Safran VersaSync User Manual page 338

APPENDIX
Example Response: $VNRRG, 15, -0.017057, -0.000767, +0.056534, +0.998255,
+1.0670, -0.2568, +3.0696, -00.019, +00.320, -09.802, -0.002801, -0.001186, -
0.001582*65
Table 5-5:
Offset
0
4
8
12
16
20
24
28
32
36
40
44
48
324
VNQMR
Name Format Unit
Quat[0] float –
Quat[1] float –
Quat[2] float –
Quat[3] float –
MagX float Gauss
MagY float Gauss
MagZ float Gauss
AccelX float m/s
AccelY float m/s
AccelZ float m/s
GyroX float rad/s
GyroY float rad/s
GyroZ float rad/s
Note: You can configure the device to output this register at a fixed
rate using the Async Data Output Type Register in the System sub-
system. Once configured the data in this register will be sent out
with the $VNQMR header.
Calculated attitude as quaternion.
Calculated attitude as quaternion.
Calculated attitude as quaternion.
Calculated attitude as quaternion. Scalar com-
ponent.
Compensated magnetometer measurement in x-
axis.
Compensated magnetometer measurement in y-
axis.
Compensated magnetometer measurement in z-
axis.
2
Compensated accelerometer measurement in x-
axis.
2
Compensated accelerometer measurement in y-
axis.
2
Compensated accelerometer measurement in z-axis.
Compensated angular rate in x-axis.
Compensated angular rate in y-axis.
Compensated angular rate in z-axis.
Description
VersaSync User Manual