Specification Sheet
Table Of Contents
- Tutorial Link
- Contact
- Application
- Contents
- 1 Overview
- 2 Features
- 3 Specification
- 5 Communication Protocol
- 5.1 Output Data Format
- 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 GPS baud
WTGAHRS2 | Datasheet v20-0523 | http://wiki.wit-motion.com/english
- 15 -
5.1.5 Magnetic Output
0x55
0x54
HxL
HxH
HyL
HyH
HzL
HzH
TL
TH
SUM
Calculated formular：
Magnetic(x axis)Hx=(( HxH<<8)| HxL)
Magnetic(y axis)Hy=(( HyH <<8)| HyL)
Magnetic(z axis)Hz =(( HzH<<8)| HzL)
Temperature calculated formular：
T=((TH<<8)|TL) /100℃
Checksum：
Sum=0x55+0x53+HxH+HxL+HyH+HyL+HzH+HzL+TH+TL
5.1.6 Atmospheric Pressure and Height Output
0x55
0x56
P0
P1
P2
P3
H0
H1
H2
H3
SUM
Calculated formular：
Atmospheric pressure P = (( P3<<24)| ( P2<<16)| ( P1<<8)| P0 (Pa)
Height H = (( H3<<24)| ( H2<<16)| ( H1<<8)| H0(cm)
Checksum：
Sum=0x55+0x54+P0+P1+P2+P3+H0+H1+H2+H3