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Número de pieza UM6
Descripción Ultra-Miniature Orientation Sensor
Fabricantes CH Robotics 
Logotipo CH Robotics Logotipo



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UM6 Ultra-Miniature Orientation Sensor Datasheet
Document rev. 2.4, updated 10/14/2013
1. Introduction
Device Overview
The UM6 Ultra-Miniature Orientation Sensor
combines sensor measurements from rate
gyros, accelerometers, and magnetic sensors
to measure orientation at 500 Hz. The UM6
also has the capability to interface with
external GPS modules to provide position,
velocity, course, and speed information.
Communication with the UM6 is performed
over either a TTL (3.3V) UART or a SPI bus.
The UM6 is configured by default to
automatically transmit data over the UART.
The UM6 can be configured to automatically transmit raw sensor data, processed sensor data,
angle estimates, and angle estimate covariances at user configurable rates ranging from 20 Hz to
300 Hz in roughly 1 Hz increments. The UM6 can also receive and parse GPS packets,
automatically transmitting new GPS position, velocity, and satellite data whenever it is
available. Alternatively, the UM6 can operate in "silent mode," where data is transmitted only
when specific requests are received over the UART. Regardless of the transmission mode and
rate, internal angle estimates are updated at 500 Hz to improve accuracy.
The UM6 simplifies integration by providing a number of automatic calibration routines, including
rate gyro bias calibration, magnetometer hard and soft iron calibration, and accelerometer
"zeroing" to compensate for sensor-platform misalignment. All calibration routines are triggered
by sending simple commands over the serial interface.
The UM6 comes factory-calibrated to remove soft and hard iron distortions present in the
enclosure. When integrated into the end-user system, additional calibration may be necessary
to correct other magnetic field distortions. Magnetometer calibration can be performed using
the UM6 interface software, available for free download from www.chrobotics.com/downloads.
Temperature compensation of rate gyro biases is also supported by the UM6. An internal
temperature sensor is used to measure temperature, and third-order compensation is applied to
remove the effects of temperature-induced bias. By default, the terms used in compensation
are all zero, which means that no temperature compensation is performed. The compensation
terms must be determined experimentally by the end-user. On special request, compensation
can be performed on each device at the factory.
The UM6 can be configured to use either Euler Angles or quaternions for attitude estimation. In
Euler Angle mode, magnetometer updates are restricted to yaw alone. This can be useful in
cases where distortions are possible or even expected, and where it would be undesirable for
those distortions to affect pitch and roll angles (i.e. on a flying rotorcraft). In quaternion mode,
Euler Angles are still available, but there are no restrictions on what angles the magnetometer is
allowed to influence.
The UM6 is available in an OEM version (the UM6-LT) that has a slightly larger footprint and does
not include an enclosure. The UM6-LT is functionally equivalent to the UM6, but magnetometer
calibration is not performed at the factory.
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UM6 pdf
UM6 Ultra-Miniature Orientation Sensor Datasheet
Document rev. 2.4, updated 10/14/2013
11.2.16.
11.2.17.
11.2.18.
11.2.19.
11.2.20.
11.2.21.
11.2.22.
11.2.23.
11.2.24.
11.2.25.
11.2.26.
11.2.27.
11.2.28.
11.2.29.
