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
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5.1.9 Quaternion
0x55
0x59
Q0L
Q0H
Q1L
Q1H
Q2L
Q2H
Q3L
Q3H
SUM
Calculated formular：
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
5.1.10 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