Register map V2

Table of Contents

• Register map V2

  • Fusion Configuration Registers V2

    • CREG_COM_SETTINGS

    • CREG_COM_RATES1

    • CREG_COM_RATES2

    • CREG_COM_RATES3

    • CREG_COM_RATES4

    • CREG_COM_RATES5

    • CREG_COM_RATES6

    • CREG_COM_RATES7

    • CREG_MISC_SETTINGS

    • CREG_GYRO_1_MEAS_RANGE

    • CREG_GYRO_1_TRIM_X

    • CREG_GYRO_1_TRIM_Y

    • CREG_GYRO_1_TRIM_Z

    • CREG_GYRO_2_MEAS_RANGE

    • CREG_GYRO_2_TRIM_X

    • CREG_GYRO_2_TRIM_Y

    • CREG_GYRO_2_TRIM_Z

    • CREG_MAG_1_CAL1_1 to CREG_MAG_1_CAL3_3

    • CREG_MAG_1_BIAS_X

    • CREG_MAG_1_BIAS_Y

    • CREG_MAG_1_BIAS_Z

    • CREG_MAG_2_CAL1_1 to CREG_MAG_2_CAL3_3

    • CREG_MAG_2_BIAS_X

    • CREG_MAG_2_BIAS_Y

    • CREG_MAG_2_BIAS_Z

    • CREG_ACCEL_1_MEAS_RANGE

    • CREG_ACCEL_1_CAL1_1 to CREG_ACCEL_1_CAL3_3

    • CREG_ACCEL_1_BIAS_X

    • CREG_ACCEL_1_BIAS_Y

    • CREG_ACCEL_1_BIAS_Z

  • GNSS configuration registers V2

    • CREG_GNSS_COM_RATES

    • CREG_HOME_NORTH

    • CREG_HOME_EAST

    • CREG_HOME_UP

  • Fusion data registers V2

    • DREG_HEALTH

    • DREG_GYRO_1_RAW_XY

    • DREG_GYRO_1_RAW_Z

    • DREG_GYRO_1_RAW_TIME

    • DREG_GYRO_2_RAW_XY

    • DREG_GYRO_2_RAW_Z

    • DREG_GYRO_2_RAW_TIME

    • DREG_ACCEL_1_RAW_XY

    • DREG_ACCEL_1_RAW_Z

    • DREG_ACCEL_1_RAW_TIME

    • DREG_MAG_1_RAW_X

    • DREG_MAG_1_RAW_Y

    • DREG_MAG_1_RAW_Z

    • DREG_MAG_1_RAW_TIME

    • DREG_MAG_2_RAW_XY

    • DREG_MAG_2_RAW_Z

    • DREG_MAG_2_RAW_TIME

    • DREG_TEMPERATURE

    • DREG_TEMPERATURE_TIME

    • DREG_GYRO_1_PROC_X

    • DREG_GYRO_1_PROC_Y

    • DREG_GYRO_1_PROC_Z

    • DREG_GYRO_1_PROC_TIME

    • DREG_GYRO_2_PROC_X

    • DREG_GYRO_2_PROC_Y

    • DREG_GYRO_2_PROC_Z

    • DREG_GYRO_2_PROC_TIME

    • DREG_ACCEL_1_PROC_X

    • DREG_ACCEL_1_PROC_Y

    • DREG_ACCEL_1_PROC_Z

    • DREG_ACCEL_1_PROC_TIME

    • DREG_MAG_1_PROC_X

    • DREG_MAG_1_PROC_Y

    • DREG_MAG_1_PROC_Z

    • DREG_MAG_1_NORM

    • DREG_MAG_1_PROC_TIME

    • DREG_MAG_2_PROC_X

    • DREG_MAG_2_PROC_Y

    • DREG_MAG_2_PROC_Z

    • DREG_MAG_2_NORM

    • DREG_MAG_2_PROC_TIME

    • DREG_QUAT_AB

    • DREG_QUAT_CD

    • DREG_QUAT_TIME

    • DREG_EULER_PHI_THETA

    • DREG_EULER_PSI

    • DREG_EULER_PHI_THETA_DOT

    • DREG_EULER_PSI_DOT

    • DREG_EULER_TIME

    • DREG_POSITION_NORTH

    • DREG_POSITION_EAST

    • DREG_POSITION_UP

    • DREG_POSITION_TIME

    • DREG_VELOCITY_NORTH

    • DREG_VELOCITY_EAST

    • DREG_VELOCITY_UP

    • DREG_VELOCITY_TIME

    • DREG_GYRO_1_BIAS_X

    • DREG_GYRO_1_BIAS_Y

    • DREG_GYRO_1_BIAS_Z

    • DREG_GYRO_2_BIAS_X

    • DREG_GYRO_2_BIAS_Y

    • DREG_GYRO_2_BIAS_Z

  • GNSS data registers V2

    • DREG_GPS_HEALTH

    • DREG_GPS_LATITUDE

    • DREG_GPS_LONGITUDE

    • DREG_GPS_ALTITUDE

    • DREG_GPS_COURSE

    • DREG_GPS_SPEED

    • DREG_GPS_TIME

    • DREG_GPS_SAT_1_2

    • DREG_GPS_SAT_3_4

    • DREG_GPS_SAT_5_6

    • DREG_GPS_SAT_7_8

    • DREG_GPS_SAT_9_10

    • DREG_GPS_SAT_11_12

  • Commands V2

    • GET_FW_BUILD_ID

    • GET_FW_BUILD_VERSION

    • FLASH_COMMIT

    • RESET_TO_FACTORY

    • ZERO_GYROS

    • SET_HOME_POSITION

    • SET_MAG_REFERENCE

    • CALIBRATE_ACCELEROMETERS

    • RESET_FUSION

    • ENABLE_ZUPT

    • EULER_MODE

    • QUATERNION_MODE

    • ENABLE_RT_CALIBRATION

    • EN_MAG_ANOMALY_DETECTION

    • RUN_SELF_TESTS

    • ENABLE_EXTERNAL_EVENT

    • ENABLE_GNNS_FUSION

    • ENABLE_USR_EULER_OUTPUT

    • ENABLE_DEAD_RECKONING

    • ENABLE_HEAVE_SWAY_SURGE

    • ENABLE_UKF

    • BOARD_UNIQUE_ID_1

    • BOARD_UNIQUE_ID_2

    • PROTOCOL_VERSION

    • Reserved

Below is the draft version of the new register layout. This is not set in stone, we are open for discussion to deliver best possible product to our user.

We decided to split configuration registers for the sensor fusion and the GNSS.

Fusion Configuration Registers V2

Table 172 Fusion Configuration registers V2

Address	Register Name	Register Description
0x00 (0d)	CREG_COM_SETTINGS	General communication settings
0x01 (1d)	CREG_COM_RATES1	Broadcast rate settings
0x02 (2d)	CREG_COM_RATES2	Broadcast rate settings
0x03 (3d)	CREG_COM_RATES3	Broadcast rate settings
0x04 (4d)	CREG_COM_RATES4	Broadcast rate settings
0x05 (5d)	CREG_COM_RATES5	Broadcast rate settings
0x06 (6d)	CREG_COM_RATES6	Broadcast rate settings
0x07 (7d)	CREG_COM_RATES7	Broadcast rate settings
0x08 (8d)	CREG_MISC_SETTINGS	Misc. settings
0x09 (9d)	CREG_GYRO_1_MEAS_RANGE	Gyro 1 measurement range settings
0x0A (10d)	CREG_GYRO_1_TRIM_X	Bias trim for x-axis rate gyro 1
0x0B (11d)	CREG_GYRO_1_TRIM_Y	Bias trim for y-axis rate gyro 1
0x0C (12d)	CREG_GYRO_1_TRIM_Z	Bias trim for z-axis rate gyro 1
0x0D (13d)	CREG_GYRO_2_MEAS_RANGE	Gyro 2 measurement range settings
0x0E (14d)	CREG_GYRO_2_TRIM_X	Bias trim for x-axis rate gyro 2
0x0F (15d)	CREG_GYRO_2_TRIM_Y	Bias trim for y-axis rate gyro 2
0x10 (16d)	CREG_GYRO_2_TRIM_Z	Bias trim for z-axis rate gyro 2
0x11 (17d)	CREG_MAG_1_CAL1_1	Row 1, Column 1 of magnetometer 1 calibration matrix
0x12 (18d)	CREG_MAG_1_CAL1_2	Row 1, Column 2 of magnetometer 1 calibration matrix
0x13 (19d)	CREG_MAG_1_CAL1_3	Row 1, Column 3 of magnetometer 1 calibration matrix
0x14 (20d)	CREG_MAG_1_CAL2_1	Row 2, Column 1 of magnetometer 1 calibration matrix
0x15 (21d)	CREG_MAG_1_CAL2_2	Row 2, Column 2 of magnetometer 1 calibration matrix
0x16 (22d)	CREG_MAG_1_CAL2_3	Row 2, Column 3 of magnetometer 1 calibration matrix
0x17 (23d)	CREG_MAG_1_CAL3_1	Row 3, Column 1 of magnetometer 1 calibration matrix
0x18 (24d)	CREG_MAG_1_CAL3_2	Row 3, Column 2 of magnetometer 1 calibration matrix
0x19 (25d)	CREG_MAG_1_CAL3_3	Row 3, Column 3 of magnetometer 1 calibration matrix
0x1A (26d)	CREG_MAG_1_BIAS_X	Magnetometer 1 X-axis bias
0x1B (27d)	CREG_MAG_1_BIAS_Y	Magnetometer 1 Y-axis bias
0x1C (28d)	CREG_MAG_1_BIAS_Z	Magnetometer 1 Z-axis bias
0x1D (29d)	CREG_MAG_2_CAL1_1	Row 1, Column 1 of magnetometer 2 calibration matrix
0x1E (30d)	CREG_MAG_2_CAL1_2	Row 1, Column 2 of magnetometer 2 calibration matrix
0x1F (31d)	CREG_MAG_2_CAL1_3	Row 1, Column 3 of magnetometer 2 calibration matrix
0x20 (32d)	CREG_MAG_2_CAL2_1	Row 2, Column 1 of magnetometer 2 calibration matrix
0x21 (33d)	CREG_MAG_2_CAL2_2	Row 2, Column 2 of magnetometer 2 calibration matrix
0x22 (34d)	CREG_MAG_2_CAL2_3	Row 2, Column 3 of magnetometer 2 calibration matrix
0x23 (35d)	CREG_MAG_2_CAL3_1	Row 3, Column 1 of magnetometer 2 calibration matrix
0x24 (36d)	CREG_MAG_2_CAL3_2	Row 3, Column 2 of magnetometer 2 calibration matrix
0x25 (37d)	CREG_MAG_2_CAL3_3	Row 3, Column 3 of magnetometer 2 calibration matrix
0x26 (38d)	CREG_MAG_2_BIAS_X	Magnetometer 2 X-axis bias
0x27 (39d)	CREG_MAG_2_BIAS_Y	Magnetometer 2 Y-axis bias
0x28 (40d)	CREG_MAG_2_BIAS_Z	Magnetometer 2 Z-axis bias
0x29 (41d)	CREG_ACCEL_1_MEAS_RANGE	Accelerometer 1 measurement range settings
0x2A (42d)	CREG_ACCEL_1_CAL1_1	Row 1, Column 1 of accelerometer 1 calibration matrix
0x2B (43d)	CREG_ACCEL_1_CAL1_2	Row 1, Column 2 of accelerometer 1 calibration matrix
0x2C (44d)	CREG_ACCEL_1_CAL1_3	Row 1, Column 3 of accelerometer 1 calibration matrix
0x2D (45d)	CREG_ACCEL_1_CAL2_1	Row 2, Column 1 of accelerometer 1 calibration matrix
0x2E (46d)	CREG_ACCEL_1_CAL2_2	Row 2, Column 2 of accelerometer 1 calibration matrix
0x2F (47d)	CREG_ACCEL_1_CAL2_3	Row 2, Column 3 of accelerometer 1 calibration matrix
0x30 (48d)	CREG_ACCEL_1_CAL3_1	Row 3, Column 1 of accelerometer 1 calibration matrix
0x31 (49d)	CREG_ACCEL_1_CAL3_2	Row 3, Column 2 of accelerometer 1 calibration matrix
0x32 (50d)	CREG_ACCEL_1_CAL3_3	Row 3, Column 3 of accelerometer 1 calibration matrix
0x33 (51d)	CREG_ACCEL_1_BIAS_X	Accelerometer 1 X-axis bias
0x34 (52d)	CREG_ACCEL_1_BIAS_Y	Accelerometer 1 Y-axis bias
0x35 (53d)	CREG_ACCEL_1_BIAS_Z	Accelerometer 1 Z-axis bias

