Data Sheet

Object Types
Below lists the supported Object types of TransducerM.
About Endianness and Format
TransducerM follows Little-Endian format. The float number always consists of 4 bytes and is according to IEEE standard for
floating-point arithmetic (IEEE 754). Please also refer to section 'Example of EasyProtocol' on page 32 for detailed numerical
interpenetration examples.
Quaternion
Object Identifier: 32 (decimal)
Bytes
Message Data Type Unit Description
0-3 Time Stamp
32-bit
unsigned
integer
Micro-seconds (uS)
Time stamp since TransducerM start.
Caution about over-flow every 1.19 hours.
When overflow occurs, the time stamp is reset to
zero and then accumulates from there on.
4-7 Quaternion (q
1
) 32-bit float N/A
(q
1
, q
2
, q
3
, q
4
) forms a normalized quaternion
representing the rotation from the current sensor
frame (the TransducerM coordinate frame) to the
earth frame.
8-11 Quaternion (q
2
) 32-bit float N/A
12-15 Quaternion (q
3
) 32-bit float N/A
16-19 Quaternion (q
4
) 32-bit float N/A
For C-Style programming, the Quaternion Object is defined as below
typedef struct{
uint32 timeStamp; // Time Stamp (uS)
float32 q[4]; // Quaternion data
} Ep_Q_s1_e;
Roll, Pitch, Yaw
Object Identifier: 35 (decimal)
Bytes
Message Data Type Unit Description
0-3 Time Stamp
32-bit
unsigned
integer
Micro-seconds (uS)
Time stamp since TransducerM start.
Caution about over-flow every 1.19 hours.
When overflow occurs, the time stamp is reset
to zero and then accumulates from there on.
4-7 Roll 32-bit float Degree
-8-11 Pitch 32-bit float Degree
12-15 Yaw 32-bit float Degree
For C-Style programming, the Roll, Pitch and Yaw Object is defined as below
typedef struct{
uint32 timeStamp; // Time Stamp (uS)
float32 roll; // Roll (degree)
float32 pitch; // Pitch (degree)
float32 yaw; // Yaw heading (degree)
} Ep_RPY;
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