[sanelss]

We are attempting to use the um6 as well but we chose to utilize SPI instead of serial since we are using the serial port for CAN bus. If you would like I can provide the code we are using to pull data from it if you decide to also use the SPI bus. There are a few things you need to be aware of while working with this sensor. First off use shielded cable, if you don't you will get glitches in the data or may not work at all. Second, while maybe not required, we added a little logic level converter board as well, since the device operates off 3v3 we wanted to match signals for best signal integrity. Third, the compass will require calibration(if you got the um6-lt anyway, if you got the one with enclosure they factory calibrate it for you). Keep in mind that any magnetic materials(bolts, shafts, etc) will cause reading errors unless they are calibrated out which is not an easy process)

We want to very badly use this sensor, i put the work in to make it easy to work with in labview and the robot but our issue is there is a heading error due to miss-calibrated magnetometer and so far all attempts to calibrate it have failed. We continue to get improved results with better calibration attempts but best we are able to do was a 5 error. As mentioned the calibration procedure is not a simple or easy process.

Let me know if you want any more info from me