Data Sheet

UM7 DATASHEET

Rev. 1.6 – Released 1/10/2016

Gyro bias X (IEEE Floating Point)

COMMANDS

GET_FW_REVISION – 0xAA (170)

Causes the UM7 to transmit a packet containing the firmware revision string. The firmware

revision is a four-byte character sequence. The first firmware release version for the UM7, for

example, was “OR1A”.

The address of the packet will be 0xAA. The data section of the packet will contain four bytes.

FLASH_COMMIT – 0xAB (171)

Causes the UM7 to write all configuration settings to FLASH so that they will remain when the

power is cycled.

RESET_TO_FACTORY – 0xAC (172)

Causes the UM7 to load default factory settings.

ZERO_GYROS – 0xAD (173)

Causes the UM7 to measure the gyro outputs and set the output trim registers to compensate

for any non-zero bias. The UM7 should be kept stationary while the zero operation is

underway.

SET_HOME_POSITION – 0xAE (174)

Sets the current GPS latitude, longitude, and altitude as the home position. All future positions

will be referenced to the current GPS position.

SET_MAG_REFERENCE – 0xB0 (176)

Sets the current GPS latitude, longitude, and altitude as the home position. All future positions

will be referenced to the current GPS position.

RESET_EKF – 0xB3 (179)