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 $VNISE header.
5.3.4.18 VNDTV
Output Type: Delta Theta and Delta Velocity
Register ID: 80
Async Header: DTV
Access: Read
Comment: This register contains the output values of the onboard coning and
sculling algorithm.
Size (Bytes): 28
Example Read Response: $VNRRG, 80, +0.665016, - 000.119, - 000.409, -
000.025, +000.011, -000.084, -006.702*6A
Table 5-26:
VNDTV Settings
Offset Name Format Unit Description
0 DeltaTime float sec Delta time for the integration interval.
8 DeltaThetaX float deg Delta rotation vector component in the x-axis.
10 DeltaThetaY float deg Delta rotation vector component in the y-axis.
12 DeltaThetaZ float deg Delta rotation vector component in the z-axis.
16 DeltaVelocityX float m/s Delta velocity vector component in the x-axis.
20 DeltaVelocityY float m/s Delta velocity vector component in the y-axis.
24 DeltaVelocityZ float m/s Delta velocity vector component in the z-axis.
The Delta Theta and Delta Velocity register contains the computed outputs from
the onboard coning and sculling algorithm. The coning and sculling integrations
are performed at the IMU sample rate (nominally at 400Hz) and reset when the
register data is output. If polling this register, the values will represent the delta
time, angles, and velocity since the register was last polled. If the Delta
342 VersaSync User Manual
APPENDIX
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