Zero Angular Rate Update Control (0x0D,0x20)
| Description |
Zero Angular Rate Update |
|
| Notes |
The ZUPT is triggered when the scalar magnitude of the angular rate vector is equal-to or less than the threshold value. The device will NACK threshold values that are less than zero (i.e.negative.) |
|
| Parameter Name | Data Type | Description |
| Field Length | u8 | 8 |
| Descriptor | u8 | 0x20 |
| Function Selector | u8 |
This command supports the following MIP function selectors:Write Read Save Load Default
[WRSLD]
|
| Enable | u8 | 0 - Disable, 1 - Enable |
| Threshold | float | [radians/second] |
| Response Data | Data Type | Description |
| Response Length | u8 | 7 |
| Response Descriptor | u8 | 0x8E |
| Enable | u8 | 0 - Disable, 1 - Enable |
| Threshold | float | [radians/second] |