Kauai Labs navX-MXP User Manual page 82

Advanced
Serial Protocol
ID
'y'
'g'
'p'
'S'
's'
'I'
'j'
Message Body
The message body differs depending upon the Message Type; the various Message Body
specifications are listed below.
Message Termination
The final four bytes of each Serial protocol message contain a Base16 unsigned 8-bit checksum
(encoded in 2 bytes as an ASCII 8-bit integer) followed by a carriage return and then a line feed
character.
Checksum
The checksum is calculated by adding each byte of the message except the bytes within the
Message Termination itself. The checksum is accumulated within an 8-bit unsigned byte.
New Line
The carriage return (0x10) and
so that when the message is displayed in a console window, a new line will be inserted in the
console at the end of the message.
Message Body Definitions
Yaw/Pitch/Roll/Compass Heading Update Message
The Yaw/Pitch/Roll/Compass Heading Update message indicates the navX-MXP current
orientation and heading, in units of degrees, as follows:
Byte Offset
0
Message Type
Yaw/Pitch/Roll/Compass
Heading Update
Raw Data Update
AHRS + Position Data Update Binary
Stream Configuration
Command
Stream Configuration
Response
Integration Control Command
Integration Control Response
newline characters (0x13) are present at the end of the message
Element
Yaw
Encoding
ASCII
ASCII
ASCII
ASCII
Binary
Binary
Data Type
Float
Unit
Degrees (-180 to 180)
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