CREG_COM_SETTINGS

Address: 0 | 0x00 | 0b00000000

The CREG_COM_SETTINGS register is used to set the board’s serial port baud rate and to enable (disable) the automatic transmission of sensor data and estimated states (telemetry).

Table 173 CREG_COM_SETTINGS

Byte 3								Byte 2
31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16
BAUD_RATE				Reserved
Byte 1								Byte 0
15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Reserved								Reserved

Table 174 CREG_COM_SETTINGS bits description

Bits	Name	Description
31:28	BAUD_RATE	Sets the baud rate of the board’s main serial port: Bit value Baud rate 0 9600 1 14400 2 19200 3 38400 4 57600 5 115200 6 128000* 7 153600* 8 230400* 9 256000* 10 460800* 11 921600* 12:15 Reserved Most PC serial ports do not support baud-rates above 115200
27:0	Reserved	These bits are reserved for future use

CREG_COM_RATES1

Address: 1 | 0x01 | 0b00000001

The CREG_COM_RATES1 register sets desired telemetry transmission rates in \(Hz\) for raw accelerometer 1, gyro 1, gyro 2 and magnetometer 1 data. If the specified rate is \(0\), then no data is transmitted.

Table 175 CREG_COM_RATES1

Byte 3								Byte 2
31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16
RAW_ACCEL_1_RATE								RAW_GYRO_1_RATE
Byte 1								Byte 0
15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
RAW_GYRO_2_RATE								RAW_MAG_1_RATE

Table 176 CREG_COM_RATES1 bits description

Bits	Name	Description
31:24	RAW_ACCEL_1_RATE	Specifies the desired raw accelerometer 1 data broadcast rate in Hz. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.
23:16	RAW_GYRO_1_RATE	Specifies the desired raw gyro 1 data broadcast rate in Hz. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz. data broadcast rate in Hz.
15:8	RAW_GYRO_2_RATE	Specifies the desired raw gyro 2 data broadcast rate in Hz. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.
7:0	RAW_MAG_1_RATE	Specifies the desired raw magnetometer 1 data broadcast rate in Hz. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.

Raw accelerometer 1 data is stored in registers 92 to 94. When the RAW_ACCEL_1_RATE rate is greater than 0, the accelerometer 1 data is transmitted in a batch packet of length 3 with start address 92.

Raw rate gyro 1 data is stored in registers 86 to 88. When the RAW_GYRO_1_RATE rate is greater than 0, the rate gyro 1 data is transmitted in a batch packet of length 3 with start address 86.

Raw rate gyro 2 data is stored in registers 89 to 91. When the RAW_GYRO_2_RATE rate is greater than 0, the rate gyro 2 data is transmitted in a batch packet of length 3 with start address 89.

Raw magnetometer 1 data is stored in registers 95 to 98. When the RAW_MAG_1_RATE rate is greater than 0, the magnetometer 1 data is transmitted in a batch packet of length 3 with start address 95.

If the ALL_RAW_RATE (“all raw data rate”) bitfield in CREG_COM_RATES2 is greater than 0, then all gyro 1, gyro 2, accelerometer 1, magnetometer 1, magnetometer 2 data will be transmitted together. The rates in the CREG_COM_RATES1 registers are then ignored and not used.

CREG_COM_RATES2

Address: 2 | 0x02 | 0b00000010

The CREG_COM_RATES2 register sets desired telemetry transmission rates for the magnetometer 2, all raw data, and temperature data rate. The ALL_RAW_RATE setting has higher priority over the individual raw sensor data settings, i.e. whenever this bitfield is set, then the individual raw sensor settings are ignored and not used. If the specified rate is 0, then no data is transmitted.

Table 177 CREG_COM_RATES2

Byte 3								Byte 2
31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16
TEMP_RATE								RAW_MAG_2_RATE
Byte 1								Byte 0
15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Reserved								ALL_RAW_RATE

Table 178 CREG_COM_RATES2 bits description

Bits	Name	Description
31:24	TEMP_RATE	Specifies the desired broadcast rate for temperature data. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.
23:16	RAW_MAG_2_RATE	Specifies the desired raw magnetometer 2 data broadcast rate in Hz. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.
15:8	Reserved	These bits are reserved for future use.
7:0	ALL_RAW_RATE	Specifies the desired broadcast rate for all raw sensor data. If set, this overrides the broadcast rate setting for individual raw data broadcast rates. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.

Temperature data is stored in registers 102 and 103. If the temperature broadcast rate is greater than 0, then temperature data will be sent in a batch packet of length 2 with start address 102. If all raw data is being transmitted (as specified by byte 3 of this register), then the temperature data will be transmitted as part of the raw batch packet at “all raw rate” instead of the raw temperature rate.

Raw magnetometer 2 data is stored in registers 99 to 101. When the RAW_MAG_2_RATE rate is greater than 0, the magnetometer 2 data is transmitted in a batch packet of length 3 with start address 99.

Raw sensor/temperature data occupies registers 86 through 103. If the ALL_RAW_RATE raw data broadcast rate is greater than 0, then all raw data and temperature data is sent in one batch packet of length 18, with start address 86.

CREG_COM_RATES3

Address: 3 | 0x03 | 0b00000011

The CREG_COM_RATES3 register sets desired telemetry transmission rates for processed sensor data for the sensors: the accelerometer 1, gyro 1, gyro 2, and magnetometer 1. If the specified rate is 0, then no data is transmitted.

Table 179 CREG_COM_RATES3

Byte 3								Byte 2
31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16
PROC_ACCEL_1_RATE								PROC_GYRO_1_RATE
Byte 1								Byte 0
15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
PROC_GYRO_2_RATE								PROC_MAG_1_RATE

Table 180 CREG_COM_RATES3 bits description

Bits	Name	Description
31:24	PROC_ACCEL_1_RATE	Specifies the desired broadcast rate for processed accelerometer 1 data. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.
23:16	PROC_GYRO_1_RATE	Specifies the desired broadcast rate for processed rate gyro 1 data. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.
15:8	PROC_GYRO_2_RATE	Specifies the desired broadcast rate for processed processed rate gyro 2 data. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.
7:0	PROC_MAG_1_RATE	Specifies the desired broadcast rate for processed magnetometer 1 data. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.

Processed accelerometer 1 data is stored in registers 112 to 115. If the specified broadcast rate is greater than 0, then the data will be transmitted in a batch packet of length 4 and start address 112.

Processed rate gyro 1 data is stored in registers 104 to 107. If the specified broadcast rate is greater than 0, then the data will be transmitted in a batch packet of length 4 and start address 104.

Processed rate gyro 2 data is stored in registers 108 to 111. If the specified broadcast rate is greater than 0, then the data will be transmitted in a batch packet of length 4 and start address 108.

Processed magnetometer 1 data is stored in registers 116 to 119. If the specified broadcast rate is greater than 0, then the data will be transmitted in a batch packet of length 4 and start address 116.

If the ALL_PROC_RATE “all processed data broadcast rate” setting in the register CREG_COM_RATES4 is not zero, then the rates specified in the CREG_COM_RATES3 register are overridden.

CREG_COM_RATES4

Address: 4 | 0x04 | 0b00000100

The CREG_COM_RATES4 register defines the desired telemetry transmission rates for the processed data for the magnetometer 2, and for all processed data. The ALL_PROC_RATE setting has higher priority over the individual processed sensor data settings, i.e. whenever this bitfield is set, then the individual processed sensor transmission rate settings are ignored and not used. If the specified rate is 0, then no data is transmitted.

Table 181 CREG_COM_RATES4

Byte 3								Byte 2
31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16
PROC_MAG_2_RATE								Reserved
Byte 1								Byte 0
15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Reserved								ALL_PROC_RATE

Table 182 CREG_COM_RATES4 bits description

Bits	Name	Description
31:24	PROC_MAG_2_RATE	Specifies the desired broadcast rate for processed magnetometer 2 data. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.
23:16	Reserved	These bits are reserved for future use.
15:8	Reserved	These bits are reserved for future use.
7:0	ALL_PROC_RATE	Specifies the desired broadcast rate for raw all processed sensor data. If set, this overrides the broadcast rate setting for individual processed data broadcast rates. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.

Processed magnetometer 2 data is stored in registers 121 dec to 125. If the specified broadcast rate is greater than 0, then the data will be transmitted in a batch packet of length 5 and start address 121 dec.

All processed data comprises registers 104 through 125 (a total of 22 registers). If ALL_PROC_RATE is non-zero, the processed data will be transmitted as a single packet of batch length 22, starting at address 104.

CREG_COM_RATES5

Address: 5 | 0x05 | 0b00000101

The CREG_COM_RATES5 register sets desired telemetry transmission rates for quaternions, Euler Angles, position, and velocity estimates. If the specified rate is 0, then no data is transmitted.

Table 183 CREG_COM_RATES5

Byte 3								Byte 2
31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16
QUAT_RATE								EULER_RATE
Byte 1								Byte 0
15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
POSITION_RATE								VELOCITY_RATE

Table 184 CREG_COM_RATES5 bits description

Bits	Name	Description
31:24	QUAT_RATE	Specifies the desired broadcast rate for quaternion data. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.
23:16	EULER_RATE	Specifies the desired broadcast rate for Euler Angle data. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.
15:8	POSITION_RATE	Specifies the desired broadcast rate position. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.
7:0	VELOCITY_RATE	Specifies the desired broadcast rate for velocity. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.

