Specification Sheet

WT901SDCL | Datasheet v20-0605 | http://wiki.wit-motion.com/english
- 15 -
6.1.4 Angle Output
0x55
0x53
RollL
RollH
PitchL
PitchH
YawL
YawH
VL
VH
SUM
Calculated formular：
Roll(X axis)Roll=((RollH<<8)|RollL)/32768*180(°)
Pitch(Y axis)Pitch=((PitchH<<8)|PitchL)/32768*180(°)
Yaw(Z axis)Yaw=((YawH<<8)|YawL)/32768*180(°)
Version calculated formula：
Version=(VH<<8)|VL
Checksum：
Sum=0x55+0x53+RollH+RollL+PitchH+PitchL+YawH+YawL+VH+VL
Note：
1. The coordinate system used for attitude angle settlement is the
northeast sky coordinate system. Place the module in the positive
direction, as the figure shown in Chapter 3.3, direction left is the Y-axis,
the direction forward is the X-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.
2. Although the range of the roll angle is ± 180 degrees, in fact, since the
coordinate rotation sequence is Z-Y-X, when expressing the attitude, the
range of the pitch angle (Y-axis) is only ± 90 degrees, and it will change
to less than 90 after exceeding 90 degrees Degrees while making the
X-axis angle greater than 180 degrees. For detailed principles, please
Google Euler angle and posture-related information.
3. Since the three axes are coupled, they will show independent changes
only at small angles, and the attitude angles will change at large angles.
For example, when the Y-axis is close to 90 degrees, even if the attitude
only rotates around the Y-axis, the angle of the axis will also change
greatly, which is an inherent problem with Euler angles indicating
attitude.