Gyro data

Gyroscope data

The gyroscope serial data is output in the following sentence formats:

PTKM,HEALM -- Unspecified
HEHDT -- Heading - True
HEROT -- Rate Of Turn

$PCICM,HEALM,xxxx,x,xx*hh

ALM sentence format
Item	Definition	Units
xxxx	unspecified	n/a
x	unspecified	n/a
*hh	unspecified	n/a

$HEHDT,xxx.x,T*hh

HDT sentence format
Item	Definition	Units
xxx.x	Heading true	degrees
T	T = true	n/a
*hh	Checksum	n/a

$HEROT,-xxx.x,A*hh

HEROT sentence format
Item	Definition	Units
xxxx.x	Rate of turn	Degrees per minute, Note: "-" means bow turns to port
A	A = data valid	n/a
*hh	Checksum	n/a