Communication Protocol Overview¶
For IMU600-V2 / firmware 0.11.2 / GUI v1.6.1.
Complete protocol chapters: 2. Data output (2.1–2.5) · 3. Status and statistics (3.1–3.4), with full formats and field definitions.
This page and the linked chapters form the online IMU600-V2 Communication Protocol v1.1, for firmware 0.11.2 (document dated 2026-10-16). Browse fields, commands and parsing examples alongside the same guide’s wiring, GUI and maintenance instructions.
Download original protocol PDF (v1.1, Traditional Chinese)
Browse by PDF Section¶
| PDF Section / Pages | Online Content |
|---|---|
| 1 · 4 | ASCII basics |
| 2.1–2.5 · 4–10 | 2. Data output: RAW / FUSED / BARO / AHRS / bandwidth |
| 3.1–3.4 · 10–14 | 3. Status and statistics: STAT / FUS / SYS / HB |
| 4 · 14–16 | Boot information and events |
| 5 · 16–20 | Commands and ACK / NAK · Calibration and Allan weighting |
| 6–7 · 20–21 | Output sequence, checksum and host parsing examples |
| 8 · 21–26 | Binary packets, offsets and bandwidth · Baud rates and reference parser |
| 9 · 26 | Firmware update and recovery |
| 10–12 · 26–28 | PPS, UART2 and external trigger |
| 13–14 · 29–33 | SPI3, SPNVSPI statistics, ArduPilot driver and validation record |
Receiver Essentials¶
- UART1 is 3.3 V TTL, 8N1, without flow control, default 460800 bps. Commands remain ASCII; binary-mode replies use 0x7F TEXT.
- RAW already includes module calibration; FUSED is the combined result. IMU ts_us marks the integration endpoint, not host receipt time; BARO ts_us has a separate meaning.
- Validate XOR / CRC before decoding. Ignore unknown messages and allow additional trailing fields. Binary multibyte values are little-endian.
- Status 128 is a PPS marker. If all three IMUs have error flags, firmware may fall back to all three for FUSED output; assess health together with RAW status.
Source document：IMU600-V2 Communication Protocol v1.1 · PDF pages 1–33