Data Sheet

UM7 DATASHEET
Rev. 1.6 – Released 1/10/2016
73
REGISTER CONTENTS
B3
B2
B1
B0
Quaternion Time (IEEE Floating Point)
DREG_EULER_PHI_THETA – 0x70 (112)
SUMMARY
Contains the pitch and roll angle estimates.
REGISTER CONTENTS
B3
B2
B1
B0
Phi (roll)
Theta (Pitch)
DESCRIPTION
Bits
Name
Description
31:16
Phi (roll)
Roll angle. Stored as a 16-bit signed integer. To get the
actual value, divide by 91.02222.
15:0
Theta (pitch)
Pitch angle. Stored as a 16-bit signed integer. To get the
actual value, divide by 91.02222.
DREG_EULER_PSI – 0x71 (113)
SUMMARY
Contains the yaw angle estimate.
REGISTER CONTENTS
B3
B2
B1
B0
Psi (yaw)
Unused
DESCRIPTION
Bits
Name
Description