UM6_EULER_PSI (0x63) ....................................................................................................... 51
UM6_QUAT_AB (0x64) ......................................................................................................... 52
UM6_QUAT_CD (0x65) ......................................................................................................... 52
UM6_ERROR_COVxx (0x66 - 0x75)..................................................................................... 52
UM6_TEMPERATURE (0x76)............................................................................................... 53
UM6_GPS_LONGITUDE (0x77) ........................................................................................... 53
UM6_GPS_LATITUDE (0x78)............................................................................................... 53
UM6_GPS_ALTITUDE (0x79)............................................................................................... 53
UM6_GPS_POSITION_N (0x7A) .......................................................................................... 54
UM6_GPS_POSITION_E (0x7B) ........................................................................................... 54
UM6_GPS_POSITION_H (0x7C)........................................................................................... 54
UM6_GPS_COURSE_SPEED (0x7D).................................................................................... 54
UM6_GPS_SAT_SUMMARY (0x7E).................................................................................... 55
UM6_GPS_SAT_x_y (0x7F - 0x84) ....................................................................................... 56
11.3. UM6 Command Registers ............................................................................................................. 56
11.3.1. UM6_GET_FW_VERSION (0xAA) ........................................................................................... 57
11.3.2. UM6_FLASH_COMMIT (0xAB) ............................................................................................... 57
11.3.3. UM6_ZERO_GYROS (0xAC) .................................................................................................... 57
11.3.4. UM6_RESET_EKF (0xAD) ........................................................................................................ 58
11.3.5. UM6_GET_DATA (0xAE) ......................................................................................................... 58
11.3.6. SET_ACCEL_REF (0xAF) ......................................................................................................... 58
11.3.7. UM6_SET_MAG_REF (0xB0) ................................................................................................... 58
11.3.8. UM6_RESET_TO_FACTORY (0xB1)....................................................................................... 58
11.3.9. UM6_SET_HOME_POSITION (0xB3) ...................................................................................... 58
11.3.10. UM6_BAD_CHECKSUM (0xFD) .......................................................................................... 59
11.3.11. UM6_UNKNOWN_ADDRESS (0xFE) .................................................................................. 59
11.3.12. UM6_INVALID_BATCH_SIZE (0xFF)................................................................................. 59
DISCLAIMER........................................................................................................ 60
List of Tables
Table 1 - UM6 Absolute Maximum Ratings ........................................................................................7
Table 2 - UM6 Electrical Characteristics.............................................................................................7
Table 3 - Gyro Characteristics ............................................................................................................7
Table 4 - Accelerometer Characteristics.............................................................................................8
Table 5 - UM6 Pin Descriptions (bottom pin headers)........................................................................8
Table 6 - UM6 Pin Descriptions (side connector) ...............................................................................9
Table 7 - UM6-LT Pin Descriptions...................................................................................................10
Table 8 - Description of GPS Data Registers ...................................................................................19
Table 9 - UART Serial Packet Structure............................................................................................21
Table 10 - Packet Type (PT) byte.....................................................................................................21
Table 11 - Packet Type (PT) Bit Descriptions...................................................................................21
Table 12 - Packet Length Summary .................................................................................................22
Table 13 - SPI Bus Timing ................................................................................................................28
Table 14 - UM6 Configuration Register Summary............................................................................30
Table 15 - Communication Register Definition .................................................................................33
Table 16 - Communication Register Bit Definitions ..........................................................................33
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UM6 arduino
UM6 Ultra-Miniature Orientation Sensor Datasheet
Document rev. 2.4, updated 10/14/2013
7 D4 GPIO pin 4 (MISO)
8 D5 GPIO pin 5 (SCK)
9 D6 GPIO pin 6 (SS)
10 Vdd Input voltage (3.3 - 5.0 V)
11 GND Ground
12 GND Ground
13 +3.3V +3.3V output.
8. UM6-LT Mechanical Drawing
Top View (Not to Scale)
0.96
0.063x 4
1.0
0.08
0.58
0.18
.06
0.0675
0.1
0.060.08
0.08
0.188
9. Basic Operation
9.1. Powering and communicating with the UM6
The UM6 requires an input voltage (Vin) ranging from +3.5 V to +5.0V. Supply voltages outside
this range are not supported, and high voltages in particular could damage the device. For best
results, the supply voltage should be conditioned to remove supply noise.
Communication with the UM6 takes place over a logic level TTL UART at 3.3V, or over a SPI bus.
The UART TX and RX pins and the SPI bus pins are +5V tolerant, so +5V systems can be
integrated with the UM6 without requiring any external level-shifting hardware. This presumes that
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