Specification Sheet

BWT61CL | Datasheet v20-0630 | http://wiki.wit-motion.com/english
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6.1.3 Angle Output
Data Number
Data Content
Implication
0
0x55
Header of packet
1
0x53
Angle packet
2
RollL
X axis angle low type
3
RollH
X axis angle high type
4
PitchL
Y axis angle low type
5
PitchH
Y axis angle high type
6
YawL
Z axis angle low type
7
YawH
Z axis angle high type
8
TL
Temperature low type
9
TH
Temperature high type
10
Sum
Checksum
Formula for calculating angle:
Roll angle(x axis) Roll=((RollH<<8)|RollL)/32768*180(°)
The pitching angle(y axis) Pitch=((PitchH<<8)|PitchL)/32768*180(°)
Yaw angle(zaxis) Yaw=((YawH<<8)|YawL)/32768*180(°)
Formula for calculating temperature：
T=((TH<<8)|TL) /340+36.53℃
Checksum：
Sum=0x55+0x53+RollH+RollL+PitchH+PitchL+YawH+YawL+TH+TL
Attention：
The coordinate system used for attitude angle settlement is the northeast
sky coordinate system. Place the module in the positive direction, as shown
in the figure on Chapter 3.3, direction right is the X-axis, the direction
forward is the Y-axis, and direction upward is the Z-axis. Euler angle
represents the rotation order of the coordinate system when the attitude is
defined as Z-Y-X, that is, first turn around the Z-axis, then turn around the
Y-axis, and then turn around the X-axis.