Kauai Labs navX-MXP User Manual page 83

Advanced
Serial Protocol
7
14
21
Raw Data Update Message
The Raw Data update message communicates the raw gyro, accelerometer, magnetometer and
temperature data. This data bypasses the Digital Motion Processor, and allows the individual
sensors to be used directly without any intervening processing. This can allow the following
types of use:
Access to instantaneous measures of angular velocity in each of the X, Y and Z axes,
provided by the tri-axial gyroscopes. Note that the accelerometer and gyroscope data
has already had bias calibration applied.
Additionally, raw magnetometer data is provided. Note that the raw magnetometer data
may have already had soft/hard iron calibration applied, if the navX-MXP magnetometer
calibration procedure has already been completed.
Byte Offset
0
4
8
12
16
20
24
28
32
36
Gyro Device Units: value in deg/sec * gyro full scale range
Accelerometer Device Units: value in G * accelerometer full scale range
Magnetometer Device Units: value in uTesla * .15
AHRS / Position Data Update
Byte OffsetElement
0 Yaw
2 Pitch
Pitch
Roll
Compass Heading
Element
Gyro X (15-bits, signed)
Gyro Y (15-bits, signed)
Gyro Z (15-bits, signed)
Acceleration X (16-bits, signed) 16-bit Integer
Acceleration Y (16-bits, signed) 16-bit Integer
Acceleration Z (16-bits, signed) 16-bit Integer
Magnetometer X (12 bits,
signed)
Magnetometer Y (12 bits,
signed)
Magnetometer Z (12 bits,
signed)
Temperature (Centigrade
degrees)
Data Type
Signed Hundredths Degrees
Signed Hundredths Degrees
Float
Float
Float
Data Type
16-bit Integer
16-bit Integer
16-bit Integer
16-bit Integer
16-bit Integer
16-bit Integer
Float
Unit
Degrees (-180 to 180)
Degrees (-180 to 180)
Degrees (0 to 360)
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