Quaternion data is stored in registers 124 to 126. If the specified broadcast rate is greater than 0, then the data will be transmitted in a batch packet with length 3 and start address 124.

Euler Angle data is stored in registers 127 to 131. If the specified broadcast rate is greater than 0, then the data will be transmitted in a batch packet of length 5 and start address 127.

Position data is stored in registers 132 to 135. If the specified broadcast rate is greater than 0, then the data will be transmitted in a batch packet of length 4 and start address 132.

Velocity data is stored in registers 136 to 139. If the specified broadcast rate is greater than 0, then the data will be transmitted in a batch packet of length 4 and start address 136.

If the “pose broadcast rate” setting in register CREG_COM_RATES6 is not zero, then the rates specified by EULER_RATE and POSITION_RATE are overridden.

CREG_COM_RATES6

Address: 6 | 0x06 | 0b00000110

The CREG_COM_RATES6 register sets desired telemetry transmission rates for pose (Euler/position packet), health, and gyro bias estimates for the gyro 1 and gyro 2. If the specified rate is 0, then no data is transmitted.

Table 185 CREG_COM_RATES6

Byte 3								Byte 2
31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16
POSE_RATE								Reserved				HEALTH_RATE
Byte 1								Byte 0
15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
GYRO_BIAS_1_RATE								GYRO_BIAS_2_RATE

Table 186 CREG_COM_RATES6 bits description

Bits	Name	Description
31:24	POSE_RATE	Specifies the desired broadcast rate for pose (Euler Angle and position) data. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.
23:20	Reserved	These bits are reserved for future use.
19:16	HEALTH_RATE	Specifies the desired broadcast rate for the sensor health packet. Bit value Frequency, Hz 0 Off 1 0.125 2 0.25 3 0.5 4 1 5 2 6 4 7:15 Unused * Will default to 1Hz
15:8	GYRO_BIAS_1_RATE	Specifies the desired broadcast rate for gyro 1 bias estimates. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.
7:0	GYRO_BIAS_2_RATE	Specifies the desired broadcast rate for gyro 2 bias estimates. The data is stored as an unsigned 8-bit integer, yielding a maximum rate of 255 Hz.

Pose data (Euler Angles and position) is stored in registers 127 to 135. If the pose rate is greater than 0, then pose data will be transmitted in a batch packet with length 9 and start address 127.

Health data is stored in register address 85. If the health rate is not 0, then health data will be transmitted as a non-batch packet with address 85.

CREG_COM_RATES7

Address: 7 | 0x07 | 0b00000111

The CREG_COM_RATES7 register sets desired transmission rates for the Redshift Labs NMEA-style packets.

Table 187 CREG_COM_RATES7

Byte 3								Byte 2
31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16
NMEA_HEALTH_RATE				NMEA_POSE_RATE				NMEA_ATTITUDE_RATE				NMEA_SENSOR_RATE
Byte 1								Byte 0
15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
NMEA_RATES_RATE				NMEA_GPS_POSE_RATE				NMEA_QUAT_RATE				Reserved

Table 188 CREG_COM_RATES7 bits description

Bits	Name	Description
31:28	NMEA_HEALTH_RATE	Specifies the desired broadcast rate for Redshift Labs NMEA-style health packet. Bit value Frequency, Hz 0 Off 1 1 2 2 3 4 4 5 5 10 6 15 7 20 8 30 9 40 10 50 11 60 12 70 13 80 14 90 15 100
27:24	NMEA_POSE_RATE	Specifies the desired broadcast rate for Redshift Labs NMEA-style pose (Euler Angle/position) packet. Bit value Frequency, Hz 0 Off 1 1 2 2 3 4 4 5 5 10 6 15 7 20 8 30 9 40 10 50 11 60 12 70 13 80 14 90 15 100
23:20	NMEA_ATTITUDE_RATE	Specifies the desired broadcast rate for Redshift Labs NMEA-style attitude packet. Bit value Frequency, Hz 0 Off 1 1 2 2 3 4 4 5 5 10 6 15 7 20 8 30 9 40 10 50 11 60 12 70 13 80 14 90 15 100
19:16	NMEA_SENSOR_RATE	Specifies the desired broadcast rate for Redshift Labs NMEA-style sensor data packet. Bit value Frequency, Hz 0 Off 1 1 2 2 3 4 4 5 5 10 6 15 7 20 8 30 9 40 10 50 11 60 12 70 13 80 14 90 15 100
15:12	NMEA_RATES_RATE	Specifies the desired broadcast rate for Redshift Labs NMEA-style rate data packet. Bit value Frequency, Hz 0 Off 1 1 2 2 3 4 4 5 5 10 6 15 7 20 8 30 9 40 10 50 11 60 12 70 13 80 14 90 15 100
11:8	NMEA_GPS_POSE_RATE	Specifies the desired broadcast rate for Redshift Labs NMEA-style GPS pose packet. Bit value Frequency, Hz 0 Off 1 1 2 2 3 4 4 5 5 10 6 15 7 20 8 30 9 40 10 50 11 60 12 70 13 80 14 90 15 100
7:4	NMEA_QUAT_RATE	Specifies the desired broadcast rate for Redshift Labs NMEA-style quaternion packet. Bit value Frequency, Hz 0 Off 1 1 2 2 3 4 4 5 5 10 6 15 7 20 8 30 9 40 10 50 11 60 12 70 13 80 14 90 15 100
3:0	Reserved	These bits are reserved for future use.

CREG_MISC_SETTINGS

Address: 8 | 0x08 | 0b00001000

This register contains miscellaneous filter and sensor control options.

Table 189 CREG_MISC_SETTINGS

Byte 3								Byte 2
31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16
Reserved
Byte 1								Byte 0
15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Reserved							PPS	Reserved				ZG	Q	MAG1	MAG2

Table 190 CREG_MISC_SETTINGS bits description

Bits	Name	Description
31:9	Reserved	These bits are reserved for future use.
8	PPS	If set, this bit causes the TX2 pin on the IO Expansion header to be used as the PPS input from an external GPS module. PPS pulses will then be used to synchronize the system clock to UTC time of day.
7:4	Reserved	These bits are reserved for future use.
3	ZG	If set, this bit causes the devicee to attempt to measure the rate gyro bias on startup. The sensor must be stationary on startup for this feature to work properly.
2	Q	If this bit is set, the sensor will run in quaternion mode instead of Euler Angle mode.
1	MAG1	If set, the magnetometer 1 will be used in state updates.
0	MAG2	If set, the magnetometer 2 will be used in state updates.

CREG_GYRO_1_MEAS_RANGE

Address: 9 | 0x09 | 0b00001001

The CREG_GYRO_1_MEAS_RANGE register sets the desired measurement range for the gyro 1 sensor. If the rate is not set, then the default value of 2000 deg/s will be used as a measurement range.

Table 191 CREG_GYRO_1_MEAS_RANGE

Byte 3								Byte 2
31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16
Reserved								Reserved
Byte 1								Byte 0
15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Reserved								Reserved						MEAS_GYRO1

Table 192 CREG_GYRO_1_MEAS_RANGE bits description

Bits	Name	Description
31:2	Reserved	These bits are reserved for future use.
1:0	MEAS_GYRO1	Specifies the desired measurement range for the gyro 1 measurements. Bit value Measurement range, dps 0 +- 2000 1 +- 1000 2 +- 500 3 +- 250 Will default to +- 2000 dps

CREG_GYRO_1_TRIM_X

Address: 10 | 0x0A | 0b00001010

This register sets the \(x\)-axis rate gyro 1 trim, which is used to add additional bias compensation for the rate gyros during calls to the ZERO_GYRO_BIAS command.

Table 193 CREG_GYRO_1_TRIM_X

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_1_TRIM_X: 32-bit IEEE Floating Point Value

CREG_GYRO_1_TRIM_Y

Address: 11 | 0x0B | 0b00001011

This register sets the \(y\)-axis rate gyro 1 trim, which is used to add additional bias compensation for the rate gyros during calls to the ZERO_GYRO_BIAS command.

Table 194 CREG_GYRO_1_TRIM_Y

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_1_TRIM_Y: 32-bit IEEE Floating Point Value

CREG_GYRO_1_TRIM_Z

Address: 12 | 0x0C | 0b00001100

This register sets the \(z\)-axis rate gyro 1 trim, which is used to add additional bias compensation for the rate gyros during calls to the ZERO_GYRO_BIAS command.

Table 195 CREG_GYRO_1_TRIM_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_1_TRIM_Z: 32-bit IEEE Floating Point Value

CREG_GYRO_2_MEAS_RANGE

Address: 13 | 0x0D | 0b00001101

The CREG_GYRO_2_MEAS_RANGE register sets the desired measurement range for the gyro 2 sensor. If the rate is not set, then the default value of 2000 deg/s will be used as a measurement range.

Table 196 CREG_GYRO_2_MEAS_RANGE

Byte 3								Byte 2
31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16
Reserved								Reserved
Byte 1								Byte 0
15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Reserved								Reserved						MEAS_GYRO2

Table 197 CREG_GYRO_2_MEAS_RANGE bits description

Bits	Name	Description
31:2	Reserved	These bits are reserved for future use.
1:0	MEAS_GYRO2	Specifies the desired measurement range for the gyro 2 measurements. Bit value Measurement range, dps 0 +- 2000 1 +- 1000 2 +- 500 3 +- 250 Will default to +- 2000 dps

CREG_GYRO_2_TRIM_X

Address: 14 | 0x0E | 0b00001110

This register sets the \(x\)-axis rate gyro 2 trim, which is used to add additional bias compensation for the rate gyros during calls to the ZERO_GYRO_BIAS command.

Table 198 CREG_GYRO_2_TRIM_X

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_2_TRIM_X: 32-bit IEEE Floating Point Value

CREG_GYRO_2_TRIM_Y

Address: 15 | 0x0F | 0b00001111

This register sets the \(y\)-axis rate gyro 2 trim, which is used to add additional bias compensation for the rate gyros during calls to the ZERO_GYRO_BIAS command.

Table 199 CREG_GYRO_2_TRIM_Y

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_2_TRIM_Y: 32-bit IEEE Floating Point Value

CREG_GYRO_2_TRIM_Z

Address: 16 | 0x10 | 0b00010000

This register sets the \(z\)-axis rate gyro 2 trim, which is used to add additional bias compensation for the rate gyros during calls to the ZERO_GYRO_BIAS command.

