User Guide

VMU931 User Guide
As for the message itself, the structure goes as follow depending on the type of the data:
Table 4.6: Structure of the data
Name Format Length Value
Accelerometers, gyroscopes, magnetometers, Euler angles
Timestamp
5
Uint32 4 bytes (Big Endian)
X float 4 bytes (Big Endian)
Y float 4 bytes (Big Endian)
Z float 4 bytes (Big Endian)
Quaternions
Timestamp
5
Uint32 4 bytes (Big Endian)
W float 4 bytes (Big Endian)
X float 4 bytes (Big Endian)
Y float 4 bytes (Big Endian)
Z float 4 bytes (Big Endian)
Heading
Timestamp
5
Uint32 4 bytes (Big Endian)
Heading float 4 bytes (Big Endian)
As for the status message, it will be presented with the following structure:
Table 4.7: Structure of the status
Name
Format Length Value
Sensors status Byte 1 byte (Varies)
Sensors resolution Byte 1 byte (Varies)
Low output rate status Byte 1 byte (Varies)
Data currently streaming Uint32 4 bytes (Big Endian)
5
The timestamps are represented by the number of milliseconds elapsed since the VMU931 was plugged in.
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