92
UM001
UART Command
$VNSGB*XX
UART Response
$VNSGB*XX
SPI Command (8 bytes)
0C 00 00 00 (shown as hex)
SPI Response (8 bytes)
00 0C 00 00 (shown as hex)
7.2
Measurement Registers
7.2.1
Yaw Pitch Roll
Yaw, Pitch, and Roll
Register ID : 8
Async Header : YPR
Access : Read Only
Comment : Attitude solution as yaw, pitch, and roll in degrees. The yaw, pitch, and roll is
given as a 3,2,1 Euler angle rotation sequence describing the orientation of the
sensor with respect to the inertial North East Down (NED) frame.
Size (Bytes): 12
Example Response: $VNRRG,8,+006.271,+000.031,-002.000*66
Offset
Name
Format
Unit
Description
0
Yaw
float
deg
Yaw angle.
4
Pitch
float
deg
Pitch angle.
8
Roll
float
deg
Roll angle.
You can configure the device to output this register at a fixed rate using the Async Data Output Type
Register in the System subsystem. Once configured the data in this register will be sent out with the
$VNYPR header.
