Data Sheet

UM7 DATASHEET

Rev. 1.6 – Released 1/10/2016

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Note that it is not always sufficient to simply check the address of the data register that you

want to read. In almost all cases, data automatically transmitted by the UM7 is sent in batch

operations to improve efficiency. For example, when processed rate gyro is transmitted, it is

sent in one batch packet containing registers 97 (gyro x), 98 (gyro y), 99 (gyro z), and 100 (gyro

time). Thus, the address of the packet is 97, but it is a batch packet with batch length 4.

There are three types of registers onboard the UM7: configuration registers, data registers, and

command registers.

Configuration registers begin at address 0x00 and are used to configure UM7’s filter settings

and communication behavior. Configuration register contents can be written to onboard flash

to allow settings to be maintained when the device is powered down.

Data registers begin at address 0x55 (85), and store raw and processed data from the sensors

along with estimated states. Unlike configuration registers, data register contents cannot be

written to flash.

Command registers technically aren't registers at all, but they provide a convenient way to send

commands to the UM7 when those commands do not require additional data beyond the

command itself. For example, a command to run an onboard gyro bias calibration routine is

triggered by querying the ZERO_GYROS command register. By using a unique register address

for each command, the same communication architecture used to read from and write to data

and configuration registers can be used to send commands to the autopilot. Command

registers begin at address 0xAA.

Configuration Registers

Address

0x00 (0)

CREG_COM_SETTINGS

General communication settings

0x01 (1)

CREG_COM_RATES1

Broadcast rate settings

0x02 (2)

CREG_COM_RATES2

Broadcast rate settings

0x03 (3)

CREG_COM_RATES3

Broadcast rate settings

0x04 (4)

CREG_COM_RATES4

Broadcast rate settings