Crossbow Technology AHRS400 Series - AHRS Command Quick Reference

AHRS400 Series User’s Manual
Doc# 7430-0004-01 Rev. A Page 27
8 Appendix D. AHRS Command Quick Reference
Command
(ASCII)
Response Description
R H Reset: Resets the DMU firmware to default operating
mode of Voltage Mode and Polled operation.
r R Change to Voltage Mode.
c C Change to Scaled Sensor Mode.
a A Change to Angle Mode (VG Mode).
P None Change to polled mode. Data packets sent when a G
is received by the DMU.
C None Change to continuous data transmit mode. Data
packets streamed continuously. Packet rate is
dependent on operating mode. Sending "G" stops
data transmission.
G Data
Packet
Get Data. Requests a packet of data from the DMU.
Data format depends on operating mode.
S ASCII
String
Query DMU serial number. Returns serial number as
32-bit binary number.
v ASCII
String
Query DMU version ID string. Returns ASCII string.
b Change
baud rate
Autobaud detection. Send "b"; DMU will respond “B”;
change baud rate; send "a"; DMU will send "A" when
new baud rate is detected.
s S Start Soft iron calibration. DMU should be rotated
through at least one complete turn (360° of rotation)
with the system basically level.
u U End Soft iron calibration. Calibration is saved in
EEPROM.
h H Clear hard iron calibration.
t T Clear Soft Iron Calibration
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