Vega AHRS-1 / AHRS-3 / MAG-1 Operating Manual
Page 15
4.5 COMM Setup (Communication Setup)
Serial Out:
Select “ON” to enable the RS232 serial output.
Unit Address:
Enter the unit address.
Baud Rate:
Select the desired baud rate of the serial output.
4.5.1 Protocol Format
STX, Address, Message type, Length, Data payload, Checksum, ETX
STX: Start of text (0x02)
Address: unsigned char (8bit), Unit address (range 0-255)
Message Type: unsigned char (8bit), Specifies the message type
Length: unsigned char (8bit), Length of the data payload (does not include the STX, Address, message type, checksum or
ETX)
Data payload: Data
Checksum: unsigned char (8bit), XOR of all bytes starting from the unit address to the end of the data payload. The
checksum is seeded with 0xa5. (does not include the STX or ETX)
ETX: End of text (0x03)
