Data Sheet

Copyright © Terabee 2018
Please note that 0° for pitch and roll angle means that the TeraRanger Tower Evo is
horizontal.
5.6.2 Quaternion mode
To deal with matrix rotation in space, the quaternion approach simplifies the heavy math
related to trigonometry and reduces the processing power requirements and optimizes the
speed of operations. The Hub Evo can provide this kind of information through internal
pre-processing and data fusion. For further explanation about the quaternion and the spatial
rotation matrix, please refer to the following link:
https://en.wikipedia.org/wiki/Rotation_matrix#Quaternion
5.6.3 Quaternions and linear acceleration
Quaternions and linear acceleration mode displays the same coefficient as the quaternion
mode, however it also gives the linear acceleration of the IMU in milli-g. Please refer to
figure 9.
● x acceleration refers to the x axis
● y acceleration refers to the y axis
● z acceleration refers to the z axis
Note: To convert those values to m.s-2 the conversion factor is 0.00980665
It is important to know that there might be a constant offset (this can be visualized when the
TeraRanger Hub Evo is not moving) on the acceleration values, that can be corrected by
calibrating the IMU (see section 4.5).
5.6.4 Commands
Action Type
Mode name
Hex Command
Modify IMU
mode
Activate Quaternion mode
00 41 02 40
Activate Euler mode
00 41 03 47
Activate Quaternion & Linear acceleration mode
00 41 04 52
Deactivate IMU (default)
00 41 01 49

Terabee Website:
90 Rue Henri Fabre Technical support:
01630, Saint-Genis-Pouilly Commercial:
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www.teraranger.com
[e-mail]
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