UM001
95
7.2.4
Quaternion, Magnetic, Acceleration and Angular Rates
Quaternion, Magnetic, Acceleration, and Angular Rates
Register ID : 15
Async Header : QMR
Access : Read Only
Comment : Attitude solution, magnetic, acceleration, and compensated angular rates.
Size (Bytes): 52
Example Response: $VNRRG,15,-0.017057,-0.0.0.1.0670,-0.2568,+3.0696,-
00.019,+00.320,-09.802,-0.002801,-0.001186,-0.001582*65
Offset
Name
Format
Unit
Description
0
Quat[0]
float
-
Calculated attitude as quaternion.
4
Quat[1]
float
-
Calculated attitude as quaternion.
8
Quat[2]
float
-
Calculated attitude as quaternion.
12
Quat[3]
float
-
Calculated attitude as quaternion. Scalar component.
16
MagX
float
Gauss Compensated magnetometer measurement in x-axis.
20
MagY
float
Gauss Compensated magnetometer measurement in y-axis.
24
MagZ
float
Gauss Compensated magnetometer measurement in z-axis.
28
AccelX
float
m/s
2
Compensated accelerometer measurement in x-axis.
32
AccelY
float
m/s
2
Compensated accelerometer measurement in y-axis.
36
AccelZ
float
m/s
2
Compensated accelerometer measurement in z-axis.
40
GyroX
float
rad/s
Compensated angular rate in x-axis.
44
GyroY
float
rad/s
Compensated angular rate in y-axis.
48
GyroZ
float
rad/s
Compensated angular rate in z-axis.
You can configure the device to output this register at a fixed rate using the Async Data Output Type
Register in the System subsystem. Once configured the data in this register will be sent out with the
$VNQMR header.
