WATSON INDUSTRIES ARS-G152 Owner's Manual page 21

Angular Rate
Byte 1 Byte 2 Byte 3
0x90 0x84 0xB6
Shift lower Word (Byte2:Byte3) left once to remove the high bit (bit 7) of the middle byte:
Angular Rate
Byte 1 Byte 2 Byte 3
0x90 0x09 0x6C
Shift all 3 bytes left once to remove the high bit (bit 7) of the high byte:
Angular Rate
Byte 1 Byte 2 Byte 3
0x20 0x12 0xD8
Convert from hexadecimal to decimal counts:
Angular Rate
2101976
Correct angular rate for the sign
If >8388607 then subtract 16777216 from the data
Angular Rate
2101976
Multiply the data (in counts) by the scale factor
Convert to units: counts * scale factor
For Angular Rate: Scale factor is: (400 ˚/s) / 8388608 counts
Angular Rate
100.23 ˚/s
The nominal interface settings are:
Watson Industries, Inc.
9600 Baud
8 Bit Data
1 Start Bit
1 Stop Bit
No Parity
21
ARS-G152 Rev A 05/02/2019