FeiYu Tech FY-AHRS-2000B - Manual (Page 12)

Guilin Feiyu Electronic Technology Co., Ltd
Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyudz.cn [email protected]
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Command
type
Command
head
Field 1 field 2 field 3 field 4 field 5 field 6
attitude data $FYZT Pitch Roll heading X
angular
rate
Y
angular
rate
Z
angular
rate
field 7 field 8 field 9 field 10 field 11 field 12 field 13 Check
X
acceleration
Y
acceleration
Z
acceleration
resultant
acceleration
X
magnetic
field
Y
magnetic
field
Z
magnetic
field
* Check
value
FY-AHRS-2000B attitude data output example:
$FYZT,-0.92,-0.60,341.77,-0.15,0.14,0.11,0.02,-0.01,1.00,1.00,447.19,140.02,159.50*F4
Check value calculation method: arithmetic accumulate all data by-byte start from each "$" of
the data symbols (including the $) to the"*" (excluding “*”).
FY-AHRS-2000B Configuration Format Description (standard RS-232,TTL, ASCII
character input):
Command head, command NO, parameter1, parameter2,……，parameter n (CRLF).
Between the fields with "," separated, with a carriage return line feed end of each data.
Command
type
Command
head
Command
NO
Parameter
1
Parameter
2
parameter
3
parameter
4
Configure the
output refresh
rate
$Config 6 Refresh rate
settings,
Parameter setting
range
1 — 100
1， 100Hz
2， 50Hz
5， 20Hz
10， 10Hz
100，1Hz
NULL NULL NULL
Configure the
output baudrate
$Config 7 Baudrate
settings,
Parameter setting
range
0 — 7
NULL NULL NULL