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AHRS - Advanced Configuration - User Guide
MU-AHRS-AN-002 Ed. E November 2015 12
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4.6 Heading, Roll and Pitch angular offsets
To configure user angular offsets (fine misalignment):
Message
$PHBIA,x.x,y.y,z.z*hh<CR><LF>
Title
Angular offsets Configuration
Data Field Semantics Unit Type
x.x Vehicle X1 rotation offset Degree Float
y.y Vehicle X2 rotation offset Degree Float
z.z Vehicle X3 rotation offset Degree Float
To retrieve the angular offsets:
$PHBIA,,*52<CR><LF>