The Type command is used to set the fusion engine mode to either the 6-axis Inertial Measurement Unit (IMU) mode including a 3-axis accelerometer and a 3-axis gyroscope, or the 9-axis mode with an additional 3-axis magnetometer.


This command uses the Command-Ack protocol.


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 0x07


Byte Name C Type Value
4 Type uint8_t Varies