Table 200 CREG_GYRO_2_TRIM_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_2_TRIM_Z: 32-bit IEEE Floating Point Value

CREG_MAG_1_CAL1_1 to CREG_MAG_1_CAL3_3

Address: 17 to 25 | 0x11 to 0x19 | 0b00010001 to 0b00011001

These registers store the 9 entries into a 3x3 matrix that is used to perform soft-iron calibration of the magnetometer 1 on the device. These terms can be computed by performing magnetometer calibration with the Redshift labs Serial Interface.

\[\begin{split}\begin{bmatrix} \texttt{CREG_MAG_1_CAL1_1} & \texttt{CREG_MAG_1_CAL1_2} & \texttt{CREG_MAG_1_CAL1_3} \\ \texttt{CREG_MAG_1_CAL2_1} & \texttt{CREG_MAG_1_CAL2_2} & \texttt{CREG_MAG_1_CAL2_3} \\ \texttt{CREG_MAG_1_CAL3_1} & \texttt{CREG_MAG_1_CAL3_2} & \texttt{CREG_MAG_1_CAL3_3} \\ \end{bmatrix}\end{split}\]

Table 201 CREG_MAG_1_CAL1_1 to CREG_MAG_1_CAL3_3

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_1_CAL1_1: 32-bit IEEE Floating Point Value
MAG_1_CAL1_2: 32-bit IEEE Floating Point Value
MAG_1_CAL1_3: 32-bit IEEE Floating Point Value
MAG_1_CAL2_1: 32-bit IEEE Floating Point Value
MAG_1_CAL2_2: 32-bit IEEE Floating Point Value
MAG_1_CAL2_3: 32-bit IEEE Floating Point Value
MAG_1_CAL3_1: 32-bit IEEE Floating Point Value
MAG_1_CAL3_2: 32-bit IEEE Floating Point Value
MAG_1_CAL3_3: 32-bit IEEE Floating Point Value

CREG_MAG_1_BIAS_X

Address: 26 | 0x1A | 0b00011010

This register stores a bias term for the magnetometer 1 \(x\)-axis for hard-iron calibration. This term can be computed by performing magnetometer calibration with the Redshift labs Serial Interface.

Table 202 CREG_MAG_1_BIAS_X

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_1_BIAS_X: 32-bit IEEE Floating Point Value

CREG_MAG_1_BIAS_Y

Address: 27 | 0x1B | 0b00011011

This register stores a bias term for the magnetometer 1 \(y\)-axis for hard-iron calibration. This term can be computed by performing magnetometer calibration with the Redshift labs Serial Interface.

Table 203 CREG_MAG_1_BIAS_Y

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_1_BIAS_Y: 32-bit IEEE Floating Point Value

CREG_MAG_1_BIAS_Z

Address: 28 | 0x1C | 0b00011100

This register stores a bias term for the magnetometer 1 \(z\)-axis for hard-iron calibration. This term can be computed by performing magnetometer calibration with the Redshift labs Serial Interface.

Table 204 CREG_MAG_1_BIAS_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_1_BIAS_Z: 32-bit IEEE Floating Point Value

CREG_MAG_2_CAL1_1 to CREG_MAG_2_CAL3_3

Address: 29 to 37 | 0x1D to 0x25 | 0b00011101 to 0b00100101

These registers store the 9 entries into a 3x3 matrix that is used to perform soft-iron calibration of the magnetometer 2 on the device. These terms can be computed by performing magnetometer calibration with the Redshift labs Serial Interface.

\[\begin{split}\begin{bmatrix} \texttt{CREG_MAG_2_CAL1_1} & \texttt{CREG_MAG_2_CAL1_2} & \texttt{CREG_MAG_2_CAL1_3} \\ \texttt{CREG_MAG_2_CAL2_1} & \texttt{CREG_MAG_2_CAL2_2} & \texttt{CREG_MAG_2_CAL2_3} \\ \texttt{CREG_MAG_2_CAL3_1} & \texttt{CREG_MAG_2_CAL3_2} & \texttt{CREG_MAG_2_CAL3_3} \\ \end{bmatrix}\end{split}\]

Table 205 CREG_MAG_2_CAL1_1 to CREG_MAG_2_CAL3_3

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_2_CAL1_1: 32-bit IEEE Floating Point Value
MAG_2_CAL1_2: 32-bit IEEE Floating Point Value
MAG_2_CAL1_3: 32-bit IEEE Floating Point Value
MAG_2_CAL2_1: 32-bit IEEE Floating Point Value
MAG_2_CAL2_2: 32-bit IEEE Floating Point Value
MAG_2_CAL2_3: 32-bit IEEE Floating Point Value
MAG_2_CAL3_1: 32-bit IEEE Floating Point Value
MAG_2_CAL3_2: 32-bit IEEE Floating Point Value
MAG_2_CAL3_3: 32-bit IEEE Floating Point Value

CREG_MAG_2_BIAS_X

Address: 38 | 0x26 | 0b00100110

This register stores a bias term for the magnetometer 2 \(x\)-axis for hard-iron calibration. This term can be computed by performing magnetometer calibration with the Redshift labs Serial Interface.

Table 206 CREG_MAG_2_BIAS_X

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_2_BIAS_X: 32-bit IEEE Floating Point Value

CREG_MAG_2_BIAS_Y

Address: 39 | 0x27 | 0b00100111

This register stores a bias term for the magnetometer 2 \(y\)-axis for hard-iron calibration. This term can be computed by performing magnetometer calibration with the Redshift labs Serial Interface.

Table 207 CREG_MAG_2_BIAS_Y

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_2_BIAS_Y: 32-bit IEEE Floating Point Value

CREG_MAG_2_BIAS_Z

Address: 40 | 0x28 | 0b00101000

This register stores a bias term for the magnetometer 2 \(z\)-axis for hard-iron calibration. This term can be computed by performing magnetometer calibration with the Redshift labs Serial Interface.

Table 208 CREG_MAG_2_BIAS_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_2_BIAS_Z: 32-bit IEEE Floating Point Value

CREG_ACCEL_1_MEAS_RANGE

Address: 41 | 0x29 | 0b00101001

The CREG_ACCEL_1_MEAS_RANGE register sets the desired measurement range for the accelerometer 1. If the rate is not set, then the default value of the +-2 g will be used as a measurement range.

Table 209 CREG_ACCEL_1_MEAS_RANGE

Byte 3								Byte 2
31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16
Reserved								Reserved
Byte 1								Byte 0
15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Reserved								Reserved						MEAS_ACC1

Table 210 CREG_ACCEL_1_MEAS_RANGE bits description

Bits	Name	Description
31:2	Reserved	These bits are reserved for future use.
1:0	MEAS_ACC1	Specifies the desired measurement range for the gyro 2 measurements. Bit value Measurement range, g 0 +- 2 1 +- 4 2 +- 8 3 +- 16 Will default to +- 2 g

CREG_ACCEL_1_CAL1_1 to CREG_ACCEL_1_CAL3_3

Addresses: 42 to 50 | 0x2A to 0x32 | 0b00101010 to 0b00110010

These registers store the 9 entries into a 3x3 matrix that are used to compensate for cross axis misalignment.

\[\begin{split}\begin{bmatrix} \texttt{CREG_ACCEL_1_CAL1_1} & \texttt{CREG_ACCEL_1_CAL1_2} & \texttt{CREG_ACCEL_1_CAL1_3} \\ \texttt{CREG_ACCEL_1_CAL2_1} & \texttt{CREG_ACCEL_1_CAL2_2} & \texttt{CREG_ACCEL_1_CAL2_3} \\ \texttt{CREG_ACCEL_1_CAL3_1} & \texttt{CREG_ACCEL_1_CAL3_2} & \texttt{CREG_ACCEL_1_CAL3_3} \\ \end{bmatrix}\end{split}\]

Table 211 CREG_ACCEL_1_CAL1_1 to CREG_ACCEL_1_CAL3_3

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
ACCEL_1_CAL1_1: 32-bit IEEE Floating Point Value
ACCEL_1_CAL1_2: 32-bit IEEE Floating Point Value
ACCEL_1_CAL1_3: 32-bit IEEE Floating Point Value
ACCEL_1_CAL2_1: 32-bit IEEE Floating Point Value
ACCEL_1_CAL2_2: 32-bit IEEE Floating Point Value
ACCEL_1_CAL2_3: 32-bit IEEE Floating Point Value
ACCEL_1_CAL3_1: 32-bit IEEE Floating Point Value
ACCEL_1_CAL3_2: 32-bit IEEE Floating Point Value
ACCEL_1_CAL3_3: 32-bit IEEE Floating Point Value

CREG_ACCEL_1_BIAS_X

Address: 51 | 0x33 | 0b00110011

This register stores a bias term for the accelerometer 1 \(x\)-axis for bias calibration. This term can be computed by performing calibrate accelerometers command within the Redshift labs Serial Interface.

Table 212 CREG_ACCEL_1_BIAS_X

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
ACCEL_1_BIAS_X: 32-bit IEEE Floating Point Value

CREG_ACCEL_1_BIAS_Y

Address: 52 | 0x34 | 0b00110100

This register stores a bias term for the accelerometer 1 \(y\)-axis for bias calibration. This term can be computed by performing calibrate accelerometers command within the Redshift labs Serial Interface.

Table 213 CREG_ACCEL_1_BIAS_Y

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
ACCEL_1_BIAS_Y: 32-bit IEEE Floating Point Value

CREG_ACCEL_1_BIAS_Z

Address: 53 | 0x35 | 0b00110101

This register stores a bias term for the accelerometer 1 \(z\)-axis for bias calibration. This term can be computed by performing calibrate accelerometers command within the Redshift labs Serial Interface.

Table 214 CREG_ACCEL_1_BIAS_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
ACCEL_1_BIAS_Z: 32-bit IEEE Floating Point Value

GNSS configuration registers V2

Table 215 GNSS Configuration registers V2

Address	Register Name	Register Description
0x45 (69d)	CREG_GNSS_COM_RATES	GNSS broadcast rate settings
0x46 (70d)	CREG_HOME_NORTH	GPS north position to consider position 0
0x47 (71d)	CREG_HOME_EAST	GPS east position to consider position 0
0x48 (72d)	CREG_HOME_UP	GPS altitude to consider position 0

CREG_GNSS_COM_RATES

Address: 69 | 0x45 | 0b01000101

This register stores the GNSS (including GPS) transmission settings.

Table 216 CREG_GNSS_COM_RATES

Byte 3								Byte 2
31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16
Reserved				GPS_BAUD				Reserved
Byte 1								Byte 0
15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Reserved							GPS	Reserved			SAT	Reserved

Table 217 CREG_GNSS_COM_RATES bits description

Bits	Name	Description
31:28	Reserved	These bits are reserved for future use
27:24	GPS_BAUD	Sets the baud rate of the UM7 auxiliary serial port: Bit value Baud rate 0 9600 1 14400 2 19200 3 38400 4 57600 5 115200
23:9	Reserved	These bits are reserved for future use
8	GPS	If set, this bit causes GPS data to be transmitted automatically whenever new GPS data is received. GPS data is stored in registers 125 to 130. These registers will be transmitted in a batch packet of length 6 starting at address 125.
7:5	Reserved	These bits are reserved for future use
4	SAT	If set, this bit causes satellite details to be transmitted whenever they are provided by the GPS. Satellite information is stored in registers 131 to 136. These registers will be transmitted in a batch packet of length 6 beginning at address 131.
3:0	Reserved	These bits are reserved for future use.

CREG_HOME_NORTH

Address: 70 | 0x46 | 0b01000110

This register sets the north home latitude in degrees, used to convert GPS coordinates to position in meters from home.

Table 218 CREG_HOME_NORTH

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
CREG_HOME_NORTH: 32-bit IEEE Floating Point Value

CREG_HOME_EAST

Address: 71 | 0x47 | 0b01000111

This register sets the east home longitude in degrees, used to convert GPS coordinates to position in meters from home.

