Table 5-26:
VNDTV Settings
Offset Name Format Unit Description
0 DeltaTime float sec Delta time for the integration interval.
8 DeltaThetaX float deg Delta rotation vector component in the x-axis.
10 DeltaThetaY float deg Delta rotation vector component in the y-axis.
12 DeltaThetaZ float deg Delta rotation vector component in the z-axis.
16 DeltaVelocityX float m/s Delta velocity vector component in the x-axis.
20 DeltaVelocityY float m/s Delta velocity vector component in the y-axis.
24 DeltaVelocityZ float m/s Delta velocity vector component in the z-axis.
The Delta Theta and Delta Velocity register contains the computed outputs from the
onboard coning and sculling algorithm. The coning and sculling integrations are performed
at the IMU sample rate (nominally at 400Hz) and reset when the register data is output. If
polling this register, the values will represent the delta time, angles, and velocity since the
register was last polled. If the Delta Theta/Velocity data is selected for asynchronous out-
put via the Async Data Output Type register (Register 6, type 30), the integrals will be
reset each time the data is asynchronously output at the configured rate.
The delta time output contains the length of the time interval over which the deltas were
calculated. This can be used to check the interval time or to compute nonlinear “average”
rates and accelerations from the integrated values.
The delta theta is output as a principal rotation vector, defined as the product of the unit
vector of the principal rotation axis and the principal rotation angle in degrees. For small
rotations, a typical use case for delta angles, the principal rotation vector elements may be
treated individually as rotations in degrees about the individual sensor axes (in any Euler
rotation sequence) with little error.
The delta velocity output provides the integration of the acceleration in the chosen frame,
taking into account the coupling effects of any simultaneous rotation experienced.
The coning and sculling algorithm can be configured to operate in multiple frames and with
a variety of compensations applied. See the Delta Theta and Delta Velocity Configuration
Register in the IMU subsystem for further details
VersaSync User Manual 299
APPENDIX
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