User Guide
VMU931 User Guide
If none of the quaternions, Euler angles or heading is active, the resolution of the accelerometers and the
gyroscopes can be changed using the following commands:
Table 4.2: Resolution commands of the VMU931
Device Resolution Command
Gyroscopes 250 dps ’0’
Gyroscopes 500 dps ’1’
Gyroscopes 1000 dps ’2’
Gyroscopes 2000 dps
3
’3’
Accelerometers 2 g
3
’4’
Accelerometers 4 g ’5’
Accelerometers 8 g ’6’
Accelerometers 16 g ’7’
Finally, some tools are available trough the use of these commands:
Table 4.3: Misc commands of the VMU931
Name Command
Self-test
4
’t’
Calibration
4
’l’
Status ’s’
Selft-test: Test the accelerometers and gyroscopes. A string of text is sent to present the results of this test.
Calibration: Find the biases of the accelerometers and gyroscopes and save them into the sensor’s memory. A
string of text is sent to present the biases found.
Status: Send the current status of the sensor. See section 4.2.3 for a list of the bytes sent.
3
Resolution used while quaternions, Euler angle or heading is active.
4
Before calling this command, it’s important that the sensor remains still on a flat surface with its z-axis pointing upward.
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