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The following shows an example of ASCII format serial data output for LPMS-URS2. Please note that you need to select ASCII output explicitly in LPMS-Control in order to switch to this output protocol. After selecting the output protocol make sure to save settings to sensor flash memory.

Sensor Configuration

Sensor: Lpms-URS2
Firmware: Lpms-URS2-2.2.2

Sampling Rate: 100Hz

Duration: ~30seconds

Data:

  • timestamp

  • acc Raw,

  • gyro Raw,

  • magnetometer Raw

  • euler x, y,z

  • temperature

Example Data Output

$188599,-24,61,-128,262,-122,-950,40865,-70388,29435,,,,,,,,7347,15117,148534,,,,,,3666
$188699,111,59,9,258,-122,-951,40660,-70330,29377,,,,,,,,7347,15117,148534,,,,,,3666
$188799,-26,-82,80,259,-122,-953,40806,-70330,29377,,,,,,,,7348,15117,148534,,,,,,3666
$188900,42,60,10,258,-123,-952,40631,-70154,29932,,,,,,,,7348,15117,148534,,,,,,3666
$189000,-25,-82,-59,259,-123,-954,40952,-70154,28588,,,,,,,,7348,15115,148535,,,,,,3666
$189100,-24,203,-127,260,-121,-953,40952,-70154,28588,,,,,,,,7348,15117,148534,,,,,,3666
$189200,-94,60,12,260,-121,-951,40339,-70038,29085,,,,,,,,7348,15117,148535,,,,,,3666
$189300,-94,-11,82,261,-124,-952,40689,-70564,29260,,,,,,,,7347,15117,148534,,,,,,3666
$189399,-95,-225,151,258,-124,-952,41099,-70534,29611,,,,,,,,7347,15116,148535,,,,,,3666
$189499,-94,203,13,260,-121,-954,40952,-70213,29201,,,,,,,,7340,15117,148533,,,,,,3666
$189599,110,-11,79,259,-120,-954,40953,-70213,29202,,,,,,,,7341,15117,148534,,,,,,3666
$189700,-94,-82,11,257,-123,-955,41216,-70330,29523,,,,,,,,7340,15117,148533,,,,,,3666

Format Explanation

LPMS-URS2 ASCII Data Format (26 Fields)

$Timestamp,gyroX,gyroY,gyroZ,accX,accY,accZ,magX,magY,magZ,angVelX,angVelY,angVelZ,qw,qx,qy,qz,eulerX,eulerY,eulerZ,linAccX,linAccY,linAccZ,Pressure,Altitude,temperature<LF>

Data Scale Factor

Timestamp: 10000 (seconds)
Gyro: 1000 (dps)
Acc: 1000 (g)
Mag: 1000 (uT)
AngularVel: 1000 (dps)
Quaternion: 100000
Euler: 1000 (deg)
LinearAcc: 1000 (g)
Pressure: 1000 (kPa)
Altitude: 10 (m)
Temperature: 100 (deg Cel)

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