Table 219 CREG_HOME_EAST

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
CREG_HOME_EAST: 32-bit IEEE Floating Point Value

CREG_HOME_UP

Address: 72 | 0x48 | 0b01001000

This register sets the home altitude in meters. Used to convert GPS coordinates to position in meters from home.

Table 220 CREG_HOME_UP

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
CREG_HOME_UP: 32-bit IEEE Floating Point Value

Fusion data registers V2

Table 221 Fusion data registers V2

0x55 (85d)	DREG_HEALTH	Information about the health and status of the board
0x56 (86d)	DREG_GYRO_1_RAW_XY	Raw X and Y measurement data for the gyro 1
0x57 (87d)	DREG_GYRO_1_RAW_Z	Raw Z measurement data for the gyro 1
0x58 (88d)	DREG_GYRO_1_RAW_TIME	Measurement time for the raw gyro 1
0x59 (89d)	DREG_GYRO_2_RAW_XY	Raw X and Y measurement data for the gyro 2
0x5A (90d)	DREG_GYRO_2_RAW_Z	Raw Z measurement data for the gyro 2
0x5B (91d)	DREG_GYRO_2_RAW_TIME	Measurement time for the raw gyro 2
0x5C (92d)	DREG_ACCEL_1_RAW_XY	Raw X and Y measurement data for the accelerometer 1
0x5D (93d)	DREG_ACCEL_1_RAW_Z	Raw Z measurement data for the accelerometer 1
0x5E (94d)	DREG_ACCEL_1_RAW_TIME	Measurement time for the raw accelerometer 1
0x5F (95d)	DREG_MAG_1_RAW_X	Raw X measurement data for the magnetometer 1
0x60 (96d)	DREG_MAG_1_RAW_Y	Raw Y measurement data for the magnetometer 1
0x61 (97d)	DREG_MAG_1_RAW_Z	Raw Z measurement data for the magnetometer 1
0x62 (98d)	DREG_MAG_1_RAW_TIME	Measurement time for the raw magnetometer 1
0x63 (99d)	DREG_MAG_2_RAW_XY	Raw X and Y measurement data for the magnetometer 2
0x64 (100d)	DREG_MAG_2_RAW_Z	Raw Z measurement data for the magnetometer 2
0x65 (101d)	DREG_MAG_2_RAW_TIME	Measurement time for the raw magnetometer 2
0x66 (102d)	DREG_TEMPERATURE	Temperature data
0x67 (103d)	DREG_TEMPERATURE_TIME	Time at which temperature data was acquired
0x68 (104d)	DREG_GYRO_1_PROC_X	Processed x-axis rate data for the gyro 1
0x69 (105d)	DREG_GYRO_1_PROC_Y	Processed y-axis rate data for the gyro 1
0x6A (106d)	DREG_GYRO_1_PROC_Z	Processed z-axis rate data for the gyro 1
0x6B (107d)	DREG_GYRO_1_PROC_TIME	Gyro 1 processed measurement data time stamp
0x6C (108d)	DREG_GYRO_2_PROC_X	Processed x-axis rate data for the gyro 2
0x6D (109d)	DREG_GYRO_2_PROC_Y	Processed y-axis rate data for the gyro 2
0x6E (110d)	DREG_GYRO_2_PROC_Z	Processed z-axis rate data for the gyro 2
0x6F (111d)	DREG_GYRO_2_PROC_TIME	Gyro 2 processed measurement data time stamp
0x70 (112d)	DREG_ACCEL_1_PROC_X	Processed x-axis data for the accelerometer 1
0x71 (113d)	DREG_ACCEL_1_PROC_Y	Processed y-axis data for the accelerometer 1
0x72 (114d)	DREG_ACCEL_1_PROC_Z	Processed z-axis data for the accelerometer 1
0x73 (115d)	DREG_ACCEL_1_PROC_TIME	Accelerometer 1 processed measurement data time stamp
0x74 (116d)	DREG_MAG_1_PROC_X	Processed x-axis data for the magnetometer 1
0x75 (117d)	DREG_MAG_1_PROC_Y	Processed y-axis data for the magnetometer 1
0x76 (118d)	DREG_MAG_1_PROC_Z	Processed z-axis data for the magnetometer 1
0x77 (119d)	DREG_MAG_1_NORM	Magnetometer 1 computed norm for the measurement
0x78 (120d)	DREG_MAG_1_PROC_TIME	Magnetometer 1 processed measurement data time stamp
0x79 (121d)	DREG_MAG_2_PROC_X	Processed x-axis data for the magnetometer 2
0x7A (122d)	DREG_MAG_2_PROC_Y	Processed y-axis data for the magnetometer 2
0x7B (123d)	DREG_MAG_2_PROC_Z	Processed z-axis data for the magnetometer 2
0x7C (124d)	DREG_MAG_2_NORM	Magnetometer 2 computed norm for the measurement
0x7D (125d)	DREG_MAG_2_PROC_TIME	Magnetometer 2 processed measurement data time stamp
0x7E (126d)	DREG_QUAT_AB	Quaternion elements A and B
0x7F (127d)	DREG_QUAT_CD	Quaternion elements C and D
0x80 (128d)	DREG_QUAT_TIME	Quaternion estimate time stamp
0x81 (129d)	DREG_EULER_PHI_THETA	Roll and pitch angles
0x82 (130d)	DREG_EULER_PSI	Yaw angle
0x83 (131d)	DREG_EULER_PHI_THETA_DOT	Roll and pitch angle rates
0x84 (132d)	DREG_EULER_PSI_DOT	Yaw rate
0x85 (133d)	DREG_EULER_TIME	Time of estimates for the Euler attitude and rates
0x86 (134d)	DREG_POSITION_NORTH	North position in meters
0x87 (135d)	DREG_POSITION_EAST	East position in meters
0x88 (136d)	DREG_POSITION_UP	Altitude in meters
0x89 (137d)	DREG_POSITION_TIME	Time of estimated position
0x8A (138d)	DREG_VELOCITY_NORTH	North velocity
0x8B (139d)	DREG_VELOCITY_EAST	East velocity
0x8C (140d)	DREG_VELOCITY_UP	Altitude velocity
0x8D (141d)	DREG_VELOCITY_TIME	Time of velocity estimate
0x8E (142d)	DREG_GYRO_1_BIAS_X	Gyro 1 x-axis bias estimate
0x8F (143d)	DREG_GYRO_1_BIAS_Y	Gyro 1 y-axis bias estimate
0x90 (144d)	DREG_GYRO_1_BIAS_Z	Gyro 1 z-axis bias estimate
0x91 (145d)	DREG_GYRO_2_BIAS_X	Gyro 2 x-axis bias estimate
0x92 (146d)	DREG_GYRO_2_BIAS_Y	Gyro 2 y-axis bias estimate
0x93 (147d)	DREG_GYRO_2_BIAS_Z	Gyro 2 z-axis bias estimate

DREG_HEALTH

Address: 85 | 0x55 | 0b01010101

The health register reports the current status of the sensors on the board. Monitoring the health register is the easiest way to watch for other problems that could affect the behavior of the board, status of the sensors.

The analogous to the health register, the status of the GPS signal can be monitored in the DREG_GPS_HEALTH

Table 222 DREG_HEALTH

Byte 3
31	30	29	28	27	26	25	24
Reserved
Byte 2
23	22	21	20	19	18	17	16
Reserved
Byte 1
15	14	13	12	11	10	9	8
Reserved							OVF
Byte 0
7	6	5	4	3	2	1	0
ACC1_N	MAG1_N	MAG2_N	ACCEL1	GYRO1	GYRO2	MAG1	MAG2

Table 223 DREG_HEALTH bits description

Bits	Name	Description
31:9	Reserved	These bits are reserved for future use.
8	OVF	Overflow bit. This bit is set if the board is attempting to transmit data over the serial port faster than is allowed given the baud-rate. If this bit is set, reduce broadcast rates in the COM_RATES registers.
7	ACC1_N	This bit is set if the sensor detects that the norm of the accelerometer measurement is too far away from 1G to be used (i.e. during aggressive acceleration or high vibration).
6	MAG1_N	This bit is set if the sensor detects that the norm of the magnetometer measurement for the magnetometer 1 is too far away from 1.0 to be trusted. Usually indicates bad calibration, local field distortions, or both.
5	MAG2_N	This bit is set if the sensor detects that the norm of the magnetometer measurement for the magnetometer 2 is too far away from 1.0 to be trusted. Usually indicates bad calibration, local field distortions, or both.
4	ACCEL1	This bit will be set if the accelerometer 1 fails to initialize on startup.
3	GYRO1	This bit will be set if the rate gyro 1 fails to initialize on startup.
2	GYRO2	This bit will be set if the rate gyro 2 fails to initialize on startup.
1	MAG1	This bit will be set if the magnetometer 1 fails to initialize on startup.
0	MAG2	This bit will be set if the magnetometer 1 fails to initialize on startup.

DREG_GYRO_1_RAW_XY

Address: 86 | 0x56 | 0b01010110

Contains raw X and Y axis rate gyro 1 data.

Table 224 DREG_GYRO_1_RAW_XY

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_1_RAW_X (2’s complement 16-bit integer)								GYRO_1_RAW_Y (2’s complement 16-bit integer)

DREG_GYRO_1_RAW_Z

Address: 87 | 0x57 | 0b01010111

Contains raw Z axis rate gyro 1 data

Table 225 DREG_GYRO_1_RAW_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_1_RAW_Z (2’s complement 16-bit integer)								Reserved

DREG_GYRO_1_RAW_TIME

Address: 88 | 0x58 | 0b01011000

Contains time at which the last rate gyro 1 data was acquired.

Table 226 DREG_GYRO_1_RAW_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_1_RAW_TIME: 32-bit IEEE Floating Point Value

DREG_GYRO_2_RAW_XY

Address: 89 | 0x59 | 0b01011001

Contains raw X and Y axis rate gyro 2 data.

Table 227 DREG_GYRO_2_RAW_XY

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_2_RAW_X (2’s complement 16-bit integer)								GYRO_2_RAW_Y (2’s complement 16-bit integer)

DREG_GYRO_2_RAW_Z

Address: 90 | 0x5A | 0b01011010

Contains raw Z axis rate gyro 2 data

Table 228 DREG_GYRO_2_RAW_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_2_RAW_Z (2’s complement 16-bit integer)								Reserved

DREG_GYRO_2_RAW_TIME

Address: 91 | 0x5B | 0b01011011

Contains time at which the last rate gyro 2 data was acquired.

Table 229 DREG_GYRO_2_RAW_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_2_RAW_TIME: 32-bit IEEE Floating Point Value

DREG_ACCEL_1_RAW_XY

Address: 92 | 0x5C | 0b01011100

Contains raw X and Y axis accelerometer 1 data.

Table 230 DREG_ACCEL_1_RAW_XY

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
ACCEL_1_RAW_X (2’s complement 16-bit integer)								ACCEL_1_RAW_Y (2’s complement 16-bit integer)

DREG_ACCEL_1_RAW_Z

Address: 93 | 0x5D | 0b01011101

Contains raw Z axis accelerometer 1 data.

