Data Sheet

Copyright © Terabee 2018
5.6.5 Output format
Printout
mode
IMU mode
Description
Binary
Quaternion
Data output (12 bytes message):
IM 0x01 WW XX YY ZZ CRC8
- Header (two characters): I (73 decimal / 0x49 hex) and
M (77 decimal / 0x4D hex)
- Mode (1 byte) This byte indicate in which IMU mode you
are. For quaternion this byte is equal to 0x01
- Orientation data in quaternion format (2 bytes per
coordinate), each two bytes represent a signed 16 bit
value. You need to divide those four values by 2^14.
- Checksum (1 byte) of previous 11 bytes: CRC8
Euler
Data output (10 bytes message):
IM 0x02 HH RR PP CRC8
- Header (two characters): I (73 decimal / 0x49 hex) and
M (77 decimal / 0x4D hex)
- Mode (1 byte) This byte indicate in which IMU mode you
are. For euler this byte is equal to 0x02
- Euler angles (2 bytes per angle), each two bytes
represent a signed 16 bit value. You need to divide those
three values by 16 to convert them in degree.
- Checksum (1 byte) of previous 9 bytes: CRC8
Quaternion
and
Linear
acceleration
Data output (18 bytes message):
IM 0x03 WW XX YY ZZ XX YY ZZ CRC8
- Header (two characters): I (73 decimal / 0x49 hex) and
M (77 decimal / 0x4D hex)
- Mode (1 byte) This byte indicates in which IMU mode
you are. For quaternion and linear acceleration this byte
is equal to 0x03
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