Offset Name Format Unit Description
60 AngularRateX float rad/s Estimated angular rate in body frame. (X-axis)
64 AngularRateY float rad/s Estimated angular rate in body frame. (Y-axis)
68 AngularRateZ float rad/s Estimated angular rate in body frame. (Z-axis)
Note: You can configure the device to output this register at a fixed rate
using the Async Data Output Type Register in the System subsystem.
Once configured the data in this register will be sent out with the $VNISL
header.
5.3.4.17 VNISE
Output Type: INS State - ECEF
Register ID: 73
Async Header: ISE
Access: Read Only
Size (Bytes): 72
Example Read Response: $VNRRG, 73, +170.558, +001.267, +001.762, +00.001502, -
00.000403, +00.000394, -626343.88590823, -5320499.92650050, +3450022.606,
+000.001, -000.010, +000.094, +00.255, -00.308, -10.060*50
Example Async Message : $VNISE, +170.558, +001.267, +001.762, +00.001502, -
00.000403, +00.000394, -626343.88590823, -5320499.92650050, +3450022.606,
+000.001, -000.010, +000.094, +00.255, -00.308, -10.060*XX
Table 5-25:
VNISE Settings
Offset Name Format Unit Description
0 Yaw float deg Yaw angle relative to true north.
4 Pitch float deg Pitch angle relative to horizon.
8 Roll float deg Roll angle relative to horizon.
12 PositionX double m Estimated position in ECEF. (X-axis)
20 PositionY double m Estimated position in ECEF. (Y-axis)
VersaSync User Manual 297
APPENDIX
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