example Command
Message
