Data Sheet

Euler Angles
Object Identifier: 34 (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 Psi 32-bit float Degree
-8-11 Theta 32-bit float Degree
12-15 Phi 32-bit float Degree
For C-Style programming, the Euler Angle Object is defined as below
typedef struct{
uint32 timeStamp;
float32 psi;
float32 theta;
float32 phi;
} Ep_Euler_s1_e;
Raw Sensor Data
Object Identifier: 41 (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 Gyroscope X-Axes (g
1
)
32-bit
float
Rad/s
(g
1
, g
2
, g
3
) represents the rotation rate of the
TransducerM in its sensor frame (i.e.
Coordinate system drawn on the TransducerM
casing)
8-11 Gyroscope Y-Axes (g
2
)
32-bit
float
Rad/s
12-15 Gyroscope Z-Axes (g
2
)
32-bit
float
Rad/s
16-19 Accelerometer X-Axes (a
1
)
32-bit
float
g
(a
1
, a
2
, a
3
) represents the acceleration measured
by TransducerM in its sensor frame. Gravity
acceleration is part of the measurement.
Conversion between g and m/s
2
:
1g = 9.8158 m/s
2
20-23 Accelerometer Y-Axes (a
2
)
32-bit
float
g
24-27 Accelerometer Z-Axes (a
3
)
32-bit
float
g
28-31 Magnetometer X-Axes (m
1
)
32-bit
float
1 unit
(m
1
, m
2
, m
3
) represents the magnetic strength
measured by TransducerM in its sensor frame.
If norm(m
1
, m
2
, m
3
) equals to 1, this means the
magnetic strength is equal to the magnetic
strength measured during its factory
calibration, which is the earth magnetic field
itself in Denmark. As such, the absolute value
of the magnetic strength is not accurate when
TransducerM is moved to a different location,
whereas the direction (m
1
, m
2
, m
3
) represents
and the relative strengtheners counts for
measuring the attitude or as a digital compass.
32-35 Magnetometer Y-Axes (m
2
)
32-bit
float
1 unit
36-39 Magnetometer Z-Axes (m
3
)
32-bit
float
1 unit
For C-Style programming, the Raw Sensor Data Object is defined as below
typedef struct{
uint32 timeStamp; // Time Stamp (uS)
float32 gyro[3]; // Rotation Rate (rad/s)
float32 acc[3]; // Acceleration (g)
float32 mag[3]; // Magnetometer Reading (Unit: one earth magnetic field)
} Ep_Raw_GyroAccMag;
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