Kauai Labs navX-MXP User Manual page 84

Advanced
Serial Protocol
4 Roll
6 Compass
Heading
8 Altitude
12 Fused Heading Unsigned
14 Linear Accel X
16 Linear Accel Y
18 Linear Accel Z
20 Velocity X
24 Velocity Y
28 Velocity Z
32 Displacement X Signed 16:16
36 Displacement Y Signed 16:16
40 Displacement Z Signed 16:16
44 Quaternion W
46 Quaternion X
48 Quaternion Y
50 Quaternion Z
52 MPU Temp
54 Op. Status
55 Sensor Status
56 Cal. Status
57 Selftest Status
Stream Configuration Command
By default, navX-MXP begins transmitting YPR Updates upon power up. The Stream
Configuration Command is sent in order to change the type of navX-MXP Streaming Update
transmitted to the client.
Byte Offset
0
1
Stream Type
'y'
'g'
'p'
Stream Configuration Response
Whenever a Stream Configuration Command is received, navX-MXP responds by sending a
Signed Hundredths Degrees
Unsigned Degrees
Hundredths
Signed 16:16 Meters
Degrees
Hundredths
Signed G
Thousandths
Signed G
Thousandths
Signed G
Thousandths
Signed 16:16 Meters/Sec
Signed 16:16 Meters/Sec
Signed 16:16 Meters/Sec
Meters
Meters
Meters
Signed Pi Radians Pi Radians
Signed Pi Radians Pi Radians
Signed Pi Radians Pi Radians
Signed Pi Radians Pi Radians
Signed Hundredths Centigrade
Uint8
Uint8 NAVX_SENSOR_STATUS
Uint8 NAVX_CAL_STATUS
Uint8 NAVX_SELFTEST_STATUS
Element
Stream Type
Update Rate (Hz) – Valid
range: 4-60
Description
Yaw, Pitch, Roll & Compass Heading Update
Gyro (Raw) Data Update
AHRS + Position Data Update
NAVX_OP_STATUS
Data Type
8-bit ASCII Character
8-bit Integer
81