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Acceleration calculation method: Unit: g
a
x
=((axH<<8)|axL)/32768*16g(g is Gravity acceleration, 9.8m/s
2
)
a
y
=((ayH<<8)|ayL)/32768*16g(g is Gravity acceleration, 9.8m/s
2
)
a
z
=((azH<<8)|azL)/32768*16g(g is Gravity acceleration, 9.8m/s
2
)
Calculation method: Unit: °/s
w
x
=((wxH<<8)|wxL)/32768*2000(°/s)
w
y
=((wyH<<8)|wyL)/32768*2000(°/s)
w
z
=((wzH<<8)|wzL)/32768*2000(°/s)
Calculation method: Unit: °
Roll
（
x axis
）
Roll=((RollH<<8)|RollL)/32768*180(°)
Pitch
（
y axis
）
Pitch=((PitchH<<8)|PitchL)/32768*180(°)
Yaw angle
（
z axis
）
Yaw=((YawH<<8)|YawL)/32768*180(°)
Note:
1. Attitude angle use the coordinate system for the Northeast sky coordinate system, the X
axis is East,the Y axis is North, Z axis toward sky. Euler coordinate system rotation
sequence defined attitude is z-y-x, first rotates around the Z axis. Then, around the Y
axis, and then around the X axis.
2. In fact, the rotation sequence is Z-Y-X, the range of pitch angle (Y axis) is only ±90
degrees, when the pitch angle (Y axis) is bigger than 90 degrees and the pitch angle (Y
axis) will become less than 90 degrees. At the same time, the Roll Angle(X axis) will
become larger than 180 degree. Please search on Google about more information of
Euler angle and attitude information.
3.
Since the three axis are coupled, the angle will be independent only when the angle is
small. It will be dependent of the three angle when the angle is large when the attitude
angle change, such as when the X axis close to 90 degrees, even if the attitude angle
around the X axis, Y axis angle will have a big change, which is the inherent
characteristics of the Euler angle.
Explanation:
1. The data is sent in hexadecimal format, not ASCII code.
2. Each data is transmitted in descending order of high byte and high byte, and the two are
combined into one signed short type of data.
X axis acceleration data Ax: AxL is low byte, AxH is high byte, conversion method as
below:
Presume Data is a real data, DataH is high byte, DataL is low byte, so:
Data=((short)DataH<<8)|DataL. Please note that DataH need to transform a signed short type of
data and then shift. The Data type has a signed short type, so that it display negative number.
6.1.2
Single Return Register Data Packet
Single Return Data Packet need to send register instruction first:
