Specification Sheet

ManualsBrandsWITMOTION ManualsAcceleration SensorsCL MPU9250 High-Precision 9-axis Gyroscope+Angle(XY 0.05° Accuracy)+Magnetometer with Kalman Filter, Low-Power 3-axis AHRS IMU Sensor for Arduino

WT901BLECL | Datasheet v20-0707 | http://wiki.wit-motion.com/english

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0x55

Packet header

0x61

Flag bit

axL

X Acceleration low 8 byte

axH

X Acceleration high 8 byte

ayL

Y Acceleration low 8 byte

ayH

Y Acceleration high 8 byte

azL

Z Acceleration low 8 byte

azH

Z Acceleration high 8 byte

wxL

X Angular velocity low 8 byte

wxH

X Angular velocity high 8 byte

wyL

Y Angular velocity low 8 byte

wyH

Y Angular velocity high 8 byte

wzL

Z Angular velocity low 8 byte

wzH

Z Angular velocity high 8 byte

RollL

X Angle low 8 byte

RollH

X Angle high 8 byte

PitchL

Y Angle low 8 byte

PitchH

Y Angle high 8 byte

YawL

Z Angle low 8 byte

YawH

Z Angle high 8 byte

Acceleration calculation method: Unit: g

=((axH<<8)|axL)/32768*16g(g is Gravity acceleration, 9.8m/s

)

=((ayH<<8)|ayL)/32768*16g(g is Gravity acceleration, 9.8m/s

)

=((azH<<8)|azL)/32768*16g(g is Gravity acceleration, 9.8m/s

)

Angular Calculation method: Unit:°/s

=((wxH<<8)|wxL)/32768*2000(°/s)

wy=((wyH<<8)|wyL)/32768*2000(°/s)

wz=((wzH<<8)|wzL)/32768*2000(°/s)

Angle Calculation method: Unit: °

Roll(X axis)Roll=((RollH<<8)|RollL)/32768*180(°)

Pitch(Y axis)Pitch=((PitchH<<8)|PitchL)/32768*180(°)

Yaw angle(Z axis)Yaw=((YawH<<8)|YawL)/32768*180(°)