hi Bruce!

I would try add a loop in my code as suggested. Another thing I would like to know, are my HSERIN command is correctly used. THe AHRs will output the euler angle as presented below. Can the HSERIN command detect the negative sign since from what i have read from the manual, A variable preceded by DEC will receive the ASCII representation of its decimal value. All non-digits received prior to the first digit of the decimal value are ignored and discarded.

example:

E:-0.01825,12.45123,-5.23564

The three Euler angles roll, pitch and yaw are output in degrees.
(roll range:-180 < roll angle < 180 , zero deg mean level with positive angle is right wing down)
(pitch range: -90 < pitch angle < 90, positive angle = nose up)
(yaw range: -180 <yaw angle < 180, positive angle = easternly heading)




regards,
syariful.