X-IO x-IMU3, User Manual

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x-IMU3 User Manual v0.11
April 6, 2022
Argument Description
1 Gyroscope X axis in degrees per second
2 Gyroscope Y axis in degrees per second
3 Gyroscope Z axis in degrees per second
4 Accelerometer X axis in g
5 Accelerometer Y axis in g
6 Accelerometer Z axis in g
Table 13: Inertial message arguments
The following message examples are for a timestamp of 1 second (1,000,000 microseconds) and argument
values of:
1. Gyroscope X axis = 0
2. Gyroscope Y axis = 0
3. Gyroscope Z axis = 0
4. Accelerometer X axis = 0
5. Accelerometer Y axis = 0
6. Accelerometer Z axis = 1
ASCII example:
I,1000000, 0.0000 , 0.0000 , 0.0000 , 0.0000 , 0.0000 , 1.0000
\
r
\
n
Binary example:
C9 40 42 0F 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 80 3F 0A
8.2.3 Magnetometer message
The magnetometer message provides timestamped magnetometer measurements. Magnetometer messages
are sent continuously at the message rate configured in the device settings. The first value of an ASCII
message is the character “M” and the arguments are three numerical values expressed to four decimal places.
The first byte of a binary message is 0xCD (equal to 0x80 + “M”) and the arguments are three contiguous
32-bit floats. The message arguments are described in Table 14.
Argument Description
1 Magnetometer X axis in a.u.
2 Magnetometer Y axis in a.u.
3 Magnetometer Z axis in a.u.
Table 14: Magnetometer message arguments
The following message examples are for a timestamp of 1 second (1,000,000 microseconds) and argument
values of:
1. Magnetometer X axis = 1
2. Magnetometer Y axis = 0
3. Magnetometer Z axis = 0
ASCII example:
M,1000000, 1.0000 , 0.0000 , 0.0000
\
r
\
n
Binary example:
CD 40 42 0F 00 00 00 00 00 00 00 80 3F 00 00 00 00 00 00 00 00 0A
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