Description

The InclinometerStream command is used to enable or disable the streaming of the fusion inclinometer. The returned value corresponds to the rotation angle around y-axis on Neblina and it is in degrees multiplied by 100. For instance, the angle \(104.731^{\circ}\) is rounded to \(104.73^{\circ}\), and is represented as the integer number 10473.

Protocol

This command uses the Command-Ack-Response-Data protocol.

Command

Byte Name C Type Value
0 Control Byte ( Packet Type (7:5) / SubSystem (4:0) ) uint8_t 0x41 ( 0b010 / 0b00001 )
1 Payload Length uint8_t 1
2 CRC uint8_t Calculated
3 Command uint8_t 0x24

Payload

Byte Name C Type Value
4 State uint8_t 0x00 (Disable) or 0x01 (Enable)

Response

Header

Byte Name C Type Value
0 Control Byte ( Packet Type (7:5) / SubSystem (4:0) ) uint8_t 0x01 ( 0b000 / 0b00001 )
1 Payload Length uint8_t 4
2 CRC uint8_t Calculated
3 Command uint8_t 0x24

Payload

Byte Name C Type Value
4 - 5 Downsample uint16_t Varies
6 - 7 Rate uint16_t Varies

Data

Header

Byte Name C Type Value
0 Control Byte ( Packet Type (7:5) / SubSystem (4:0) ) uint8_t 0x61 ( 0b011 / 0b00001 )
1 Payload Length uint8_t 6
2 CRC uint8_t Calculated
3 Command uint8_t 0x24

Payload

Byte Name C Type Value
4 - 7 Timestamp uint32_t Varies
8 - 9 Inclination int16_t Varies