Blaze AHRS-2 / AHRS-4 / MAG-2 Operating Manual
Page 16
4.5.2 Data payload
Message type=12
Data Length=12 bytes
Output Rate=10Hz
Bank Angle:
Signed Int (16 bits), Bank Angle in 0.1 degrees
Pitch angle:
Signed Int (16 bits), Pitch Angle in 0.1 degrees
Yaw Angle:
Signed Int (16 bits), Yaw Angle in 0.1 degrees
Slip:
Signed char (8 bits), Slip left/right 0=0x80
Attitude Status:
Unsigned char (8 bits), bit 2 set = AHRS overrange
Heading:
Unsigned Int (16 bits), Heading in 0.1 degrees
G-Force:
Signed Int (16 bit), G-Force in 0.1G