Orolia VersaSync

5.3.4.3 VNQMR
Output Type: Quaternion, Magnetic, Acceleration and Angular Rates
Register ID: 15
Async Header: QMR
Access: Read Only
Comment: Attitude solution, magnetic, acceleration, and compensated angular rates.
Size (Bytes): 52
Example Response : $VNRRG, 15, - 0.017057, - 0.000767, +0.056534, +0.998255,
+1.0670, - 0.2568, +3.0696, - 00.019, +00.320, - 09.802, - 0.002801, - 0.001186, -
0.001582*65
Table 5-5:
VNQMR
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.
16 MagX float Gauss Compensated magnetometer measurement in x-axis.
20 MagY float Gauss Compensated magnetometer measurement in y-axis.
24 MagZ float Gauss Compensated magnetometer measurement in z-axis.
28 AccelX float m/s
2
Compensated accelerometer measurement in x-axis.
32 AccelY float m/s
2
Compensated accelerometer measurement in y-axis.
36 AccelZ float m/s
2
Compensated accelerometer measurement in z-axis.
40 GyroX float rad/s Compensated angular rate in x-axis.
44 GyroY float rad/s Compensated angular rate in y-axis.
48 GyroZ float rad/s Compensated angular rate in z-axis.
VersaSync User Manual 281
APPENDIX