5.3.4.10 VNYIA
Output Type: Yaw, Pitch, Roll, Inertial True Acceleration, and Angular Rates
Async Header: YIA
Table 5-12:
VNYIA 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
Inertial true acceleration. (X-axis)
16 AccelY float m/s
2
Inertial true acceleration. (Y-axis)
20 AccelZ float m/s
2
Inertial 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)
5.3.4.11 VNIMU
Output Type: IMU Measurements
Register ID: 54
Async Header: IMU
Access: Read Only
Comment: Provides the calibrated IMU measurements including barometric pres-
sure.
Size (Bytes): 44
Example Read Response: $VNRRG,54, -02.0841, +00.6045, +02.8911, +00.381, -
00.154, -09.657, -00.005683, +00.000262, +00.001475, +21.6, +00099.761*5B
330 VersaSync User Manual
APPENDIX
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