Data Sheet

UM7 DATASHEET
Rev. 1.6 – Released 1/10/2016
72
Contains the first two components of the estimated quaternion attitude.
REGISTER CONTENTS
B3
B2
B1
B0
Quat A
Quat B
DESCRIPTION
Bits
Name
Description
31:16
Quat A
First quaternion component. Stored as a 16-bit signed
integer. To get the actual value, divide by 29789.09091.
15:0
Quat B
Second quaternion component. Stored as a 16-bit signed
integer. To get the actual value, divide by 29789.09091.
DREG_QUAT_CD – 0x6E (110)
SUMMARY
Contains the second two components of the estimated quaternion attitude.
REGISTER CONTENTS
B3
B2
B1
B0
Quat C
Quat D
DESCRIPTION
Bits
Name
Description
31:16
Quat C
Third quaternion component. Stored as a 16-bit signed
integer. To get the actual value, divide by 29789.09091.
15:0
Quat D
Fourth quaternion component. Stored as a 16-bit signed
integer. To get the actual value, divide by 29789.09091.
DREG_QUAT_TIME – 0x6F (111)
SUMMARY
Contains the time that the quaternion attitude was measured