Vectornav VN-100, Руководство пользователя

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UM001 79
6 IMU Subsystem
6.1 IMU Measurement Registers
6.1.1 IMU Measurements
This register provides direct access to the calibrated magnetometer, accelerometer, gyro, barometric
pressure, and temperature measurements available from the onboard IMU.
IMU Measurements
Register ID : 54 Async Header : IMU Access : Read Only
Comment : Provides the calibrated IMU measurements including barometric pressure.
Size (Bytes): 44
Example Read
Response:
$VNRRG,54,-02.0841,+00.6045,+02.8911,+00.381,-00.154,-09.657,-00.005683,
+00.00.21.6,+00099.761*5B
Offset Name Format Unit Description
0 MagX float Gauss Uncompensated Magnetic X-axis.
4 MagY float Gauss Uncompensated Magnetic Y-axis.
8 MagZ float Gauss Uncompensated Magnetic Z-axis.
12 AccelX float m/s
2
Uncompensated Acceleration X-axis.
16 AccelY float m/s
2
Uncompensated Acceleration Y-axis.
20 AccelZ float m/s
2
Uncompensated Acceleration Z-axis.
24 GyroX float rad/s Uncompensated Angular rate X-axis.
28 GyroY float rad/s Uncompensated Angular rate Y-axis.
32 GyroZ float rad/s Uncompensated Angular rate Z-axis.
36 Temp float C IMU Temperature.
40 Pressure float kPa Barometric pressure.
You can configure the device to output this register at a fixed rate using the Async Data Output Type
Register in the System subsystem. Once configured the data in this register will be sent out with the
$VNIMU header.