Advanced
Serial Protocol
‘y’
Yaw/Pitch/Roll/Compass Heading
Update
ASCII
‘g’
Raw Data Update
ASCII
‘p’
AHRS + Position Data Update
Binary
‘S’
Stream Configuration Command
ASCII
‘s’
Stream Configuration Response
ASCII
‘I’
Integration Control Command
Binary
‘j’
Integration Control Response
Binary
Message Body
The message body differs depending upon the Message Type; the various Message Body specifications
are listed below.
Message Termination
The final four bytes of each Serial protocol message contain a Base16 unsigned 8-bit checksum (encoded
in 2 bytes as an ASCII 8-bit integer) followed by a carriage return and then a line feed character.
Checksum
The checksum is calculated by adding each byte of the message except the bytes within the Message
Termination itself. The checksum is accumulated within an 8-bit unsigned byte.
New Line
characters (0x13) are present at the end of the message so that
when the message is displayed in a console window, a new line will be inserted in the console at the end
of the message.
Message Body Definitions
Yaw/Pitch/Roll/Compass Heading Update Message
The Yaw/Pitch/Roll/Compass Heading Update message indicates the navX-sensor current orientation and
heading, in units of degrees, as follows:
Byte Offset
Element
Data Type
Unit
0
Yaw
Float
Degrees (-180 to 180)
7
Pitch
Float
Degrees (-180 to 180)
14
Roll
Float
Degrees (-180 to 180)
21
Compass Heading
Float
Degrees (0 to 360)
82
