UM001
99
7.2.8
Magnetic, Acceleration and Angular Rates
Magnetic, Acceleration, and Angular Rates
Register ID : 20
Async Header : MAR
Access : Read Only
Comment : Magnetic, acceleration, and compensated angular rates.
Size (Bytes): 36
Example Response: $VNRRG,20,+1.0684,-0.2578,+3.0649,-00.005,+00.341,-09.780,-0.0.000840,-
0.000466*64
Offset
Name
Format
Unit
Description
0
MagX
float
Gauss Compensated magnetometer measurement in x-axis.
4
MagY
float
Gauss Compensated magnetometer measurement in y-axis.
8
MagZ
float
Gauss Compensated magnetometer measurement in z-axis.
12
AccelX
float
m/s
2
Compensated accelerometer measurement in x-axis.
16
AccelY
float
m/s
2
Compensated accelerometer measurement in y-axis.
20
AccelZ
float
m/s
2
Compensated accelerometer measurement in z-axis.
24
GyroX
float
rad/s
Compensated angular rate in x-axis.
28
GyroY
float
rad/s
Compensated angular rate in y-axis.
32
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
$VNMAR header.
