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 $VNMAR
header.
5.3.4.8 VNYMR
Output Type: Yaw, Pitch, Roll, Magnetic, Acceleration, and Angular Rates
Register ID: 27
Async Header: YMR
Access: Read Only
Comment: Attitude solution, magnetic, acceleration, and compensated angular rates.
Size (Bytes): 48
Example Response: $VNRRG,27, +006.380, +000.023, -001.953, +1.0640, -0.2531,
+3.0614, +00.005, +00.344, -09.758, -0.001222, -0.000450, -0.001218*4F
Table 5-10:
VNYMR Settings
Offset Name Format Unit Description
0 Yaw float deg Calculated attitude heading angle in degrees.
4 Pitch float deg Calculated attitude pitch angle in degrees.
8 Roll float deg Calculated attitude roll angle in degrees.
12 MagX float Gauss Compensated magnetometer measurement in x-axis.
16 MagY float Gauss Compensated magnetometer measurement in y-axis.
20 MagZ float Gauss Compensated magnetometer measurement in z-axis.
24 AccelX float m/s
2
Compensated accelerometer measurement in x-axis.
28 AccelY float m/s
2
Compensated accelerometer measurement in y-axis.
32 AccelZ float m/s
2
Compensated accelerometer measurement in z-axis.
36 GyroX float rad/s Compensated angular rate in x-axis.
40 GyroY float rad/s Compensated angular rate in y-axis.
44 GyroZ float rad/s Compensated angular rate in z-axis.
VersaSync User Manual 285
APPENDIX
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