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
- 16 -
5.1.11 Satellite Positioning Accuracy Output
0x55
0x5A
SNL
SNH
PDOPL
PDOPH
HDOPL
HDOPH
VDOPL
VDOPH
SUM
Calculated formula：
Satellite quantity:SN=((SNH<<8)|SNL)
Location positioning accuracy：PDOP=((PDOPH<<8)|PDOPL)/32768
Horizontal positioning accuracy：HDOP=(( HDOPH<<8)| HDOPL)/32768
Vertical positioning accuracy：VDOP=(( VDOPH<<8)| VDOPL)/32768
Checksum:
Sum=0x55+0x59+ SNL + SNH + PDOPL + PDOPH + HDOPL + HDOPH +
VDOPL + VDOPH
Note: This only applies to devices with GPS module(WTGAHRS1, WTGAHRS2)