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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5.2.9 Return Rate
0xFF
0xAA
0x03
RATE
0x00
RATE：return rate
0x01 :0.2Hz
0x02：0.5Hz
0x03：1Hz
0x04：2Hz
0x05：5Hz
0x06：10Hz(default)
0x07：20Hz
0x08：50Hz
0x09：100Hz
0x0a：125Hz
0x0b：200Hz
0x0c：Single
0x0d: Not output
After the setup is complete, need to click save, and re-power the module to take
effect.
Eg(20Hz of Return Rate):
1. FF AA 69 88 B5(Unlock)
2. FF AA 03 07 00(20HZ)
3.FF AA 00 00 00(Save Config)
5.2.10 Baud Rate
0xFF
0xAA
0x04
BAUD
0x00
BAUD：
0x01：4800
0x02：9600(default)
0x03：19200
0x04：38400
0x05：57600
0x06：115200
0x07：230400
0x08：460800
0x09：921600