Ryan Mechatronics CHIMU Manuals

Ryan Mechatronics CHIMU Manuals

Manuals and User Guides for Ryan Mechatronics CHIMU. We have 1 Ryan Mechatronics CHIMU manual available for free PDF download: User Manual

Ryan Mechatronics CHIMU User Manual

Ryan Mechatronics CHIMU User Manual (64 pages)

Micro AHRS

Brand: Ryan Mechatronics | Category: Accessories | Size: 2 MB

Table of Contents

Table of Contents
2
1 Introduction

6
- Limitations
  6
  - Rate Limits
    6
  - Acceleration Limits
    6
  - Magnetic Field Limits
    6
  - BIT and User Responsibility
    6
- Theory of Operation
  7
  - Startup Conditions
    7
  - Dynamic Operation - Centripetal Acceleration
    8
- Modes of Operation
  8
2 Specifications and Characteristics

9
- Performance Specifications
  9
- Electrical Characteristics
  10
- Absolute Maximum Ratings
  10
- Mechanical and Pin Assignments
  11
  - Dimensions
    11
  - Recommended Connectors
    11
  - Coordinate System and Orientation
    12
  - Pin Assignments
    13
3 Hardware Integration

15
- Power
  15
  - Input Power
    15
  - Output Power
    15
- Special Interface Pins
  15
- Communication
  16
  - Uart
    16
  - SPI Bus
    16
- Feedback LED
  16
4 Software Interface

17
- Basic Message Structure
  17
  - Message Format
    17
  - Number Formats
    17
  - CRC Checksum Code
    18
5 Input Message Details

19
- Input Message - Device ID IS Required
  19
- Input Message Summary
  19
6 Output Message Details

42
- Fixed Message Output
  42
- Output Messages
  42
  - Ping (ID 0)
    44
  - Imu Raw (ID 1)
    45
  - Imu Fp (ID 2)
    46
  - Attitude (ID 3)
    47
  - Bias and Scale Factor (ID 4)
    50
  - Mode / BIT (ID 5)
    51
  - Mag Cal (ID 6)
    52
  - Gyro Biases (ID 7)
    53
  - Temperature Calibraton Data (ID 8)
    54
  - Dac Offset Read (ID 9)
    55
  - User Pin Options Read (ID 10)
    56
  - Magnetic Reference Vector (ID 14)
    57
  - Rate Sensor Sf Check (ID 15)
    58
7 Software Reprogramming

59
8 Appendix A: Quaternion Vs. Euler Estimator

60
9 Appendix B: Temperature Calibration

61
10 Appendix C: Set Point Calibration

62
11 Appendix D: Accelerometer Calibration

63
12 Appendix E: Magnetometer Calibration

64

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