Vnyba - Safran VersaSync User Manual

Offset
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5.3.4.9

VNYBA

Output Type: Yaw, Pitch, Roll, Body True Acceleration, and Angular Rates
Async Header: YBA
Table 5-11:
Offset
0
4
8
12
16
20
24
28
32
VersaSync User Manual
Name Format Unit
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 $VNYMR header.
VNYBA Settings
Name
Yaw
Pitch
Roll
AccelX
AccelY
AccelZ
AngularRateX
AngularRateY
AngularRateZ
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.
Format Unit
float deg
float deg
float deg
2
float m/s
2
float m/s
2
float m/s
float rad/s
float rad/s
float rad/s
Description
Description
Yaw angle.
Pitch angle.
Roll angle.
True acceleration. (X-axis)
True acceleration. (Y-axis)
True acceleration. (Z-axis)
Angular rate. (X-axis)
Angular rate. (Y-axis)
Angular rate. (Z-axis)
APPENDIX
329