Table 231 DREG_ACCEL_1_RAW_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
ACCEL_1_RAW_Z (2’s complement 16-bit integer)								Reserved

DREG_ACCEL_1_RAW_TIME

Address: 94 | 0x5E | 0b01011110

Contains time at which the last raw data sample for the accelerometer 1 was acquired.

Table 232 DREG_ACCEL_1_RAW_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
ACCEL_1_RAW_TIME: 32-bit IEEE Floating Point Value

DREG_MAG_1_RAW_X

Address: 95 | 0x5F | 0b01011111

Contains raw \(x\) axis magnetometer 1 data.

Table 233 DREG_MAG_1_RAW_X

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_1_RAW_X: Magnetometer X data (32-bit signed integer)

DREG_MAG_1_RAW_Y

Address: 96 | 0x60 | 0b01100000

Contains raw \(y\) axis magnetometer 1 data.

Table 234 DREG_MAG_1_RAW_Y

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_1_RAW_Y: Magnetometer Y data (32-bit signed integer)

DREG_MAG_1_RAW_Z

Address: 97 | 0x61 | 0b01100001

Contains raw \(z\) axis magnetometer 1 data.

Table 235 DREG_MAG_1_RAW_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_1_RAW_Z: Magnetometer Z data (32-bit signed integer)

DREG_MAG_1_RAW_TIME

Address: 98 | 0x62 | 0b01100010

Contains time at which the last magnetometer data from the magnetometer 1 was acquired.

Table 236 DREG_MAG_1_RAW_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_1_RAW_TIME: 32-bit IEEE Floating Point Value

DREG_MAG_2_RAW_XY

Address: 99 | 0x63 | 0b01100011

Contains raw X and Y axis magnetometer 2 data.

Table 237 DREG_MAG_2_RAW_XY

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_2_RAW_X (2’s complement 16-bit integer)								MAG_2_RAW_Y (2’s complement 16-bit integer)

DREG_MAG_2_RAW_Z

Address: 100 | 0x64 | 0b01100100

Contains raw Z axis magnetometer 2 data.

Table 238 DREG_MAG_2_RAW_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_2_RAW_Z (2’s complement 16-bit integer)								Reserved

DREG_MAG_2_RAW_TIME

Address: 101 | 0x65 | 0b01100101

Contains time at which the last magnetometer data from the magnetometer 2 was acquired.

Table 239 DREG_MAG_2_RAW_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_2_RAW_TIME: 32-bit IEEE Floating Point Value

DREG_TEMPERATURE

Address: 102 | 0x66 | 0b01100110

Contains the temperature output of the onboard temperature sensor.

Table 240 DREG_TEMPERATURE

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
TEMPERATURE: Temperature in degrees Celcius (32-bit IEEE Floating Point)

DREG_TEMPERATURE_TIME

Address: 103 | 0x67 | 0b01100111

Contains time at which the last temperature was acquired.

Table 241 DREG_TEMPERATURE_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
TEMPERATURE_TIME: 32-bit IEEE Floating Point Value

DREG_GYRO_1_PROC_X

Address: 104 | 0x68 | 0b01101000

Contains the actual measured angular rate from the gyro 1 for the \(x\) axis in degrees/sec after calibration has been applied.

Table 242 DREG_GYRO_1_PROC_X

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_1_PROC_X in degrees / sec (32-bit IEEE Floating Point Value)

DREG_GYRO_1_PROC_Y

Address: 105 | 0x69 | 0b01101001

Contains the actual measured angular rate from the gyro 1 for the \(y\) axis in degrees/sec after calibration has been applied.

Table 243 DREG_GYRO_1_PROC_Y

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_1_PROC_Y in degrees / sec (32-bit IEEE Floating Point Value)

DREG_GYRO_1_PROC_Z

Address: 106 | 0x6A | 0b01101010

Contains the actual measured angular rate from the gyro 1 for the \(z\) axis in degrees/sec after calibration has been applied.

Table 244 DREG_GYRO_1_PROC_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_1_PROC_Z in degrees / sec (32-bit IEEE Floating Point Value)

DREG_GYRO_1_PROC_TIME

Address: 107 | 0x6B | 0b01101011

Contains the time at which the last rate gyro data from the gyro 1 was measured.

Table 245 DREG_GYRO_1_PROC_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_1_PROC_TIME: Gyro 1 time stamp (32-bit IEEE Floating Point Value)

DREG_GYRO_2_PROC_X

Address: 108 | 0x6C | 0b01101100

Contains the actual measured angular rate from the gyro 2 for the \(x\) axis in degrees/sec after calibration has been applied.

Table 246 DREG_GYRO_2_PROC_X

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_2_PROC_X in degrees / sec (32-bit IEEE Floating Point Value)

DREG_GYRO_2_PROC_Y

Address: 109 | 0x6D | 0b01101101

Contains the actual measured angular rate from the gyro 2 for the \(y\) axis in degrees/sec after calibration has been applied.

Table 247 DREG_GYRO_2_PROC_Y

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_2_PROC_Y in degrees / sec (32-bit IEEE Floating Point Value)

DREG_GYRO_2_PROC_Z

Address: 110 | 0x6E | 0b01101110

Contains the actual measured angular rate from the gyro 2 for the \(z\) axis in degrees/sec after calibration has been applied.

Table 248 DREG_GYRO_2_PROC_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_2_PROC_Z in degrees / sec (32-bit IEEE Floating Point Value)

DREG_GYRO_2_PROC_TIME

Address: 111 | 0x6F | 0b01101111

Contains the time at which the last rate gyro data from the gyro 2 was measured.

Table 249 DREG_GYRO_2_PROC_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_2_PROC_TIME: Gyro 2 time stamp (32-bit IEEE Floating Point Value)

DREG_ACCEL_1_PROC_X

Address: 112 | 0x70 | 0b01110000

Contains the actual measured acceleration from the accelerometer 1 for the \(x\) axis in \(g\) after calibration has been applied.

Table 250 DREG_ACCEL_1_PROC_X

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
ACCEL_1_PROC_X: Acceleration X in \(g\), 32-bit IEEE Floating Point Value

DREG_ACCEL_1_PROC_Y

Address: 113 | 0x71 | 0b01110001

Contains the actual measured acceleration from the accelerometer 1 for the \(y\) axis in \(g\) after calibration has been applied.

Table 251 DREG_ACCEL_1_PROC_Y

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
ACCEL_1_PROC_Y: Acceleration Y in \(g\), 32-bit IEEE Floating Point Value

DREG_ACCEL_1_PROC_Z

Address: 114 | 0x72 | 0b01110010

Contains the actual measured acceleration from the accelerometer 1 for the \(z\) axis in \(g\) after calibration has been applied.

Table 252 DREG_ACCEL_1_PROC_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
ACCEL_1_PROC_Z: Acceleration Z in \(g\), 32-bit IEEE Floating Point Value

DREG_ACCEL_1_PROC_TIME

Address: 115 | 0x73 | 0b01110011

Contains the time at which the last acceleration data from the accelerometer 1 was measured.

Table 253 DREG_ACCEL_1_PROC_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
ACCEL_1_PROC_TIME: Accelerometer 1 timestamp, 32-bit IEEE Floating Point Value

DREG_MAG_1_PROC_X

Address: 116 | 0x74 | 0b01110100

Contains the actual measured magnetic field from the magnetometer 1 for the \(x\) axis in \(mT\) after calibration has been applied.

Table 254 DREG_MAG_1_PROC_X

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_1_PROC_X: Magnetometer X in \(mT\) (32-bit IEEE Floating Point Value)

DREG_MAG_1_PROC_Y

Address: 117 | 0x75 | 0b01110101

Contains the actual measured magnetic field from the magnetometer 1 for the \(y\) axis in \(mT\) after calibration has been applied.

Table 255 DREG_MAG_1_PROC_Y

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_1_PROC_Y: Magnetometer Y in \(mT\) (32-bit IEEE Floating Point Value)

DREG_MAG_1_PROC_Z

Address: 118 | 0x76 | 0b01110110

Contains the actual measured magnetic field from the magnetometer 1 for the \(z\) axis in \(mT\) after calibration has been applied.

Table 256 DREG_MAG_1_PROC_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_1_PROC_Z: Magnetometer Z in \(mT\) (32-bit IEEE Floating Point Value)

DREG_MAG_1_NORM

Address: 119 | 0x77 | 0b01110111

Contains the L2-norm (magnetic norm) for the measured magnetic field from the magnetometer 1 computed over the calibrated values.

Table 257 DREG_MAG_1_NORM

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_1_NORM: Magnetic norm (32-bit IEEE Floating Point Value)

DREG_MAG_1_PROC_TIME

Address: 120 | 0x78 | 0b01111000

Contains the time stamp at which the calibrated magnetometer 1 data was acquired.

Table 258 DREG_MAG_1_PROC_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_1_PROC_TIME: Magnetometer 1 time stamp (32-bit IEEE Floating Point Value)

DREG_MAG_2_PROC_X

Address: 121 | 0x79 | 0b01111001

Contains the actual measured magnetic field from the magnetometer 2 for the \(x\) axis in \(mT\) after calibration has been applied.

Table 259 DREG_MAG_2_PROC_X

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_2_PROC_X: Magnetometer X in \(mT\) (32-bit IEEE Floating Point Value)

DREG_MAG_2_PROC_Y

Address: 122 | 0x7A | 0b01111010

Contains the actual measured magnetic field from the magnetometer 2 for the \(y\) axis in \(mT\) after calibration has been applied.

Table 260 DREG_MAG_2_PROC_Y

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_2_PROC_Y: Magnetometer Y in \(mT\) (32-bit IEEE Floating Point Value)

DREG_MAG_2_PROC_Z

Address: 123 | 0x7B | 0b01111011

Contains the actual measured magnetic field from the magnetometer 2 for the \(z\) axis in \(mT\) after calibration has been applied.

Table 261 DREG_MAG_2_PROC_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_2_PROC_Z: Magnetometer Z in \(mT\) (32-bit IEEE Floating Point Value)

DREG_MAG_2_NORM

Address: 124 | 0x7C | 0b01111100

Contains the L2-norm (magnetic norm) for the measured magnetic field from the magnetometer 2 computed over the calibrated values.

Table 262 DREG_MAG_2_NORM

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_2_NORM: Magnetic norm (32-bit IEEE Floating Point Value)

DREG_MAG_2_PROC_TIME

Address: 125 | 0x7D | 0b01111101

Contains the time stamp at which the calibrated magnetometer 2 data was acquired.

Table 263 DREG_MAG_2_PROC_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
MAG_2_PROC_TIME: Magnetometer 2 time stamp (32-bit IEEE Floating Point Value)

DREG_QUAT_AB

Address: 126 | 0x7E | 0b01111110

Contains the first two components (\(a\) and \(b\)) of the estimated quaternion attitude.

\[\mathbf{q} = a+b\ \mathbf {i} +c\ \mathbf {j} +d\ \mathbf{k}\]

Table 264 DREG_QUAT_AB

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
QUAT_A: Quaternion A								QUAT_B: Quaternion B

Table 265 DREG_QUAT_AB bits

Bits	Name	Description
31:16	QUAT_A Quaternion A	First quaternion component. Stored as a 16-bit signed integer. To get the actual value, divide by 29789.09091.
15:0	QUAT_B Quaternion B	Second quaternion component. Stored as a 16-bit signed integer. To get the actual value, divide by 29789.09091.

