Example Response: $VNRRG, 15, -0.017057, -0.000767, +0.056534, +0.998255,
+1.0670, -0.2568, +3.0696, - 00.019, +00.320, -09.802, -0.002801, -0.001186, -
0.001582*65
Table 5-5:
VNQMR
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 com-
ponent.
16 MagX float Gauss Compensated magnetometer measurement in x-
axis.
20 MagY float Gauss Compensated magnetometer measurement in y-
axis.
24 MagZ float Gauss Compensated magnetometer measurement in z-
axis.
28 AccelX float m/s
2
Compensated accelerometer measurement in x-
axis.
32 AccelY float m/s
2
Compensated accelerometer measurement in y-
axis.
36 AccelZ float m/s
2
Compensated accelerometer measurement in z-axis.
40 GyroX float rad/s Compensated angular rate in x-axis.
44 GyroY float rad/s Compensated angular rate in y-axis.
48 GyroZ float rad/s Compensated angular rate in z-axis.
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 $VNQMR header.
324 VersaSync User Manual
APPENDIX
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