Data Sheet

UM7 DATASHEET
Rev. 1.6 – Released 1/10/2016
52
B3
B2
B1
B0
QUAT_RATE
EULER_RATE
POSITION_RATE
VELOCITY_RATE
DESCRIPTION
Bits
Name
Description
31:24
QUAT_RATE
Specifies the desired broadcast rate for quaternion data.
The data is stored as an unsigned 8-bit integer, yielding a
maximum rate of 255 Hz.
23:16
EULER_RATE
Specifies the desired broadcast rate for Euler Angle data.
The data is stored as an unsigned 8-bit integer, yielding a
maximum rate of 255 Hz.
15:8
POSITION_RATE
Specifies the desired broadcast rate position. The data is
stored as an unsigned 8-bit integer, yielding a maximum
rate of 255 Hz.
7:0
VELOCITY_RATE
Specifies the desired broadcast rate for velocity. The data is
stored as an unsigned 8-bit integer, yielding a maximum
rate of 255 Hz.
Quaternion data is stored in registers 109 to 111. If the specified broadcast rate is greater than
0, then the data will be transmitted in a batch packet with length 3 and start address 109.
Euler Angle data is stored in registers 112 to 116. If the specified broadcast rate is greater than
0, then the data will be transmitted in a batch packet of length 5 and start address 112.
Position data is stored in registers 117 to 120. If the specified broadcast rate is greater than 0,
then the data will be transmitted in a batch packet of length 4 and start address 117.
Velocity data is stored in registers 121 to 124. If the specified broadcast rate is greater than 0,
then the data will be transmitted in a batch packet of length 4 and start address 121.
If the “pose broadcast rate” setting in register CREG_COM_RATES6 is not zero, then the rates
specified by EULER_RATE and POSITION_RATE are overridden.