Data Sheet

UM7 DATASHEET
Rev. 1.6 – Released 1/10/2016
54
* Will default to 1Hz
15:8
GYRO_BIAS_RATE
Specifies the desired broadcast rate for gyro bias estimates.
The rate is stored as an unsigned 8-bit integer, yielding a
maximum rate of 255 Hz.
7:0
RESERVED
These bits are reserved for future use.
Pose data (Euler Angles and position) is stored in registers 112 to 120. If the pose rate is
greater than 0, then pose data will be transmitted in a batch packet with length 9 and start
address 112.
Health data is stored in register address 85. If the health rate is not 0, then health data will be
transmitted as a non-batch packet with address 85.
CREG_COM_RATES7 – 0x07 (7)
SUMMARY
The CREG_COM_RATES7 register sets desired transmission rates for CHR NMEA-style
packets.
REGISTER CONTENTS
B3
B2
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
HEALTH_RATE
POSE_RATE
ATTITUDE_RATE
SENSOR_RATE
B1
B0
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
RATES_RATE
GPS_POSE_RATE
QUAT_RATE
RESERVED
DESCRIPTION
Bits
Name
Description
31:28
HEALTH_RATE
Specifies the desired broadcast rate for CHR NMEA-style
health packet.