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AVS and magnetometer

In the OrbiX designer, the angular velocity sensor and magnetometer are installed on the BVM board and combined.

Working with a magnetometer​

The address of the combined AVS and magnetometer in hexadecimal format 9 (9 in decimal).

List of devices and parameters of the combined AVS and magnetometer (Picture 1):

List of devices and parameters of the combined AVS and магнитометра

Picture 1. List of devices and parameters of the combined AVS and magnetometer

Sending commands​

Getting the zero offset of the magnetometer​

Each command has a default address, cipher, name, description, and parameters. The address and cipher are separated by a hyphen, the name is separated by a space, for example 9-BF8 request_magnsens_offset - this command is used to get the zero offset of the magnetometer.

  • 9 – the default address (in this case, the address of the combined AVS and magnetometer module is 0x09);
  • 9BF8 is the command cipher by which the subsystems understand what kind of command it is;
  • 9request_magnsens_offset is the name of the command for obtaining the zero offset of the magnetometer.

If you click on the command, the parameters (if any) and the description of the command will appear in the Fields field. To send a command, click To server (Picture 2):

Selecting parameters and sending a command

Picture 2. Selecting parameters and sending a command

A message will be received ~9-BF1 ~magnsens_offset containing three values of zero offset along the X, Y, Z axes in the Fields field (Picture 3):

Received message

Picture 3. Received message

Setting the zero offset of the magnetometer​

9-BD0 set_magnsens_offset - this command is used to set the zero offset of the magnetometer.

9 is the default address (in this case, the address of the combined AVS and magnetometer module is 0x09); BD0 is the command cipher by which the subsystems understand what kind of command it is; set_magnsens_offset** is the name of the magnetometer zero offset setting command.

If you click on the command, the parameters and description of the command will appear in the Fields field. To send a command, click To server.

If the command is executed successfully, the message ~ACK will be received in response.

Getting the AVS zero offset​

9-BE8 request_ratesens_offset - this command is used to get the offset of the AVS zero.

  • 9 – the default address (in this case, the address of the combined AVS and magnetometer module is 0x09);
  • BE8 is a command cipher by which subsystems understand what kind of command it is;
  • request_ratesens_offset is the name of the command to get the AVS zero offset.

If you click on the command, a description of the command will appear in the Fields field. To send a command, click To server.

A message will be received ~9-BE1 ~ratesens_offset containing three values of zero offset along the X, Y, Z axes in the Fields field (Picture 4):

Received message

Picture 4. Received message

Setting the AVS zero offset​

9-BD1 set_ratesens_offset - this command is used to set the offset of the AVS zero.

  • 9 – the default address (in this case, the address of the combined AVS and magnetometer module is 0x09);
  • BD1 is the command cipher by which the subsystems understand what kind of command it is;
  • set_ratesens_offset is the name of the AVS zero offset setting command.

If you click on the command, the parameters and description of the command will appear in the Fields field. To send a command, click To server.

If the command is executed successfully, the message ~ACK will be received in response.