Data Sheet

UM7 DATASHEET

Rev. 1.6 – Released 1/10/2016

This represents sensor data as specified in the ‘count’ field above. Gyro data is

in degrees per second. Accelerometer data is in gravities. Magnetometer data

is unit-norm (unitless).

*checksum

e.g. *79

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.

Rate Packet - $PCHRR

DESCRIPTION

The NMEA rate packet contains angular rates and GPS velocities measured by the sensor, if GPS

is present.

PACKET FORMAT

$PCHRR,time,vn,ve,vup,roll_rate,pitch_rate,yaw_rate,*checksum

e.g. $PCHRR,105.015,15.23,15.23,15.23,-450.26,-450.26,-450.26,*68

PACKET FIELD DESCRIPTION

Field

Description

$PCHRR

Header field, always precedes the rate 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.

e.g. 15.23

This field can be up to 7 digits long. There will always be 2 decimal digits.

This represents the north velocity of the sensor in m/s as reported by GPS, if it

is connected.

e.g. 15.23

This field can be up to 7 digits long. There will always be 2 decimal digits.