Orolia VersaSync

Offset Name Format Unit Description
4 Pitch float deg Pitch angle.
8 Roll float deg Roll angle.
Note: You can configure the device to output this register at a fixed rate
using the Async Data Output Type Register in the System subsystem.
Once configured the data in this register will be sent out with the $VNYPR
header.
5.3.4.2 VNQTN
Output Type: Attitude Quarternion
Register ID: 9
Async Header: QTN
Access: Read Only
Comment: Attitude solution as a quaternion.
Size (Bytes): 16
Example Response: $VNRRG, 9, -0.017386, -0.000303, +0.055490, +0.998308*4F
Table 5-4:
VNQTN Settings
Offset Name Format Unit Description
0 Quat[0] float – Calculated attitude as quaternion.
4 Quat[1] float – Calculated attitude as quaternion.
8 Quat[2] float – Calculated attitude as quaternion.
12 Quat[3] float – Calculated attitude as quaternion. Scalar component.
Note: You can configure the device to output this register at a fixed rate
using the Async Data Output Type Register in the System subsystem.
Once configured the data in this register will be sent out with the $VNQTN
header.
280 VersaSync User Manual
APPENDIX