Specification Sheet
Table Of Contents
- Tutorial Link
- Contact
- Application
- Contents
- 1 Overview
- 2 Features
- 3 Specification
- 4 Pin Definition
- 5 Communication Protocol
- 5.2 Config Commands
- 5.2.1 Register Address
- 5.2.2 Save Configuration
- 5.2.3 Calibrate
- 5.2.4 Installation Direction
- 5.2.5 Sleep/ Wake up
- 5.2.6 Algorithm Transition
- 5.2.7 Gyroscope Automatic Calibration
- 5.2.8 Return Content
- 5.2.9 Return Rate
- 5.2.10 Baud Rate
- 5.2.11 Set X Axis Acceleration Bias
- 5.2.12 Set Y Axis Acceleration Bias
- 5.2.13 Set Z Axis Acceleration Bias
- 5.2.14 Set X Axis Angular Velocity Bias
- 5.2.15 Set Y Axis Angular Velocity Bias
- 5.2.16 Set Z Axis Angular Velocity Bias
- 5.2.17 Set X Axis Magnetic Bias
- 5.2.18 Set Y Axis Magnetic Bias
- 5.2.19 Set Z Axis Magnetic Bias
- 5.2.20 Set port D0 mode
- 5.2.21 Set port D1 mode
- 5.2.22 Set port D2 mode
- 5.2.23 Set port D3 mode
- 5.2.24 Set the PWM width of Port D0
- 5.2.25 Set the PWM width of Port D1
- 5.2.26 Set the PWM width of Port D2
- 5.2.27 Set the PWM width of Port D3
- 5.2.28 Set period of Port D0
- 5.2.29 Set period of Port D1
- 5.2.30 Set period of Port D2
- 5.2.31 Set period of Port D3
- 5.2.32 Set IIC Address
- 5.2.33 LED
- 5.2.34 Set GPS baud
- 5.2.35Set alarm of module
- 6 IIC Protocol
WT901 | Datasheet v20-0702 | http://wiki.wit-motion.com/english
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5.1.9 Ground Speed Output
0x55
0x58
GPSHeightL
GPSHeightH
GPSYawL
GPSYawH
GPSV0
GPSV 1
GPSV 2
GPSV 3
SUM
Calculated formula：
GPS Height= ((GPSHeightH<<8)| GPSHeightL)/10 (m)
GPS Yaw=( (GPSYawH <<8)| GPSYawL)/10 (°)
GPSV = (((GPSV 3<<24)| (GPSV 2<<16)| (GPSV
2<<8)|GPSV0)/1000(km/h)
Checksum：
Sum=0x55+0x54+ GPSHeightL + GPSHeightH + GPSYawL + GPSYawH +
GPSV0+ GPSV 1+ GPSV 2+ GPSV 3
Note: This only applies to devices with GPS module(WTGAHRS1, WTGAHRS2)
5.1.10 Quaternion
0x55
0x59
Q0L
Q0H
Q1L
Q1H
Q2L
Q2H
Q3L
Q3H
SUM
Calculated formula：
Q0=((Q0H<<8)|Q0L)/32768
Q1=((Q1H<<8)|Q1L)/32768
Q2=((Q2H<<8)|Q2L)/32768
Q3=((Q3H<<8)|Q3L)/32768
Checksum：
Sum=0x55+0x59+Q0L+Q0H+Q1L +Q1H +Q2L+Q2H+Q3L+Q3H