Orolia VersaSync

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 $VNGYR
header.
5.3.4.7 VNMAR
Output Type: Magnetic, Acceleration and Angular Rates
Register ID: 20
Async Header: MAR
Access: Read Only
Comment: Magnetic, acceleration, and compensated angular rates.
Size (Bytes): 36
Example Response : $VNRRG,20, +1.0684, - 0.2578, +3.0649, -00.005, +00.341, -
09.780, -0.000963, +0.000840, -0.000466*64
Table 5-9:
VNMAR Settings
Offset Name Format Unit Description
0 MagX float Gauss Compensated magnetometer measurement in x-axis.
4 MagY float Gauss Compensated magnetometer measurement in y-axis.
8 MagZ float Gauss Compensated magnetometer measurement in z-axis.
12 AccelX float m/s
2
Compensated accelerometer measurement in x-axis.
16 AccelY float m/s
2
Compensated accelerometer measurement in y-axis.
20 AccelZ float m/s
2
Compensated accelerometer measurement in z-axis.
24 GyroX float rad/s Compensated angular rate in x-axis.
28 GyroY float rad/s Compensated angular rate in y-axis.
32 GyroZ float rad/s Compensated angular rate in z-axis.
284 VersaSync User Manual
APPENDIX