9 Degrees of Freedom Inertial Measurement Unit with AHRS [RKI-1430]

Users Manual Robokits India

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This 9 Degrees of Freedom (DOF) Inertial Measurement Unit (IMU) is used for tracking and sensing motion of any mechanical platform and is an ideal sensor system for motion control of aerial autonomous systems like multi-rotors, model airplanes, helicopters etc, and other systems that require to control the pitch, roll and yaw. An internal processor acquires data from a gyro, an accelerometer and a magnetometer to calculate the pitch, roll and absolute heading (yaw). This is known as AHRS (Attitude Heading Reference System) that is used for aircraft control. This IMU, with and AHRS system outputs the pitch roll and absolute heading (yaw) of the system on a TTL/CMOS compatible serial UART line.

This Package Includes

An IMU with AHRS system circuit board

Features
Attitude Heading Reference System output (AHRS) by default stream on serial Pitch -90deg to +90deg Roll -180deg to 180deg Yaw (absolute heading) 0deg at magnetic north -180deg to 180deg Automatic tilt compensation for absolute heading (digital compass) IMU sensor system with 1) 3-axis 16-bit MEMS accelerometer LIS331DLH 2) 3-axis 16-bit MEMS gyroscope L3G4200D 3) 3-axis 10-bit Magnetometer HMC5883L Easy to mount on existing systems Automatically starts streaming pitch, roll and yaw data on start-up without any configuring

Applications
As a sensor for autonomous control of aerial vehicles like quad-rotors, helicopters, miniature airplanes etc. As a sensor for robotics or locomotive platform that require to balancing A raw IMU sensor for gyro and accelerometer data via serial A compass for absolute heading information with respect to magnetic north with tilt compensation

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Electrical Characteristics
Input Voltage: 4.2V minimum to 15V maximum Serial UART line LOGIC Low: 0V to 0.2V Serial UART line LOGIC high: 3V to 5V All other logic lines are 0V 3.3V compatible No reverse voltage protection.

LED Info
PWR LED power supply present STATUS blinks whenever new data is updated in the system

Default Settings
Baud rate for serial communication is set to 9600bps. Update rate or output rate for PITCH ROLL and YAW data is 10Hz

Connector Information for UART AHRS data

GND connect to ground of device VCC Supply input to IMU, Should be 4.2V to 15V maximum TXD Serial data transmit output from IMU. 0V to 3.3V digital logic level RXD Serial data receive input from IMU. 0V to 5V digital logic level *Please leave all other pins of the IMU open

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Sensor Break-out Connector Information

SDA I2C data line connected to HMC5883L magentometer SCL I2C clock line connected to HMC5883L magentometer GND connect to ground of device VCC Supply input to IMU, Should be 4.2V to 15V maximum RST - RESET line of microcontroller, must be gnd to directly access the sensors SCK SPI clock line connected to L3G4200D gyro and LIS331DLH accelerometer MISO - SPI master in line connected to L3G2400D gyro and LIS331DLH accelerometer MOSI - SPI master out line connected to L3G2400D gyro and LIS331DLH accelerometer CSA SPI chip select line connected to LIS331DLH accelerometer CSG SPI chip select line connected to L3G2400D gyro *Please make sure to connect RESET line to GND to access the sensors directly

Data Output Format

The data is outputted in plain text and is separated by COMMA. The data is terminated by a carriage return and new line feed \r\n The format is PITCH,ROLL,YAW\r\n for every reading. The PITCH will be a number from -900 to 900 representing (-90deg to +90deg) The ROLL will be a number from -1800 to 1800 representing (-180deg to +180deg) The YAW will be a number from -1800 to 1800 representing (-180deg to +180deg), where the number zero represents magnetic north. For example when the devices is having a pitch angle of 30deg, a roll of -60deg and yaw (heading) of 160deg the data will be sent as: 300,-600,1600\r\n

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Usage Steps
1. Connect external power as per input voltage recommendations power at the supply pins GND(-) and VCC(+)(Do not connect the power supply in reverse or else the circuit might get damaged.) 2. Power LED should be on. 3. Notice the STATUS LED should blink continuously when data is being updated 4. Connect the TXD and RXD serial lines appropriately to a serial terminal or MCU 5. Default baud rate setting is 9600bps. 6. Read the data from the devices serial TXD line and parse the PITCH, ROLL and YAW data for your application. 7. If connected to a terminal set the appropriate baud rate and you should be able to see continuously updating PITCH ROLL and YAW information.

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Service and Support Service and support for this product are available from Robokits India. The Robokits Web site (1) maintains current contact information for all Robokits products. Limitations and Warrantees The Inertial Measurement Unit [RKI-1430] is intended for personal experimental and amusement use and in no case should be used where the health or safety of persons may depend on its proper operation. Robokits provides no warrantee of suitability or performance for any purpose for the product. Use of the product software and or hardware is with the understanding that any outcome whatsoever is at the users own risk. Robokits sole guarantee is that the software and hardware perform in compliance with this document at the time it was shipped to the best of our ability given reasonable care in manufacture and testing. All products are tested for their best performance before shipping, and no warranty or guarantee is provided on any of them. Of course the support is available on all of them for no cost.

Disclaimer
Copyright Robokits India, 2011 Neither the whole nor any part of the information contained in, or the product described in this manual, may be adapted or reproduced in any material or electronic form without the prior written consent of the copyright holder. This product and its documentation are supplied on an as-is basis and no warranty as to their suitability for any particular purpose is either made or implied. This document provides preliminary information that may be subject to change without notice.

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