GYOACC
Applicable to: UM621 series, UM681A
Output MEMS Sensor Data
| Syntax | $GYOACC,date,time,gyroX,gyroY,gyroZ,gyroPeriod,accX,accY,accZ,accPeriod,temp, speed,pulsePeriod,fwd*cs |
|
|---|---|---|
| Example | $GYOACC,081118,053152.000,0.017618,0.031686,0.019729,200,6.489322,-6.913150, 2.960812,200,0,5,200,1*01 |
|
| Description | Output the sensor data of MEMS and odometer etc. | |
| Input/Output | Output | |
| Parameter Definition | ||
| Parameter | Format | Description |
| date | STR | UTC date; in the format of ddmmyy: dd - Day mm - Month yy - Year Fill null if no exact year, month and day are parsed. |
| time | STR | UTC time; in the format of hhmmss.sss: hh - Hour mm - Minute ss.sss - Second Fill null if no exact hour, minute and second are parsed. |
| gyroX | DOUBLE | X-axis angular velocity of the built-in gyroscope; unit: rad/s |
| gyroY | DOUBLE | Y-axis angular velocity of the built-in gyroscope; unit: rad/s |
| gyroZ | DOUBLE | Z-axis angular velocity of the built-in gyroscope; unit: rad/s |
| gyroPeriod | UINT | Output interval of the built-in gyroscope data; unit: ms |
| accX | DOUBLE | X-axis acceleration of the built-in accelerometer; unit: m/s2 |
| accY | DOUBLE | Y-axis acceleration of the built-in accelerometer; unit: m/s2 |
| accZ | DOUBLE | Z-axis acceleration of the built-in accelerometer; unit: m/s2 |
| accPeriod | UINT | Output interval of the built-in accelerometer data; unit: ms |
| temp | INT | Temperature; unit: °C; no meaning if not connecting a temperature sensor |
| speed | INT | Vehicle speed pulse; no meaning if not accessing the pulse signal. |
| pulsePeriod | UINT | Output interval of pulses; unit: ms; no meaning if not accessing the pulse signal. |
| fwd | UINT | Vehicle direction signal: 0: Forward 1: Backward No meaning if not accessing the signal. |
| cs | U8 | Checksum; two hexadecimal characters obtained by calculating an XOR of all characters between but not including ‘$' to ‘*' in this message |
Note:
To output GYOACC message at 10 Hz, you need to set the baud rate of the serial port 1 or 2* to 230400 bps.
GYOACC message is based on the module coordinate defined as follows (see the figure):
- Positive direction of X axis: ID point right-hand direction, horizontal.
- Positive direction of Y axis: ID point forward direction, horizontal.
- Positive direction of Z axis: Vertical to the module plane, upward.
*. Not supported by UM681A. ↩