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AHRS Demo Program Manual APPENDIX C.
The Unit Status Word definition
Bit
Low
(failure)
byte
Parameter
0
Initial Alignment
1
AHRS Parameters
2
Gyroscope Unit
3
Accelerometer Unit
4
Magnetometer Unit
5
Electronics
6
Software
7
AHRS mode
8
Incorrect Power
Supply
9
10
High
(warning)
byte
11
Angular Rate
Exceeding Detect
12
13
14
15
Large Magnetic
Field Detect
Environmental
Temperature
AHRS mode
Performance
0 – Successful initial alignment
1 – Unsuccessful initial alignment due to
AHRS moving or large changing of outer
magnetic field
0 – Parameters are correct
1 – Parameters are incorrect
0 – No failure
1 – Failure is detected
0 – No failure
1 – Failure is detected
0 – No failure
1 – Failure is detected
0 – No failure
1 – Failure is detected
0 – No failure
1 – Failure is detected
See the Table below
0 – Supply voltage is not less than minimum
level
1 – Low supply voltage is detected
0 – Supply voltage is not higher than
maximum level
1 – High supply voltage is detected
0 – X-angular rate is within the range
1 – X-angular rate is outrange
0 – Y-angular rate is within the range
1 – Y-angular rate is outrange
0 – Z-angular rate is within the range
1 – Z-angular rate is outrange
0 – Total magnetic field within the normal
range
1 – Total magnetic field limit is exceeded
0 – Temperature is within the operating range
1 – Temperature is out of the operating range
See the Table below
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