Data Sheet

UM7 DATASHEET
Rev. 1.6 – Released 1/10/2016
74
31:16
Psi (yaw)
Yaw angle. Stored as a 16-bit signed integer. To get the
actual value, divide by 91.02222.
15:0
Unused
These bits are unused
DREG_EULER_PHI_THETA_DOT – 0x72 (114)
SUMMARY
Contains the pitch and roll rate estimates.
REGISTER CONTENTS
B3
B2
B1
B0
Roll rate
Pitch rate
DESCRIPTION
Bits
Name
Description
31:16
Roll rate
Roll rate. Stored as a 16-bit signed integer. To get the
actual value in degrees per second, divide by 16.0.
15:0
Pitch rate
Pitch angle. Stored as a 16-bit signed integer. To get the
actual value in degrees per second, divide by 16.0.
DREG_EULER_PSI_DOT – 0x73 (115)
SUMMARY
Contains the yaw rate estimate.
REGISTER CONTENTS
B3
B2
B1
B0
Yaw rate
Unused
DESCRIPTION