Register ID: 9
Async Header: QTN
Access: Read Only
Comment: Attitude solution as a quaternion.
Size (Bytes): 16
Example Response: $VNRRG, 9, - 0.017386, - 0.000303, +0.055490,
+0.998308*4F
Table 5-4:
VNQTN Settings
Offset Name Format Unit Description
0 Quat[0] float – Calculated attitude as quaternion.
4 Quat[1] float – Calculated attitude as quaternion.
8 Quat[2] float – Calculated attitude as quaternion.
12 Quat[3] float – Calculated attitude as quaternion. Scalar component.
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 $VNQTN header.
5.3.4.3 VNQMR
Output Type: Quaternion, Magnetic, Acceleration and Angular Rates
Register ID: 15
Async Header: QMR
Access: Read Only
Comment: Attitude solution, magnetic, acceleration, and compensated angular
rates.
Size (Bytes): 52
VersaSync User Manual 323
APPENDIX
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