AHRS500GA Series Operator’s Manual
Page 10
Doc# 7430-0060-02 Rev. A
3.4
Commands
The AHRS500GA does not have a command structure.
3.5
Data Packet Format
In general, the digital data representing each measurement is sent as a 16-bit
number (two bytes). The data is sent MSB first then LSB.
Table 6 AHRS500GA Series Data Packet Format
Byte Data
0
Header (0xAA)
1
Header (0x55)
2
Roll Angle (MSB)
3
Roll Angle (LSB)
4
Pitch Angle (MSB)
5
Pitch Angle (LSB)
6
Heading Angle (MSB)
7
Heading Angle (LSB)
8
Roll Angular Rate (MSB)
9
Roll Angular Rate (LSB)
10
Pitch Angular Rate (MSB)
11
Pitch Angular Rate (LSB)
12
Yaw Angular Rate (MSB)
13
Yaw Angular Rate (LSB)
14
X-Axis Acceleration (MSB)
15
X-Axis Acceleration (LSB)
16
Y-Axis Acceleration (MSB)
17
Y-Axis Acceleration (LSB)
18
Z-Axis Acceleration (MSB)
19
Z-Axis Acceleration (LSB)
20
Model Number (MSB)
21
Model Number (LSB)
22
BIT (MSB)
23
BIT (LSB)
24
Checksum (MSB)
These numbers are sent as a 16-bit signed integer in 2's complement format.
The data is sent as two bytes, MSB first then LSB.
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