5.3.4.10 Vnyia; Vnimu - Safran VersaSync User Manual

APPENDIX

5.3.4.10 VNYIA

Output Type: Yaw, Pitch, Roll, Inertial True Acceleration, and Angular Rates
Async Header: YIA
Table 5-12:
Offset
0
4
8
12
16
20
24
28
32
5.3.4.11

VNIMU

Output Type: IMU Measurements
Register ID: 54
Async Header: IMU
Access: Read Only
Comment: Provides the calibrated IMU measurements including barometric pres-
sure.
Size (Bytes): 44
Example Read Response: $VNRRG,54, -02.0841, +00.6045, +02.8911, +00.381, -
00.154, -09.657, -00.005683, +00.000262, +00.001475, +21.6, +00099.761*5B
330
VNYIA Settings
Name Format
Yaw float
Pitch float
Roll float
AccelX float
AccelY float
AccelZ float
AngularRateX float
AngularRateY float
AngularRateZ float
Unit
deg Yaw angle.
deg Pitch angle.
deg Roll angle.
2
m/s Inertial true acceleration. (X-axis)
2
m/s Inertial true acceleration. (Y-axis)
2
m/s Inertial true acceleration. (Z-axis)
rad/s Angular rate. (X-axis)
rad/s Angular rate. (Y-axis)
rad/s Angular rate. (Z-axis)
Description
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