5.3.4 ASCII Output Settings
These settings may only be used if your hardware contains the legacy IMU Vect-
orNav 300, and your Multi I/O connector pinout is set to INS Out.
5.3.4.1 VNYPR
Output Type: Yaw, Pitch, Roll
Register ID: 8
Async Header: YPR
Access: Read Only
Comment: Attitude solution as yaw, pitch, and roll in degrees. The yaw, pitch, and
roll is given as a 3,2,1 Euler angle rotation sequence describing the orientation of
the sensor with respect to the inertial North East Down (NED) frame.
Size (Bytes): 12
Example Response: $VNRRG, 8, +006.271,+000.031, -002.000*66
Table 5-3:
VNYPR Settings
Offset Name Format Unit Description
0 Yaw float deg Yaw angle.
4 Pitch float deg Pitch angle.
8 Roll float deg Roll angle.
Note: You can configure the device to output this register at a fixed
rate using the Async Data Output Type Register in the System sub-
system. Once configured the data in this register will be sent out
with the $VNYPR header.
5.3.4.2 VNQTN
Output Type: Attitude Quarternion
322 VersaSync User Manual
APPENDIX
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