| Commandword | Meaning/Example | Description |
| 0X04 | Read Pitch, Roll, Heading at the same time. Angle command 68 04 00 04 08 | Data field (0byte) No data field command |
| 0X84 | Sensor response reply E.g:68 0E 00 84 00 10 50 10 10 05 01 04 01 00 1D | Data field (10byte) AA AB BB CC CD DD EE EF FF AA AB BB: 3 characters represent the pitch axis CC CD DD: 3 characters indicate Roll axis EE EF FF: 3 characters represent the heading angle The angle format has the same parsing method as Pitch, Roll, Heading; The angle in the left example: Pitch: +010.50°, Roll: -010.05°, Heading+104.01°; BYTE13: Module status word, the lower three bits are valid, the analysis is as follows: 0000 dcba (8-bit binary number) a: Indicates whether there is a magnetic interference flag; 0: Indicates that the interference magnetic field does not exceed the threshold; 1: Indicates that the interference magnetic field exceeds the threshold; cb: Indicates the working mode; 00: Indicates that the module is working in pure compass mode (no anti-magnetic interference capability, the heading angle will change after magnetic interference, and the change will be faster); 01: Indicates that the module is working in the compass and gyro fusion mode (it has anti-magnetic interference capability. When the magnetic interference is greater than the geomagnetic judgment threshold, it will switch to the gyro mode, and the heading angle is highly likely to be unaffected by the magnetic interference.); 10: Indicates that the module is working in the fusion mode of compass and gyro (no anti-magnetic interference capability, the heading angle will change after magnetic interference, and the change will be smoother and slower); d: Indicates the gyro over-range flag; 0: Indicates that the gyro has no over-range; 1: Indicates that the gyro has exceeded the range; Notice: 1. When the gyroscope is found to be over-range in the output data frame, the data frame is unavailable, and the module will stop outputting data and resume output data after 0.5 seconds of the gyroscope not over-range; 2. Note that there is a small amount of blind spots in the magnetic interference judgment, and the general reliability is above 95%. |
| 0X06 | Set magnetic declination command 68 06 00 06 02 08 16 | Data field (2byte) SA AB S is the sign 0 plus 1 minus AA: two integers, B: one decimal E.g:02 08 is +20.8° |
| 0X86 | Sensor response reply E.g:68 05 00 86 00 8B | Data field (1byte) The number in the data field indicates the result of the sensor response 00 set successfully FF set failed |
| 0X07 | Read magnetic declination command 68 04 00 07 0B | Data field (0byte) No data field command |
| 0X87 | Sensor response reply E.g:68 06 00 87 02 08 97 | Data field (2byte) The number in the data field indicates the result of the sensor response |
| 0X41 | Horizontal start calibration command 68 04 00 41 45 | Data field (0byte) Rotate at a constant horizontal speed for more than 1 circle, and ensure that the time is more than 20s. The saved value is valid when the time is more than 20s, and the saved value is invalid when the time is less than 20s. |
| 0X41 | Sensor response reply E.g:68 04 00 41 45 | Data field (0byte) No data field command |
| 0X51 | Save horizontal calibration commands 68 04 00 51 55 | Data field (0byte) No data field command |
| 0X51 | Sensor response reply command E.g:68 04 00 51 55 | Data field (0byte) No data field command |
| 0X0B | Set communication baud rate command 68 05 00 0B 02 12 | Data field (1byte) Baud rate: The default value is: 9600bps 0x00: 2400bps; 0x01: 4800bps; 0x02: 9600bps; 0x03: 19200bps; 0x04: 38400bps; 0x05: 115200bps; |
| 0X8B | Sensor response reply command E.g:68 05 00 8B 00 90 | Data field (1byte) The number in the data field indicates the result of the sensor response 00 set successfully FF set failed |
| 0X0F | Set address command 68 05 00 0F 01 15 | Data field (1byte) XX module address, the address ranges from 00 to EF. Note: Our products have a unified address: FF. If you forget the address you set during the operation, you can use the FF address to operate the product and still respond normally. |
| 0X8F | Sensor response reply command E.g:68 05 00 8F 00 94 | Data field (1byte) The number in the data field indicates the result of the sensor response 00 set successfully FF set failed |
| 0X10 | Set working mode 68 05 00 10 00 15 | Data field (1byte) 0x00: pure compass mode; 0x01: Compass and gyro fusion mode (with anti-magnetic interference capability); 0x02: Compass and gyro fusion mode; Note: The default is the fusion mode of compass and gyro (with anti-magnetic interference capability); |
| 0X10 | Sensor response reply command E.g:68 05 00 10 00 15 | Data field (1byte) The number in the data field indicates the result of the sensor response 00 set successfully FF set failed |
| 0X0C | Set angle output mode 68 05 00 0C 00 11 | Data field (1byte) 0x00: Question and answer mode 0x01: 5Hz (automatic output frequency); 0x02: 15Hz; 0x03: 25Hz; 0x04: 35Hz; 0x05: 50Hz; 0x06: 100Hz; Note: The default is 25Hz; |
| 0X8C | Sensor response reply command E.g:68 05 00 8C 00 91 | Data field (1byte) The number in the data field indicates the result of the sensor response 00 set successfully FF set failed |
| 0X50 | Set geomagnetic judgment threshold command 68 05 00 50 01 56 | Data field (1byte) BYTE4 value range: 1~200, greater than the threshold, it is judged as interference, the interference intensity is (1-200)*0.05uT. The minimum is 0.05uT, and the maximum is 10uT. Save when power off, the factory default setting is 10(0.5uT); The corresponding threshold is: (Minimum interference range-threshold, maximum interference range + threshold). |
| 0XD0 | Sensor response command E.g:68 05 00 D0 00 D5 | Data field (1byte), The number in the data field indicates the result of the sensor response 00 set successfully FF set failed |
| 0xFD | Set the data output format 68 05 00 FD 70 72 | Data field (1byte), 0x70: 9 axis data output; 0x71: Attitude Angle data output; |
| 0xFD | Sensor response command E.g:68 05 00 FD 00 02 | Data field (1byte), The number in the data field indicates the result of the sensor response 00 set successfully FF set failed |