DREG_QUAT_CD

Address: 127 | 0x7F | 0b01111111

Contains the second two components (\(c\) and \(d\)) of the estimated quaternion attitude.

\[\mathbf{q} = a+b\ \mathbf {i} +c\ \mathbf {j} +d\ \mathbf{k}\]

Table 266 DREG_QUAT_CD

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
QUAT_C: Quaternion C								QUAT_D: Quaternion D

Table 267 DREG_QUAT_CD bits

Bits	Name	Description
31:16	QUAT_C Quaternion C	Third quaternion component. Stored as a 16-bit signed integer. To get the actual value, divide by 29789.09091.
15:0	QUAT_D Quaternion D	Fourth quaternion component. Stored as a 16-bit signed integer. To get the actual value, divide by 29789.09091.

DREG_QUAT_TIME

Address: 128 | 0x80 | 0b10000000

Contains the time that the quaternion attitude was estimated.

Table 268 DREG_QUAT_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
QUAT_TIME: Quaternion time (32-bit IEEE Floating Point Value)

DREG_EULER_PHI_THETA

Address: 129 | 0x81 | 0b10000001

Contains the pitch and roll angle estimates.

Table 269 DREG_EULER_PHI_THETA

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
PHI: Phi (roll)								THETA: Theta (Pitch)

Table 270 DREG_EULER_PHI_THETA bits

Bits	Name	Description
31:16	Phi (roll)	Roll angle. Stored as a 16-bit signed integer. To get the actual value, divide by 91.02222.
15:0	Theta (pitch)	Pitch angle. Stored as a 16-bit signed integer. To get the actual value, divide by 91.02222.

DREG_EULER_PSI

Address: 130 | 0x82 | 0b10000010

Contains the yaw angle estimate.

Table 271 DREG_EULER_PSI

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
PSI: Psi (yaw)								Reserved

Table 272 DREG_EULER_PSI bits

Bits	Name	Description
31:16	Psi (yaw)	Yaw angle. Stored as a 16-bit signed integer. To get the actual value, divide by 91.02222.
15:0	Reserved	These bits are reserved for future use.

DREG_EULER_PHI_THETA_DOT

Address: 131 | 0x83 | 0b10000011

Contains the pitch and roll rate estimates.

Table 273 DREG_EULER_PHI_THETA_DOT

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
PHI_DOT: Roll rate								THETA_DOT: Pitch rate

Table 274 DREG_EULER_PHI_THETA_DOT bits

Bits	Name	Description
31:16	Roll rate	Roll rate. Stored as a 16-bit signed integer. To get the actual value, divide by 16.0.
15:0	Pitch rate	Pitch rate. Stored as a 16-bit signed integer. To get the actual value, divide by 16.0.

DREG_EULER_PSI_DOT

Address: 132 | 0x84 | 0b10000100

Contains the yaw rate estimate.

Table 275 DREG_EULER_PSI_DOT

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
PSI_DOT: Yaw rate								Reserved

Table 276 DREG_EULER_PHI_THETA_DOT bits

Bits	Name	Description
31:16	Yaw rate	Yaw rate. Stored as a 16-bit signed integer. To get the actual value, divide by 16.0.
15:0	Reserved	These bits are reserved for future use.

DREG_EULER_TIME

Address: 133 | 0x85 | 0b10000101

Contains the time that the Euler Angles were estimated.

Table 277 DREG_EULER_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
EULER_TIME: Euler time (32-bit IEEE Floating Point Value)

DREG_POSITION_NORTH

Address: 134 | 0x86 | 0b10000110

Contains the measured north position in meters from the latitude specified in CREG_HOME_NORTH.

Table 278 DREG_POSITION_NORTH

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
POSITION_NORTH: North Position (32-bit IEEE Floating Point Value)

DREG_POSITION_EAST

Address: 135 | 0x87 | 0b10000111

Contains the measured east position in meters from the longitude specified in CREG_HOME_EAST.

Table 279 DREG_POSITION_EAST

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
POSITION_EAST: East Position (32-bit IEEE Floating Point Value)

DREG_POSITION_UP

Address: 136 | 0x88 | 0b10001000

Contains the measured altitude in meters from the altitude specified in CREG_HOME_UP.

Table 280 DREG_POSITION_UP

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
POSITION_UP: Altitude (32-bit IEEE Floating Point Value)

DREG_POSITION_TIME

Address: 137 | 0x89 | 0b10001001

Contains the time at which the position was acquired.

Table 281 DREG_POSITION_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
POSITION_TIME: Position Time (32-bit IEEE Floating Point Value)

DREG_VELOCITY_NORTH

Address: 138 | 0x8A | 0b10001010

Contains the measured north velocity in \(m/s\).

Table 282 DREG_VELOCITY_NORTH

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
VELOCITY_NORTH: North Velocity (32-bit IEEE Floating Point Value)

DREG_VELOCITY_EAST

Address: 139 | 0x8B | 0b10001011

Contains the measured east velocity in \(m/s\).

Table 283 DREG_VELOCITY_EAST

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
VELOCITY_EAST: East Velocity (32-bit IEEE Floating Point Value)

DREG_VELOCITY_UP

Address: 140 | 0x8C | 0b10001100

Contains the measured altitude velocity in \(m/s\).

Table 284 DREG_VELOCITY_UP

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
VELOCITY_UP: Altitude Velocity (32-bit IEEE Floating Point Value)

DREG_VELOCITY_TIME

Address: 141 | 0x8D | 0b10001101

Contains the time at which the velocity was measured.

Table 285 DREG_VELOCITY_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
VELOCITY_TIME: Velocity time (32-bit IEEE Floating Point Value)

DREG_GYRO_1_BIAS_X

Address: 142 | 0x8E | 0b10001110

Contains the estimated \(x\)-axis bias for the gyro 1 in degrees/s.

Table 286 DREG_GYRO_1_BIAS_X

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_1_BIAS_X: Gyro 1 bias X (32-bit IEEE Floating Point Value)

DREG_GYRO_1_BIAS_Y

Address: 143 | 0x8F | 0b10001111

Contains the estimated \(y\)-axis bias for the gyro 1 in degrees/s.

Table 287 DREG_GYRO_1_BIAS_Y

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_1_BIAS_Y: Gyro 1 bias Y (32-bit IEEE Floating Point Value)

DREG_GYRO_1_BIAS_Z

Address: 144 | 0x90 | 0b10010000

Contains the estimated \(z\)-axis bias for the gyro 1 in degrees/s.

Table 288 DREG_GYRO_1_BIAS_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_1_BIAS_Z: Gyro 1 bias Z (32-bit IEEE Floating Point Value)

DREG_GYRO_2_BIAS_X

Address: 145 | 0x91 | 0b10010001

Contains the estimated \(x\)-axis bias for the gyro 2 in degrees/s.

Table 289 DREG_GYRO_2_BIAS_X

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_2_BIAS_X: Gyro 2 bias X (32-bit IEEE Floating Point Value)

DREG_GYRO_2_BIAS_Y

Address: 146 | 0x92 | 0b10010010

Contains the estimated \(y\)-axis bias for the gyro 2 in degrees/s.

Table 290 DREG_GYRO_2_BIAS_Y

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_2_BIAS_Y: Gyro 2 bias Y (32-bit IEEE Floating Point Value)

DREG_GYRO_2_BIAS_Z

Address: 147 | 0x93 | 0b10010011

Contains the estimated \(z\)-axis bias for the gyro 2 in degrees/s.

Table 291 DREG_GYRO_2_BIAS_Z

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GYRO_2_BIAS_Z: Gyro 2 bias Z (32-bit IEEE Floating Point Value)

GNSS data registers V2

Table 292 GNSS data registers V2

0x97 (151d)	DREG_GPS_HEALTH	GPS health status
0x98 (152d)	DREG_GPS_LATITUDE	GPS latitude
0x99 (153d)	DREG_GPS_LONGITUDE	GPS longitude
0x9A (154d)	DREG_GPS_ALTITUDE	GPS altitude
0x9B (155d)	DREG_GPS_COURSE	GPS course
0x9C (156d)	DREG_GPS_SPEED	GPS speed
0x9D (157d)	DREG_GPS_TIME	GPS time (UTC time of day in seconds)
0x9E (158d)	DREG_GPS_SAT_1_2	GPS satellite information
0x9F (159d)	DREG_GPS_SAT_3_4	GPS satellite information
0xA0 (160d)	DREG_GPS_SAT_5_6	GPS satellite information
0xA1 (161d)	DREG_GPS_SAT_7_8	GPS satellite information
0xA2 (162d)	DREG_GPS_SAT_9_10	GPS satellite information
0xA3 (163d)	DREG_GPS_SAT_11_12	GPS satellite information

DREG_GPS_HEALTH

Address: 151 | 0x97 | 0b10010111

The GPS health register reports the current status of the GPS module. Monitoring the health register is the easiest way to monitor the quality of the GPS.

Table 293 DREG_GPS_HEALTH

Byte 3
31	30	29	28	27	26	25	24
SATS_USED						HDOP
Byte 2
23	22	21	20	19	18	17	16
HDOP
Byte 1
15	14	13	12	11	10	9	8
SATS_IN_VIEW						Reserved
Byte 0
7	6	5	4	3	2	1	0
Reserved							GPS

Table 294 DREG_HEALTH bits description

Bits	Name	Description
31:26	SATS_USED	Reports the number of satellites used in the position solution.
25:16	HDOP	Reports the horizontal dilution of precision (HDOP) reported by the GPS. The actual HDOP value is equal to the contents of the HDOP bits divided by 10.
15:10	SATS_IN_VIEW	Reports the number of satellites in view.
9:1	Reserved	These bits are reserved for future use.
0	GPS	This bit is set if the GPS fails to send a packet for more than two seconds. If a GPS packet is ever received, this bit is cleared.

DREG_GPS_LATITUDE

Address: 152 | 0x98 | 0b10011000

Contains the GPS-reported latitude in degrees.

Table 295 DREG_GPS_LATITUDE

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GPS Latitude (32-bit IEEE Floating Point Value)

DREG_GPS_LONGITUDE

Address: 153 | 0x99 | 0b10011001

Contains the GPS-reported longitude in degrees.

Table 296 DREG_GPS_LONGITUDE

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GPS Longitude (32-bit IEEE Floating Point Value)

DREG_GPS_ALTITUDE

Address: 154 | 0x9A | 0b10011010

Contains the GPS-reported altitude in meters.

Table 297 DREG_GPS_ALTITUDE

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GPS Altitude (32-bit IEEE Floating Point Value)

DREG_GPS_COURSE

Address: 155 | 0x9B | 0b10011011

Contains the GPS-reported course in degrees.

