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Advanced
Serial Protocol
'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
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-sensor current orientation and
heading, in units of degrees, as follows:
Byte Offset
0
7
14
21
Yaw/Pitch/Roll/Compass Heading
Update
Raw Data Update
AHRS + Position Data Update
Stream Configuration Command
Stream Configuration Response
Integration Control Command
Integration Control Response
newline
characters (0x13) are present at the end of the message so that
Element
Yaw
Pitch
Roll
Compass Heading
ASCII
ASCII
Binary
ASCII
ASCII
Binary
Binary
Data Type
Float
Float
Float
Float
Unit
Degrees (-180 to 180)
Degrees (-180 to 180)
Degrees (-180 to 180)
Degrees (0 to 360)
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