Download AHRS Interface Control Document

AHRS Interface Control Document
High
(warning)
byte
3
Accelerometer Unit
4
Magnetometer Unit
5
Electronics
6
Software
7
8
AHRS mode
9
Incorrect Power
Supply
10
11
Angular Rate
Exceeding Detect
12
13
Large Magnetic
Field Detect
14
Environmental
Temperature
15
AHRS mode
0 – No failure
1 – Failure detected
0 – No failure
1 – Failure detected
0 – No failure
1 – Failure detected
0 – No failure
1 – Failure detected
See the Table 6.19
0 – Supply voltage is not less than
minimum level
1 – Low supply voltage detected
0 – Supply voltage is not higher than
maximum level
1 – High supply voltage 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 is 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 6.19
The AHRS indicates its current mode of operation in the bits 7 and 15 as
the Table 6.19 shows:
Inertial Labs, IncTM
Address: 13800 Coppermine Road, Suite 300, Herndon, VA 20171, USA
Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com
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