Vectornav VN-100, Руководство пользователя

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UM001 95
7.2.4 Quaternion, Magnetic, Acceleration and Angular Rates
Quaternion, Magnetic, Acceleration, and Angular Rates
Register ID : 15 Async Header : QMR Access : Read Only
Comment : Attitude solution, magnetic, acceleration, and compensated angular rates.
Size (Bytes): 52
Example Response: $VNRRG,15,-0.017057,-0.0.0.1.0670,-0.2568,+3.0696,-
00.019,+00.320,-09.802,-0.002801,-0.001186,-0.001582*65
Offset Name Format Unit Description
0 Quat[0] float - Calculated attitude as quaternion.
4 Quat[1] float - Calculated attitude as quaternion.
8 Quat[2] float - Calculated attitude as quaternion.
12 Quat[3] float - Calculated attitude as quaternion. Scalar component.
16 MagX float Gauss Compensated magnetometer measurement in x-axis.
20 MagY float Gauss Compensated magnetometer measurement in y-axis.
24 MagZ float Gauss Compensated magnetometer measurement in z-axis.
28 AccelX float m/s
2
Compensated accelerometer measurement in x-axis.
32 AccelY float m/s
2
Compensated accelerometer measurement in y-axis.
36 AccelZ float m/s
2
Compensated accelerometer measurement in z-axis.
40 GyroX float rad/s Compensated angular rate in x-axis.
44 GyroY float rad/s Compensated angular rate in y-axis.
48 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
$VNQMR header.