Orolia VersaSync

Offset Name Format Unit Description
4 Pitch float deg Pitch angle.
8 Roll float deg Roll angle.
12 AccelX float m/s
2
Inertial true acceleration. (X-axis)
16 AccelY float m/s
2
Inertial true acceleration. (Y-axis)
20 AccelZ float m/s
2
Inertial true acceleration. (Z-axis)
24 AngularRateX float rad/s Angular rate. (X-axis)
28 AngularRateY float rad/s Angular rate. (Y-axis)
32 AngularRateZ float rad/s Angular rate. (Z-axis)
5.3.4.11 VNIMU
Output Type: IMU Measurements
Register ID: 54
Async Header: IMU
Access: Read Only
Comment: Provides the calibrated IMU measurements including barometric pressure.
Size (Bytes): 44
Example Read Response : $VNRRG,54, - 02.0841, +00.6045, +02.8911, +00.381, -
00.154, -09.657, -00.005683, +00.000262, +00.001475, +21.6, +00099.761*5B
Table 5-13:
VNIMU Settings
Offset Name Format Unit Description
0 MagX float Gauss Uncompensated Magnetic X-axis.
4 MagY float Gauss Uncompensated Magnetic Y-axis.
8 MagZ float Gauss Uncompensated Magnetic Z-axis.
12 AccelX float m/s
2
Uncompensated Acceleration X-axis.
16 AccelY float m/s
2
Uncompensated Acceleration Y-axis.
20 AccelZ float m/s
2
Uncompensated Acceleration Z-axis.
24 GyroX float rad/s Uncompensated Angular rate X-axis.
VersaSync User Manual 287
APPENDIX