Safran VersaSync - Vnyba

Offset Name Format Unit Description
32 AccelZ float m/s
2
Compensated accelerometer measurement in z-axis.
36 GyroX float rad/s Compensated angular rate in x-axis.
40 GyroY float rad/s Compensated angular rate in y-axis.
44 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 $VNYMR header.
5.3.4.9 VNYBA
Output Type: Yaw, Pitch, Roll, Body True Acceleration, and Angular Rates
Async Header: YBA
Table 5-11:
VNYBA Settings
Offset Name Format Unit Description
0 Yaw float deg Yaw angle.
4 Pitch float deg Pitch angle.
8 Roll float deg Roll angle.
12 AccelX float m/s
2
True acceleration. (X-axis)
16 AccelY float m/s
2
True acceleration. (Y-axis)
20 AccelZ float m/s
2
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)
VersaSync User Manual 329
APPENDIX