PNI FieldForce Trax - Manual (Page 53)

PNI Sensor Corporation DOC#1016505 r06
TRAX User Manual Page 49
kQuaternion 77 0x4D 4x Float32 quaternion
kTemperature 7 0x07 Float32
˚ Celsius
kDistortion 8
0x08
Boolean
True or False
(Default)
kCalStatus 9
0x09
Boolean
True or False
(Default)
kAccelX 21 0x15 Float32 G
kAccelY 22 0x16 Float32 G
kAccelZ 23 0x17 Float32 G
kMagX 27 0x1B Float32 T
kMagY 28 0x1C Float32 T
kMagZ 29 0x1D Float32 T
kGyroX 74 0x4A Float32 radians/sec
kGyroY 75 0x4B Float32 radians/sec
kGyroZ 76 0x4C Float32 radians/sec
Component types are listed below. All are read-only values.
kHeading, kPitch, kRoll (Component IDs 5
d
, 24
d
, 25
d
)
Provides compass heading, pitch and roll outputs. The heading range is 0.0˚ to
+359.9˚, the pitch range is -90.0˚ to +90.0˚, and the roll range is to -180.0˚ to
+180.0˚.
kHeadingStatus (Component IDs 79
d
)
The heading status provides an indication of the uncertainty of the heading. “1”
represents a heading uncertainty of <2°, “2” means the heading uncertainty is
approximately 2° to 10°, and “3” means the uncertainty is >10°.
Quaternion (Component ID 77
d
)
The quaternion values generated by the TRAX algorithm are output in one data
package that contains the four quaternions. The quaternions are output as Q0, Q1,
Q2, and Q3, where Q3 is the scalar quaternion. When in AHRS Mode, heading,
pitch, and roll are subsequently calculated from these quaternions.
kTemperature (Component ID 7
d
)
This value is provided by the device’s internal temperature sensor. Its value is in
degrees Celsius and has an accuracy of ±3° C.
kDistortion (Component ID 8
d
)
This flag indicates at least one magnetometer axis reading is beyond ±125 µT. It
is only applicable in Compass Mode, and will always read “FALSE” in AHRS
Mode.
kCalStatus (Component ID 9
d
)
This flag indicates the user calibration status. False means it is not user calibrated
and this is the default value.