In Orbicraft 3D educational kit angular velocity sensor and Magnetometer are installed at OBC card and combined.

Address of the combined Angular Velocity Sensor (AVS) and Magnetometer in hexadecimal form is 9 (9 in decimal form). List of devices and combined AVS and Magnetometer is presented at Figure.

List of devices and combined AVS and Magnetometer.

Every command has its default address, code, name, description and parameters. Address and code are separated by hyphen, name separated by space, for example 9-А61 cfg_set_dest_id.

Let’s study some commands intended for receiving of periodic packets from combined AVS and Magnetometer.

Command 9-А61 cfg_set_dest_id – setting the address for packet receiver (for «air» - 0х01):

• 9 – default address (in this case it is the address of module for combined AVS and Magnetometer – 0х09);
• A61 – command code for subsystems to understand the meaning of the command;
• cgf_get_dest_id – name of command for address setting.

Upon click on command the Fields field will display the parameters (if they are exist) and command description. To communicate device the address of «air» - 0х01, you should enter into id window of Fields filed the value 1, than press To server or Enter at keyboard.

Sequence of sending the command:

• choose command 9-А61 cfg_set_dest_id;
• set id to value 1;
• Press To server.

You’ll receive message ~9-118 ACK – successful confirmation of command.

Than continuously with 1 second period there will arrive such messages with parameters of combined AVS and Magnetometer:

• ~9-B10 ratesens_regular_x acceleration at Х axis;
• ~9-B11 ratesens_regular_y acceleration at Y axis;
• ~9-B12 ratesens_regular_z acceleration at Z axis;
• ~9-B13 magsens_regular_x magnetic field vector projection to Х axis;
• ~9-B14 magsens_regular_y magnetic field vector projection to Y axis;
• ~9-B15 magsens_regular_z magnetic field vector projection to Z axis.

All data received from combined AVS and Magnetometer will be displayed at plots automatically.