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PNI Sensor Corporation DOC#1016505 r06

TRAX User Manual Page 49

kQuaternion

0x4D

4x Float32

quaternion

kTemperature

0x07

Float32

˚ Celsius

kDistortion

0x08

Boolean

True or False

(Default)

kCalStatus

0x09

Boolean

True or False

(Default)

kAccelX

0x15

Float32

kAccelY

0x16

Float32

kAccelZ

0x17

Float32

kMagX

0x1B

Float32

kMagY

0x1C

Float32

kMagZ

0x1D

Float32

kGyroX

0x4A

Float32

radians/sec

kGyroY

0x4B

Float32

radians/sec

kGyroZ

0x4C

Float32

radians/sec

Component types are listed below. All are read-only values.

kHeading, kPitch, kRoll (Component IDs 5

, 24

, 25

)

Provides compass heading, pitch and roll outputs. The heading range is 0.0˚ to

+359.9˚, the pitch range is -90.0˚ to +90.0˚, and the roll range is to -180.0˚ to

+180.0˚.

kHeadingStatus (Component IDs 79

)

The heading status provides an indication of the uncertainty of the heading. “1”

represents a heading uncertainty of <2°, “2” means the heading uncertainty is

approximately 2° to 10°, and “3” means the uncertainty is >10°.

Quaternion (Component ID 77

)

The quaternion values generated by the TRAX algorithm are output in one data

package that contains the four quaternions. The quaternions are output as Q0, Q1,

Q2, and Q3, where Q3 is the scalar quaternion. When in AHRS Mode, heading,

pitch, and roll are subsequently calculated from these quaternions.

kTemperature (Component ID 7

)

This value is provided by the device’s internal temperature sensor. Its value is in

degrees Celsius and has an accuracy of ±3° C.

kDistortion (Component ID 8

)

This flag indicates at least one magnetometer axis reading is beyond ±125 µT. It

is only applicable in Compass Mode, and will always read “FALSE” in AHRS

Mode.

kCalStatus (Component ID 9

)

This flag indicates the user calibration status. False means it is not user calibrated

and this is the default value.

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