Kauai Labs navX2-MXP, Руководство пользователя

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Advanced
Serial Protocol
24 Velocity Y Signed 16:16 Meters/Sec
28 Velocity Z Signed 16:16 Meters/Sec
32 Displacement X Signed 16:16 Meters
36 Displacement Y Signed 16:16 Meters
40 Displacement Z Signed 16:16 Meters
44 Quaternion W Signed Pi Radians Pi Radians
46 Quaternion X Signed Pi Radians Pi Radians
48 Quaternion Y Signed Pi Radians Pi Radians
50 Quaternion Z Signed Pi Radians Pi Radians
52 MPU Temp Signed Hundredths Centigrade
54 Op. Status Uint8 NAVX_OP_STATUS
55 Sensor Status Uint8 NAVX_SENSOR_STATUS
56 Cal. Status Uint8 NAVX_CAL_STATUS
57 Selftest Status Uint8 NAVX_SELFTEST_STATUS
Stream Configuration Command
By default, a navX-sensor begins transmitting YPR Updates upon power up. The Stream Configuration
Command is sent in order to change the type of navX-sensor Streaming Update transmitted to the client.
Byte Offset Element Data Type
0 Stream Type 8-bit ASCII Character
1 Update Rate (Hz) – Valid range:
4-60 8-bit Integer
Stream Type Description
‘y’ Yaw, Pitch, Roll & Compass Heading Update
‘g’ Gyro (Raw) Data Update
‘p’ AHRS + Position Data Update
Stream Configuration Response
Whenever a Stream Configuration Command is received a navX-sensor responds by sending a Stream
Configuration Response message, which is formatted as follows:
Byte Offset Element Data Type
0 Stream Type 8-bit ASCII Character
1 Gyroscope Full Scale Range
(Degrees/sec) 16-bit Integer
5 Accelerometer Full Scale Range
(G) 16-bit Integer
9 Update Rate (Hz) 16-bit Integer
13 Calibrated Yaw Offset (Degrees) Float
20 Reserved 16-bit Integer
24 Reserved 16-bit Integer
28 Reserved 16-bit Integer
32 Reserved 16-bit Integer
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