Kauai Labs navX2-MXP User Manual page 86

Advanced
Serial Protocol
Raw Data Update Message
The Raw Data update message communicates the raw gyro, accelerometer, magnetometer and
temperature data. This data bypasses the navX-Sensor 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-sensor 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 Offset Element
0 Yaw
2 Pitch
4 Roll
6 Compass Heading Unsigned HundredthsDegrees
8 Altitude
12 Fused Heading
14 Linear Accel X
16 Linear Accel Y
18 Linear Accel Z
20 Velocity X
Element
Gyro X (15-bits, signed)
Gyro Y (15-bits, signed)
Gyro Z (15-bits, signed)
Acceleration X (16-bits, signed)
Acceleration Y (16-bits, signed)
Acceleration Z (16-bits, signed)
Magnetometer X (12 bits, signed) 16-bit Integer
Magnetometer Y (12 bits, signed) 16-bit Integer
Magnetometer Z (12 bits, signed) 16-bit Integer
Temperature (Centigrade degrees) Float
Data Type Unit
Signed Hundredths Degrees
Signed Hundredths Degrees
Signed Hundredths Degrees
Signed 16:16 Meters
Unsigned HundredthsDegrees
Signed Thousandths G
Signed Thousandths G
Signed Thousandths G
Signed 16:16 Meters/Sec
Data Type
16-bit Integer
16-bit Integer
16-bit Integer
16-bit Integer
16-bit Integer
16-bit Integer
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