Vectornav VN-100, Руководство пользователя

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7.2.3 Yaw, Pitch, Roll, Magnetic, Acceleration, and Angular Rates
Yaw, Pitch, Roll, Magnetic, Acceleration, and Angular Rates
Register ID : 27 Async Header : YMR Access : Read Only
Comment : Attitude solution, magnetic, acceleration, and compensated angular rates.
Size (Bytes): 48
Example Response: $VNRRG,27,+006.380,+000.023,-001.953,+1.0640,-
0.2531,+3.0614,+00.005,+00.344,-09.758,-0.001222,-0.000450,-0.001218*4F
Offset Name Format Unit Description
0 Yaw float deg Calculated attitude heading angle in degrees.
4 Pitch float deg Calculated attitude pitch angle in degrees.
8 Roll float deg Calculated attitude roll angle in degrees.
12 MagX float Gauss Compensated magnetometer measurement in x-axis.
16 MagY float Gauss Compensated magnetometer measurement in y-axis.
20 MagZ float Gauss Compensated magnetometer measurement in z-axis.
24 AccelX float m/s
2
Compensated accelerometer measurement in x-axis.
28 AccelY float m/s
2
Compensated accelerometer measurement in y-axis.
32 AccelZ float m/s
2
Compensated accelerometer measurement in z-axis.
36 GyroX float rad/s Compensated angular rate in x-axis.
40 GyroY float rad/s Compensated angular rate in y-axis.
44 GyroZ float rad/s Compensated angular rate in z-axis.
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
$VNYMR header.