Command Write Configure - IMU_MPU9250

<Header> +

<Payload_length>

<Payload>

PL0

PL1

PL2

PL3

PL4

PL5

…

$ESP_OK|xx|

‘W’

‘p’

Infor 1

Infor 2

Infor 3

Infor 4

...


Name CFG : IMU_MPU9250

Number of field values : 19

 

Payload

Index

Type value

Min

Value

Max

Value

Default

Value

Min Length

Max Length

Describe

Unit

PL2

INTEGER

0

9

1

-

-

Type Update frequency

 

PL3

INTEGER

0

3

3

-

-

Gyroscope Scale Range

 

PL4

INTEGER

0

3

1

-

-

Accelerometer Scale Range

 

PL5

INTEGER

0

6

0

-

-

Low pass Filter

 

PL6

FLOAT

1.00

20.0

4.512

-

-

Shock Kalman Filter

 

PL7

BIT

-

-

000000111

9

9

Enable/Disable data output

 

PL8

BIT

-

-

00001111

8

8

Enable Apply Extended Kalman filter

 

PL9

FLOAT

-100000000.0

10000000.0

0

-

-

Matrix Convert - MBx

 

PL10

FLOAT

-100000000.0

10000000.0

0

-

-

Matrix Convert - MBy

 

PL11

FLOAT

-100000000.0

10000000.0

0

-

-

Matrix Convert - MBz

 

PL12

FLOAT

-100000000.0

10000000.0

1

-

-

Matrix Convert - M11

 

PL13

FLOAT

-100000000.0

10000000.0

0

-

-

Matrix Convert - M12

 

PL14

FLOAT

-100000000.0

10000000.0

0

-

-

Matrix Convert - M13

 

PL15

FLOAT

-100000000.0

10000000.0

0

-

-

Matrix Convert - M21

 

PL16

FLOAT

-100000000.0

10000000.0

1

-

-

Matrix Convert - M22

 

PL17

FLOAT

-100000000.0

10000000.0

0

-

-

Matrix Convert - M23

 

PL18

FLOAT

-100000000.0

10000000.0

0

-

-

Matrix Convert - M31

 

PL19

FLOAT

-100000000.0

10000000.0

0

-

-

Matrix Convert - M32

 

PL20

FLOAT

-100000000.0

10000000.0

1

-

-

Matrix Convert - M33

 

 

 

 

 

 

 

 

 

 




PL0

PL1

PL2

Type Update frequency

Unit

‘W’

‘p’

0

2 Hz

 

 

 

1

10 Hz

 

 

 

2

15 Hz

 

 

 

3

20 Hz

 

 

 

4

25 Hz

 

 

 

5

35 Hz

 

 

 

6

50 Hz

 

 

 

7

100 Hz

 

 

 

8

150 Hz

 

 

 

9

200 Hz

 

 

 

PL0

PL1

PL3

Gyroscope Scale Range

Unit

‘W’

‘p’

0

250

 

 

 

1

500

 

 

 

2

1000

 

 

 

3

2000

 

 

PL0

PL1

PL4

Accelerometer Scale Range

Unit

‘W’

‘p’

0

2

 

 

 

1

4

 

 

 

2

8

 

 

 

3

16

 

 

 

 

PL0

PL1

PL5

Low pass Filter

Unit

‘W’

‘p’

0

Not use

 

 

 

1

5 Hz

 

 

 

2

10 Hz

 

 

 

3

20 Hz

 

 

 

4

41 Hz

 

 

 

5

92 Hz

 

 

 

6

184 Hz

 

 

PL0

PL1

PL7

Enable/Disable data output IM1

Unit

$ESPIM1,GX,GY,GZ,MX,MY,MZ,AX,AY,AZ,T,MXc,MYc,MZc,*xx

‘W’

‘p’

BIT1

Raw Gyroscope 3 Axis(GX,GY,GZ)|

 

 

 

BIT2

Raw Magnetometer 3 Axis(MX,MY,MZ)

 

 

 

BIT3

Raw Accelerometer 3 Axis(AX,AY,AZ)

 

 

 

BIT4

Temperature(T)

 

 

 

BIT5

Magnetometer 3 Axis Calibrated(MXc,MYc,MZc)

 

 

 

 

Enable/Disable data output IM2

Unit

$ESPIM2,QW,QX,QY,QZ,Yaw,Pitch,Roll,H,FQW,FQX,FQY,FQZ,Fyaw,Fpitch,Froll,FH,*xx

 

 

BIT6

DMP-Quaternion (QW,QX,QY,QZ)

 

 

 

BIT7

DMP-Euler 3 Axis(Yaw,Pitch,Roll)

 

 

 

BIT8

Compass Heading : Calibrated + Tilt compensated(H)

 

 

 

BIT9

Data Filter (FQW,FQX,FQY,FQZ,Fyaw,Fpitch,Froll,FH)

 

 

 

PL0

PL1

PL8

Enable Apply Extended Kalman filter

Unit

‘W’

‘p’

BIT1

Filter QW

 

 

 

BIT2

Filter QX

 

 

 

BIT3

Filter QY

 

 

 

BIT4

Filter QZ

 

 

 

BIT5

Filter Yaw

 

 

 

BIT6

Filter Pitch

 

 

 

BIT7

Filter Roll

 

 

 

BIT8

Filter Heading

 


ESPrtk Respond

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘p’

STRING

-

-

1

1

ID Configure : IMU_MPU9250

 

 

PL3

INTEGER

0

1

-

-

Status Configure

 

0

Error: Failed to save , please try again

1

OK : Saved configure success

 

PL4

STRING

-

-

-

-

Describe Status Configure in text string format

 


 

Example

Message :

HOST Send

$ESP_OK|61|W|p|1|3|1|0|4.512|000000111|00001111|0|0|0|1|0|0|0|1|0|0|0|1|*5E4C

ACK Respond

$ESP_OK|45|W|p|1|( ID : IMU_MPU9250 ) : Saved Success .|*6617

NACK Respond

$ESP_ER|… or $ESS_ER|… or $AES_ER|…

 

Command read configure - IMU_MPU9250

ESPrtk Respond

The index / range of values / data types is similar to the index / range of values / data types of payloads when configured.

Example

Message :

HOST Send

$ESP_OK|5|R|p||*762C

ACK Respond

$ESP_OK|61|R|p|1|3|1|0|4.512|000000111|00001111|0|0|0|1|0|0|0|1|0|0|0|1|*5B49

NACK Respond

$ESP_ER|… or $ESS_ER|… or $AES_ER|…

 


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