Table 298 DREG_GPS_COURSE

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GPS Course (32-bit IEEE Floating Point Value)

DREG_GPS_SPEED

Address: 156 | 0x9C | 0b10011100

Contains the GPS-reported speed in \(m/s\).

Table 299 DREG_GPS_SPEED

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GPS Speed (32-bit IEEE Floating Point Value)

DREG_GPS_TIME

Address: 157 | 0x9D | 0b10011101

Contains the GPS-reported time in seconds from the last epoch.

Table 300 DREG_GPS_TIME

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
GPS Time (32-bit IEEE Floating Point Value)

DREG_GPS_SAT_1_2

Address: 158 | 0x9E | 0b10011110

Contains satellite ID and signal-to-noise ratio (SNR) for satellites 1 and 2.

Table 301 DREG_GPS_SAT_1_2

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
Sat 1 ID				Sat 1 SNR				Sat 2 ID				Sat 2 SNR

Table 302 DREG_GPS_SAT_1_2 bits

Bits	Name	Description
31:24	Sat 1 ID	Satellite ID
23:16	Sat 1 SNR	Signal-to-Noise Ratio of satellite as reported by GPS receiver.
15:8	Sat 2 ID	Satellite ID
7:0	Sat 2 SNR	Signal-to-Noise Ratio of satellite as reported by GPS receiver.

DREG_GPS_SAT_3_4

Address: 159 | 0x9F | 0b10011111

Contains satellite ID and signal-to-noise ratio (SNR) for satellites 3 and 4.

Table 303 DREG_GPS_SAT_3_4

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
Sat 3 ID				Sat 3 SNR				Sat 4 ID				Sat 4 SNR

Table 304 DREG_GPS_SAT_3_4 bits

Bits	Name	Description
31:24	Sat 3 ID	Satellite ID
23:16	Sat 3 SNR	Signal-to-Noise Ratio of satellite as reported by GPS receiver.
15:8	Sat 4 ID	Satellite ID
7:0	Sat 4 SNR	Signal-to-Noise Ratio of satellite as reported by GPS receiver.

DREG_GPS_SAT_5_6

Address: 160 | 0xA0 | 0b10100000

Contains satellite ID and signal-to-noise ratio (SNR) for satellites 5 and 6.

Table 305 DREG_GPS_SAT_5_6

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
Sat 5 ID				Sat 5 SNR				Sat 6 ID				Sat 6 SNR

Table 306 DREG_GPS_SAT_5_6 bits

Bits	Name	Description
31:24	Sat 5 ID	Satellite ID
23:16	Sat 5 SNR	Signal-to-Noise Ratio of satellite as reported by GPS receiver.
15:8	Sat 6 ID	Satellite ID
7:0	Sat 6 SNR	Signal-to-Noise Ratio of satellite as reported by GPS receiver.

DREG_GPS_SAT_7_8

Address: 161 | 0xA1 | 0b10100001

Contains satellite ID and signal-to-noise ratio (SNR) for satellites 7 and 8.

Table 307 DREG_GPS_SAT_7_8

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
Sat 7 ID				Sat 7 SNR				Sat 8 ID				Sat 8 SNR

Table 308 DREG_GPS_SAT_7_8 bits

Bits	Name	Description
31:24	Sat 7 ID	Satellite ID
23:16	Sat 7 SNR	Signal-to-Noise Ratio of satellite as reported by GPS receiver.
15:8	Sat 8 ID	Satellite ID
7:0	Sat 8 SNR	Signal-to-Noise Ratio of satellite as reported by GPS receiver.

DREG_GPS_SAT_9_10

Address: 162 | 0xA2 | 0b10100010

Contains satellite ID and signal-to-noise ratio (SNR) for satellites 9 and 10.

Table 309 DREG_GPS_SAT_9_10

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
Sat 9 ID				Sat 9 SNR				Sat 10 ID				Sat 10 SNR

Table 310 DREG_GPS_SAT_9_10 bits

Bits	Name	Description
31:24	Sat 9 ID	Satellite ID
23:16	Sat 9 SNR	Signal-to-Noise Ratio of satellite as reported by GPS receiver.
15:8	Sat 10 ID	Satellite ID
7:0	Sat 10 SNR	Signal-to-Noise Ratio of satellite as reported by GPS receiver.

DREG_GPS_SAT_11_12

Address: 163 | 0xA3 | 0b10100011

Contains satellite ID and signal-to-noise ratio (SNR) for satellites 11 and 12.

Table 311 DREG_GPS_SAT_11_12

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
Sat 11 ID				Sat 11 SNR				Sat 12 ID				Sat 12 SNR

Table 312 DREG_GPS_SAT_11_12 bits

Bits	Name	Description
31:24	Sat 11 ID	Satellite ID
23:16	Sat 11 SNR	Signal-to-Noise Ratio of satellite as reported by GPS receiver.
15:8	Sat 12 ID	Satellite ID
7:0	Sat 12 SNR	Signal-to-Noise Ratio of satellite as reported by GPS receiver.

Commands V2

Table 313 Commands registers new

Address	Register Name	Register Description
0xAA (170d)	GET_FW_BUILD_ID	Current firmware build identifier.
0xAB (171d)	GET_FW_BUILD_VERSION	Current firmware build version.
0xAC (172d)	FLASH_COMMIT	Write all current configuration settings to flash
0xAD (173d)	RESET_TO_FACTORY	Reset all settings to factory defaults
0xAE (174d)	ZERO_GYROS	Causes the rate gyro biases to be calibrated.
0xAF (175d)	RESERVED
0xB0 (176d)	SET_HOME_POSITION	Sets the current GPS location as position \((0,0)\)
0xB1 (177d)	SET_MAG_REFERENCE	Sets the magnetometer 1 reference vector
0xB2 (178d)	CALIBRATE_ACCELEROMETERS	Calibrates the accelerometer biases
0xB3 (179d)	RESET_FUSION	Resets the sensor fusion algorithm
0xB4 (180d)	ENABLE_ZUPT	Enable zero velocity update rule
0xB5 (181d)	EULER_MODE	Fusion output is only Euler angles
0xB6 (182d)	QUATERNION_MODE	Fusion output is only the orientation quaternion
0xB7 (183d)	ENABLE_RT_CALIBRATION
0xB8 (184d)	EN_MAG_ANOMALY_DETECTION
0xB9 (185d)	RUN_SELF_TESTS	Execute built-in self tests and report the results
0xBA (186d)	ENABLE_EXTERNAL_EVENT
0xBB (187d)	ENABLE_GNNS_FUSION	Enable data from the GNSS in the fusion algorithm
0xBC (188d)	ENABLE_USR_EULER_OUTPUT
0xBD (189d)	ENABLE_DEAD_RECKONING
0xBE (190d)	ENABLE_HEAVE_SWAY_SURGE
0xBF (191d)	ENABLE_UKF
0xFD (253d)	BOARD_UNIQUE_ID_1	Board unique ID 1
0xFE (254d)	BOARD_UNIQUE_ID_2	Board unique ID 2
0xFF (255d)	PROTOCOL_VERSION	Protocol version

GET_FW_BUILD_ID

Address: 170 | 0xAA | 0b10101010

Firmware build identification string: a four byte ASCII character sequence which corresponds to a firmware series. E.g. “CPTA”.

Table 314 GET_FW_BUILD_ID

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
FW_BUILD_ID: Firmware Build ID string

GET_FW_BUILD_VERSION

Address: 171 | 0xAB | 0b10101011

Firmware build version provides the unique identifier of the firmware programmed in the board. A response is four bytes long and identifies major and minor build version, and the build number.

Table 315 GET_FW_BUILD_VERSION

Byte 3				Byte 2				Byte 1				Byte 0
31	30	…	24	23	22	…	16	15	14	…	8	7	6	…	0
VERSION_MAJOR				VERSION_MINOR				BUILD_ID

Table 316 GET_FW_BUILD_VERSION bits

Bits	Name	Description
31:24	VERSION_MAJOR	8-bit unsigned integer major version number
23:16	VERSION_MINOR	8-bit unsigned integer minor version number
15:0	BUILD_ID	16-bit unsigned integer build ID number

FLASH_COMMIT

Address: 172 | 0xAC | 0b10101100

Causes the board to write all configuration settings to FLASH so that are stored in the non-volatile memory and remain when the power is cycled.

RESET_TO_FACTORY

Address: 173 | 0xAD | 0b10101101

Causes the board to load default factory settings.

ZERO_GYROS

Address: 174 | 0xAE | 0b10101110

Causes the board to measure the gyro outputs and set the output trim registers to compensate for any non-zero bias. The board should be kept stationary while the zero operation is underway.

SET_HOME_POSITION

Address: 176 | 0xB0 | 0b10110000

Sets the current GPS latitude, longitude, and altitude as the home position. All future positions will be referenced to the current GPS position.

SET_MAG_REFERENCE

Address: 177 | 0xB1 | 0b10110001

Sets the current yaw heading position as north.

CALIBRATE_ACCELEROMETERS

Address: 178 | 0xB2 | 0b10110010

Reboots the board and performs a crude calibration on the accelerometers. Best performed on a flat surface.

RESET_FUSION

Address: 179 | 0xB3 | 0b10110011

Resets the sensor fusion algorithm.

ENABLE_ZUPT

Address: 180 | 0xB4 | 0b10110100

Enable zero velocity update.

EULER_MODE

Address: 181 | 0xB5 | 0b10110101

Enable as fusion output Euler angles only.

QUATERNION_MODE

Address: 182 | 0xB6 | 0b10110110

Enable as fusion output orientation quaternion only.

ENABLE_RT_CALIBRATION

Address: 183 | 0xB7 | 0b10110111

Starts RT calibration of the board.

EN_MAG_ANOMALY_DETECTION

Address: 184 | 0xB8 | 0b10111000

Enables algorithm for anomaly detection.

RUN_SELF_TESTS

Address: 185 | 0xB9 | 0b10111001

Starts built-in self tests.

ENABLE_EXTERNAL_EVENT

Address: 186 | 0xBA | 0b10111010

TODO: add description

ENABLE_GNNS_FUSION

Address: 187 | 0xBB | 0b10111011

TODO: add description

ENABLE_USR_EULER_OUTPUT

Address: 188 | 0xBC | 0b10111100

TODO: add description

ENABLE_DEAD_RECKONING

Address: 189 | 0xBD | 0b10111101

TODO: add description

ENABLE_HEAVE_SWAY_SURGE

Address: 190 | 0xBE | 0b10111110

TODO: add description

ENABLE_UKF

Address: 191 | 0xBF | 0b10111111

TODO: add description

BOARD_UNIQUE_ID_1

Address: 253 | 0xFD | 0b11111101

First 32-bits of the 64-bits of the board unique identifier. Bits of the unique identifier cannot be modified by the user.

BOARD_UNIQUE_ID_2

Address: 254 | 0xFE | 0b11111110

Last 32-bits of the 64-bits of the board unique identifier. Bits of the unique identifier cannot be modified by the user.

PROTOCOL_VERSION

Address: 255 | 0xFF | 0b11111111

String version of the protocol.

Reserved

This address is reserved for future use.