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XAICAR — Axis Alignment Status

Queries or restarts the IMU axis-alignment procedure. All driving-behaviour and collision signals (F40–F47) are gated on full alignment: they are not raised until the device has completed a successful alignment cycle.

Format​

  • Query: >QXAICAR<
  • Set (restart alignment): >SXAICAR<

Response​

ResponseDescription
>RXAICAR0<Alignment not yet complete
>RXAICAR1<Axis alignment fully converged

Examples​

>QXAICAR<   →  >RXAICAR1<   (aligned)
>SXAICAR<   →  >RXAICAR0<   (cycle restarted, not yet aligned)

Notes​

  • The query response reflects whether both Z-axis and XY-plane alignment have converged.
  • Sending >SXAICAR< discards any in-progress cycle and starts a fresh one.
  • Alignment converges passively as the device collects motion data; no manual input is required after triggering.

Defaults and Limits​

  • The alignment state is not persisted across reboots; a new cycle begins automatically on startup.
  • No numeric value is accepted — the Set variant takes no payload.