IMURAW
Applicable to: UM621 series, UM681A
| Syntax | $IMURAW,date,time,gyroX,gyroY,gyroZ,accX,accY,accZ,speed*cs | |
|---|---|---|
| Example | $IMURAW,111223,064122.661,-0.017642,0.016745,0.015113,0.347367, -0.004711,10.241478,2*29 |
|
| Description | Output the raw data of the MEMS sensor in module coordinate system | |
| Input/Output | Output | |
| Parameter Definition | ||
| Parameter | Format | Description |
| date | STR | UTC date; in the format of ddmmyy: dd - Day mm - Month yy - Year Fill null if no exact year, month and day are parsed. |
| time | STR | UTC time; in the format of hhmmss.sss: hh - Hour mm - Minute ss.sss - Second Fill null if no exact hour, minute and second are parsed. |
| gyroX | DOUBLE | X-axis angular velocity of the built-in gyroscope; unit: rad/s |
| gyroY | DOUBLE | Y-axis angular velocity of the built-in gyroscope; unit: rad/s |
| gyroZ | DOUBLE | Z-axis angular velocity of the built-in gyroscope; unit: rad/s |
| accX | DOUBLE | X-axis acceleration of the built-in accelerometer; unit: m/s2 |
| accY | DOUBLE | Y-axis acceleration of the built-in accelerometer; unit: m/s2 |
| accZ | DOUBLE | Z-axis acceleration of the built-in accelerometer; unit: m/s2 |
| speed | INT | Vehicle speed pulses; > 0 means forward and < 0 means backward; the field is invalid if there is no vehicle pulse signal. |
| cs | U8 | Checksum; two hexadecimal characters obtained by calculating an XOR of all characters between but not including ‘$' to ‘*' in this message |