4.3.5 BINARY OUTPUT MESSAGE 4
The output data from the motion sensor is represented as a Hexadecimal value and must be
converted to float values or decimal readings using Big Endian order for the bytes. The data field sizes
are presented in the table below and are in most cases 4 bytes, 32 bits, in size.
The Binary Output Message 4 uses the IEEE Standard 754 representation of the float numbers.
In the output message fields, no scaling for the motion sensor data is used when converting from Hex
representation to the float values.
Below is an example of the Motion Sensor, Binary Output Message 4, Hex data output.
The three fields in bold are Roll, Pitch and Yaw angles - Bytes 6 to 17, following the header and
counter.
24,42,49,4E,34,0E,40,A7,2C,E5,3E,C4,95,4D,41,C4,EE,E4,3D,B3,65,00,BD,92,B2,B0,3D,4A,58,00,BD,FE
,3E,F8,BD,AB,68,88,3D,63,
7D,6E,BC,32,5C,7F,3C,09,80,42,BB,E8,D9,98,38,B1,58,00,39,66,DC,00,3A,19,CB,DF,BB,61,65,8F,BB,2A
,FE,C0,3C,94,48,00,0D,0A,
Float values from Hex data
05.224, 00.384, 024.62, 00.088, -00.072, 00.049, -00.124, -00.084, 00.056, -00.011, 00.008, -
00.007, 00.000, 00.000, 00.001, -00.003, -00.003, 00.018,
Roll Angle
Hex (4 Bytes/32 bits) Float value
40A72CE5 5.2242303
Pitch angle
Hex Float value
3EC4954D 0.38395157
Yaw angle
Hex Float value
41C4EEE4 24.616646
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