Data Sheet

UM7 DATASHEET
Rev. 1.6 – Released 1/10/2016
21
If no GPS is connected, this represents the amount of time in seconds since the
sensor was last turned on. If GPS with PPS is properly connected, this is
synchronized to UTC time of day.
sats_used
e.g. 05
Represents the number of satellites used in the GPS position fix, if GPS is
connected. This field is always 2 digits long.
sats_in_view
e.g. 11
Represents the number of satellites being tracked by the GPS, if GPS is
connected. This field is always 2 digits long.
HDOP
e.g. 1.5
Represents the HDOP reported by the GPS module, if one is connected.
mode
e.g. 0
Indicates the UM7 mode of operation. ‘0’ indicates Euler Angle mode. ‘1’
indicates quaternion mode.
COM
e.g. 0
This flag is 1 if the UM7 is configured to transmit more data than it is able on
the serial port. If COM overflow ever happens, this bit is set and remains set
until power is cycled.
accel
e.g. 0
This flag goes from 0 to 1 if there is an accelerometer fault. This flag will
remain high until accelerometer data is read properly
gyro
e.g. 0
This flag goes from 0 to 1 if there is a rate gyro fault. This flag will remain high
until gyro data is read properly.
mag
e.g. 0
This flag goes from 0 to 1 if there is a magnetometer fault. This flag will
remain high until mag data is read properly.
GPS
e.g. 0
This flag goes from 0 to 1 if the UM7 goes for 2 seconds or longer without
receiving a packet from GPS. This flag will go low if a valid GPS packet is
received.
res
e.g. 0
These 3 fields are reserved and will always output 0 on the UM7.
*checksum
e.g. *70