LPMS ASCII Format Output
- Klaus Petersen
- HueiY
LPMS-URS2
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,,,,,,3666Format 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
Order | Format | Sensor data | Factor |
|---|---|---|---|
1 | uint32 | Timestamp (s) | 10000 |
2 | Vector3i16 | Raw (bias calibrated) gyroscope data (dps) | 1000 |
3 | Vector3i16 | Raw (uncalibrated) accelerometer data (g) | 1000 |
4 | Vector3i16 | Raw (uncalibrated) magnetometer data (uT) | 1000 |
5 | Vector3i16 | Angular velocity (dps) | 1000 |
6 | Vector4i16 | Orientation quaternion (normalized) | 100000 |
7 | Vector3i16 | Euler angle data (deg) | 1000 |
8 | Vector3i16 | Linear acceleration data (g) | 1000 |
9 | Int16 | Barometric pressure (kPa) | 1000 |
10 | Int16 | Altitude (m) | 10 |
11 | Int16 | Temperature (°C) | 100 |
12 | Int16 | Heave motion (m) (optional) | 1000 |
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LPMS-IG1-RS232
ASCII output for LPMS-IG1-RS232 is similar to URS2, where the data is prefix with a start byte and ends with a stop byte. The output data depends on the transmit data settings. The data scale factors are shown in the table below:
Order | Format | Sensor data | Scale factor |
|---|---|---|---|
1 | UInt32 | Timestamp counter incremented in 500Hz. multiply by 0.002 to convert to seconds. | 500 |
2 | Vector3i16 | Raw accelerometer (g) | 1000 |
3 | Vector3i16 | Calibrated accelerometer (g) | 1000 |
4 | Vector3i16 | Raw GyroI (dps or rad/s) | dps: 1000 rad/s: 1000 |
5 | Vector3i16 | Raw GyroII (dps or rad/s) | dps: 1000 rad/s: 1000 |
6 | Vector3i16 | Static bias calibrated GyroI (dps or rad/s) | dps: 1000 rad/s: 1000 |
7 | Vector3i16 | Static bias calibrated GyroII (dps or rad/s) | dps: 1000 rad/s: 1000 |
8 | Vector3i16 | Alignment calibrated GyroI (dps or rad/s) | dps: 1000 rad/s: 1000 |
9 | Vector3i16 | Alignment calibrated GyroII (dps or rad/s) | dps: 1000 rad/s: 1000 |
10 | Vector3i16 | Raw magnetometer (uT) | 100 |
11 | Vector3i16 | Calibrated magnetometer (uT) | 100 |
12 | Vector3i16 | Angular Vel. (dps or rad/s) | dps: 1000 rad/s: 1000 |
13 | Vector4i16 | Quaternion | 100000 |
14 | Vector3i16 | Euler(degree or rad) | deg: 100 rad:10000 |
15 | Vector3i16 | Linear acceleration (g) | 1000 |
16 | Int16 | Reserved | Â |
17 | Int16 | Reserved | Â |
18 | Int16 | Temperature (°C) | 100 |
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