Data Sheet

UM7 DATASHEET
Rev. 1.6 – Released 1/10/2016
24
$PCHRA,time,roll,pitch,yaw,heading,*checksum
e.g. $PCHRA,105.015,20.32,20.32,20.32,20.32,*66
PACKET FIELD DESCRIPTION
Field
Description
$PCHRA
Header field, always precedes the attitude packet
time
e.g. 105.015
This field can be up to 13 digits long. There will always be 3 decimal digits.
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.
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. *66
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.
Sensor Packet - $PCHRS
DESCRIPTION