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bit, and the type of Data is also a symbol of the short type, so it can show a negative.
5.2.2
Angular velocity output：
0x55
0x52
wxL
Calculated formular：
w
=((wxH<<8)|wxL)/32768*2000(° /s)
x
w
=((wyH<<8)|wyL)/32768*2000(° /s)
y
w
=((wzH<<8)|wzL)/32768*2000(° /s)
z
Temperature calculated formular：
T=((TH<<8)|TL) /340+36.53 ℃
Checksum：
Sum=0x55+0x52+wxH+wxL+wyH+wyL+wzH+wzL+TH+TL
5.2.3
Angle Output：
0x55
0x53
RollL
Calculated formular：
Roll（x axis）Roll=((RollH<<8)|RollL)/32768*180(° )
Pitch（y axis）Pitch=((PitchH<<8)|PitchL)/32768*180(° )
Yaw（z axis）Yaw=((YawH<<8)|YawL)/32768*180(° )
Temperature calculated formular：
T=((TH<<8)|TL) /340+36.53 ℃
Checksum：
Sum=0x55+0x53+RollH+RollL+PitchH+PitchL+YawH+YawL+TH+TL
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.
1.
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
IIC mode ：
5.2.4
0x55
0x50
0x00
wxH
wyL
wyH
RollH
PitchL
PitchH
0x01
0x00
0x02
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wzL
wzH
TL
YawL
YawH
TL
0x00
0x03
0x00
TH
SUM
TH
SUM
0x04
SUM
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