X-IO x-IMU3, User Manual

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x-IMU3 User Manual v0.11
April 6, 2022
Argument Description
1 Quaternion W element
2 Quaternion X element
3 Quaternion Y element
4 Quaternion Z element
5 Linear acceleration X axis in g
6 Linear acceleration Y axis in g
7 Linear acceleration Z axis in g
Table 18: Linear acceleration message arguments
The following message examples are for a timestamp of 1 second (1,000,000 microseconds) and argument
values of:
1. Quaternion W element = 1
2. Quaternion X element = 0
3. Quaternion Y element = 0
4. Quaternion Z element = 0
5. Linear acceleration X axis = 0
6. Linear acceleration Y axis = 0
7. Linear acceleration Z axis = 0
ASCII example:
L,1000000, 1.0000 , 0.0000 , 0.0000 , 0.0000 , 0.0000 , 0.0000 , 0.0000
\
r
\
n
Binary example:
CC 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 00 00 00 00 00 00 00 00 00 00 0A
8.2.8 Earth acceleration message
The Earth acceleration message provides timestamped measurements of Earth acceleration and the
orientation of the device relative to the Earth. Earth acceleration messages are sent continuously at the
message rate configured in the device settings. The first value of an ASCII message is the character “E”
and the arguments are seven numerical values expressed to four decimal places. The first byte of a binary
message is 0xC5 (equal to 0x80 + “E”) and the arguments are seven contiguous 32-bit floats. The message
arguments are described in Table 19.
Argument Description
1 Quaternion W element
2 Quaternion X element
3 Quaternion Y element
4 Quaternion Z element
5 Earth acceleration X axis in g
6 Earth acceleration Y axis in g
7 Earth acceleration Z axis in g
Table 19: Earth acceleration message arguments
The following message examples are for a timestamp of 1 second (1,000,000 microseconds) and argument
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