Quaternion Message; Rotation Matrix Message - X-IO x-IMU3 User Manual

x-IMU3 User Manual v0.11
April 6, 2022

8.2.4 Quaternion message

The quaternion message provides timestamped measurements of the orientation of the device relative to the
Earth. Quaternion messages are sent continuously at the message rate configured in the device settings. The
first value of an ASCII message is the character "Q" and the arguments are four numerical values expressed
to four decimal places. The first byte of a binary message is 0xD1 (equal to 0x80 + "Q") and the arguments
are four contiguous 32-bit floats. The message arguments are described in Table 15.
The following message examples are for a timestamp of 1 second (1,000,000 microseconds) and argument
values of:
1. Quaternion W element =
2. Quaternion X element =
3. Quaternion Y element =
4. Quaternion Z element =
ASCII example:
Q,1000000,1.0000,0.0000,0.0000,0.0000
Binary example:
D1 40 42 0F 00 00 00 00 00
00 00

8.2.5 Rotation matrix message

The rotation matrix message provides timestamped measurements of the orientation of the device relative
to the Earth. Rotation matrix messages are sent continuously at the message rate configured in the device
settings. The first value of an ASCII message is the character "R" and the arguments are nine numerical
values expressed to four decimal places. The first byte of a binary message is 0xD2 (equal to 0x80 + "R") and
the arguments are nine contiguous 32-bit floats. The message arguments are described in Table 16.
Argument Description
1 Quaternion W element
2 Quaternion X element
3 Quaternion Y element
4 Quaternion Z element
Table 15: Quaternion message arguments
1
0
0
0
0A
Argument Description
1 Rotation matrix XX element
2 Rotation matrix XY element
3 Rotation matrix XZ element
4 Rotation matrix YX element
5 Rotation matrix YY element
6 Rotation matrix YZ element
7 Rotation matrix ZX element
8 Rotation matrix ZY element
9 Rotation matrix ZZ element
Table 16: Rotation matrix message arguments
r n
00 00 80 3F 00 00 00 00 00 00 00 00 00 00
25