Data Sheet

UM7 DATASHEET

Rev. 1.6 – Released 1/10/2016

This represents the east 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.

This field is provided for compatibility and is not used on the UM7, as GPS

does not provide an upward velocity component. Will always be 0.00 on the

UM7.

Roll rate

e.g. -450.26

This field can be up to 8 digits long. There will always be 2 decimal digits.

This field provides the sensor’s measured roll rate in degrees per second.

Pitch rate

e.g. -450.26

This field can be up to 8 digits long. There will always be 2 decimal digits.

This field provides the sensor’s measured pitch rate in degrees per second.

Yaw rate

e.g. -450.26

This field can be up to 8 digits long. There will always be 2 decimal digits.

This field provides the sensor’s measured yaw rate in degrees per second.

*checksum

e.g. *68

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.

GPS Pose Packet - $PCHRG

DESCRIPTION

The NMEA GPS pose packet contains GPS latitude, longitude, and altitude in addition to Euler

Angle attitude and GPS heading.

PACKET FORMAT

$PCHRG,time,latitude,longitude,altitude,roll,pitch,yaw,heading,*checksum

e.g. $PCHRG,105.015,40.047706,-111.742072,15.230,20.32,20.32,20.32,20.32,*49

PACKET FIELD DESCRIPTION

Field

Description