Data Sheet

UM7 DATASHEET
Rev. 1.6 – Released 1/10/2016
23
If GPS is connected, this represents the sensor’s position in meters east of the
configurable home position. If the sensor is more than 99 km away from its
home position, the fractional digits are truncated.
alt
e.g. 15.521
This field can be up to 10 digits long. There will always be 3 decimal digits.
If GPS is connected, this represents the sensor’s altitude in meters from the
configurable home position. If the sensor is more than 99 km away from its
home position, the fractional digits are truncated.
roll
e.g. 20.32
This field can be up to 7 digits long. There will always be 2 decimal digits.
This represents the roll angle of the sensor in degrees.
pitch
e.g. 20.32
This field can be up to 7 digits long. There will always be 2 decimal digits.
This represents the pitch angle of the sensor in degrees.
yaw
e.g. 20.32
This field can be up to 7 digits long. There will always be 2 decimal digits.
This represents the yaw angle of the sensor in degrees.
heading
e.g. 20.32
This field can be up to 7 digits long. There will always be 2 decimal digits.
This represents the heading angle of the sensor in degrees, as reported by the
GPS module if connected.
*checksum
e.g. *47
This is the hex representation of the single-byte checksum of the packet. The
checksum is computed using the exclusive-or of every byte in the packet
except the * character preceding the checksum and the $ starting the packet.
The checksum computation does include commas in the packet.
Attitude Packet - $PCHRA
DESCRIPTION
The NMEA attitude packet contains sensor Euler Angle attitude and GPS heading if GPS is
connected.
PACKET FORMAT