Crossbow Technology AHRS400 Series - Page 21

AHRS400 Series User’s Manual
Doc# 7430-0004-01 Rev. A Page 15
Table 4. AHRS400 Series Data Packet Format
Byte VG Mode Scaled Sensor Mode Voltage Mode
0 Header (255) Header (255) Header (255)
1 Roll Angle (MSB) Roll Angular Rate (MSB) Roll Gyro Voltage (MSB)
2 Roll Angle (LSB) Roll Angular Rate (LSB) Roll Gyro Voltage (LSB)
3 Pitch Angle (MSB) Pitch Angular Rate (MSB) Pitch Gyro Voltage (MSB)
4 Pitch Angle (LSB) Pitch Angular Rate (LSB) Pitch Gyro Voltage (LSB)
5 Heading Angle (MSB) Yaw Angular Rate (MSB) Yaw Gyro Voltage (MSB)
6 Heading Angle (LSB) Yaw Angular Rate (LSB) Yaw Gyro Voltage (LSB)
7 Roll Angular Rate (MSB) X-Axis Acceleration (MSB) X-Axis Accel Voltage (MSB)
8 Roll Angular Rate (LSB) X-Axis Acceleration (LSB) X-Axis Accel Voltage (LSB)
9 Pitch Angular Rate (MSB) Y-Axis Acceleration (MSB) Y-Axis Accel Voltage (MSB)
10 Pitch Angular Rate (LSB) Y-Axis Acceleration (LSB) Y-Axis Accel Voltage (LSB)
11 Yaw Angular Rate (MSB) Z-Axis Acceleration (MSB) Z-Axis Accel Voltage (MSB)
12 Yaw Angular Rate (LSB) Z-Axis Acceleration (LSB) Z-Axis Accel Voltage (LSB)
13 X-Axis Acceleration (MSB) X-Axis Magnetic Field (MSB) X-Axis Mag Voltage (MSB)
14 X-Axis Acceleration (LSB) X-Axis Magnetic Field (LSB) X-Axis Mag Voltage (LSB)
15 Y-Axis Acceleration (MSB) Y-Axis Magnetic Field (MSB) Y-Axis Mag Voltage (MSB)
16 Y-Axis Acceleration (LSB) Y-Axis Magnetic Field (LSB) Y-Axis Mag Voltage (LSB)
17 Z-Axis Acceleration (MSB) Z-Axis Magnetic Field (MSB) Z-Axis Mag Voltage (MSB)
18 Z-Axis Acceleration (LSB) Z-Axis Magnetic Field (LSB) Z-Axis Mag Voltage (LSB)
19 X-Axis Magnetic Field (MSB) Temp Sensor Voltage (MSB) Temp Sensor Voltage (MSB)
20 X-Axis Magnetic Field (LSB) Temp Sensor Voltage (LSB) Temp Sensor Voltage (LSB)
21
Y-Axis Magnetic Field (MSB)
Time (MSB) Time (MSB)
22
Y-Axis Magnetic Field (LSB)
Time (LSB) Time (LSB)
23
Z-Axis Magnetic Field (MSB)
Checksum Checksum
24
Z-Axis Magnetic Field (LSB)
25
Temp Sensor Voltage (MSB)
26
Temp Sensor Voltage (LSB)
27 Time (MSB)
28 Time (LSB)
29 Checksum
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