oCamS-1CGN-U_User Manual_Getting Started(E)

oCamS-1CGN-U Getting Started

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Data

Unit

Expression

Accelerometer

m/s

1 m/s

= 100 LSB

Magnetometer

µT

1 µT = 16 LSB

Gyroscope

Rps

1 Rps = 900 LSB

Euler Angle

Radians

1 radian = 900 LSB

Quaternion

1 Quaternion = 2^14 LSB

4. The default mode is set as $LMGQUA. The mode can be changed by sending a command to

the IMU serial device, COM port or ttyACM, in the following procedure.

• Send the command ”@(MODE)\r\n” where (MODE) can be one of AMGEUL, AMGQUA,

LMGEUL or LMGQUA.

• On successful setting, “~(MODE)\r\n” will be replied.

• On failed setting, “~?\r\n” will be replied.

5. The LinearAccel data has the value where the gravitational constant is removed. To use the

value including the gravitational value, the Accel data format should be used by changing the

mode.