X-IO x-IMU3, User Manual

Page: 26 / 58

x-IMU3 User Manual v0.11
April 6, 2022
The following message examples are for a timestamp of 1 second (1,000,000 microseconds) and argument
values of:
1. Rotation matrix XX element = 1
2. Rotation matrix XY element = 0
3. Rotation matrix XZ element = 0
4. Rotation matrix YX element = 0
5. Rotation matrix YY element = 1
6. Rotation matrix YZ element = 0
7. Rotation matrix ZX element = 0
8. Rotation matrix ZY element = 0
9. Rotation matrix ZZ element = 1
ASCII example:
R,1000000, 1.0000 , 0.0000 , 0.0000 , 0.0000 , 1.0000 , 0.0000 , 0.0000 , 0.0000 , 1.
0000
\
r
\
n
Binary example:
D2 40 42 0F 00 00 00 00 00 00 00 80 3F 00 00 00 00 00 00 00 00 00 00
00 00 00 00 80 3F 00 00 00 00 00 00 00 00 00 00 00 00 00 00 80 3F 0A
8.2.6 Euler angles message
The Euler angles message provides timestamped measurements of the orientation of the device relative
to the Earth. Euler angles messages are sent continuously at the message rate configured in the device
settings. The first value of an ASCII message is the character “A” and the arguments are three numerical
values expressed to four decimal places. The first byte of a binary message is 0xC1 (equal to 0x80 + “A”) and
the arguments are three contiguous 32-bit floats. The message arguments are described in Table 17.
Argument Description
1 Roll angle in degrees
2 Pitch angle in degrees
3 Yaw angle in degrees
Table 17: Euler angles message arguments
The following message examples are for a timestamp of 1 second (1,000,000 microseconds) and argument
values of:
1. Roll angle = 0
2. Pitch angle = 0
3. Yaw angle = 0
ASCII example:
A,1000000, 0.0000 , 0.0000 , 0.0000
\
r
\
n
Binary example:
C1 40 42 0F 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0A
8.2.7 Linear acceleration message
The linear acceleration message provides timestamped measurements of linear acceleration and the
orientation of the device relative to the Earth. Linear acceleration messages are sent continuously at the
message rate configured in the device settings. The first value of an ASCII message is the character “L”
and the arguments are seven numerical values expressed to four decimal places. The first byte of a binary
message is 0xCC (equal to 0x80 + “L”) and the arguments are seven contiguous 32-bit floats. The message
arguments are described in Table 18 on the following page.
26