I already have OpenIMU335RI product, but I am having some trouble when use RS232 protocol.

First, I want to interact with the IMU. Let's say I want to change the default coordinate system into my coordinate has Orientation Field Value 0x0041 as below picture:

I had follow step by step in using RS232, but I still don't know hot to send the right packet to IMU.

I don't know the hex code of Payload that I need to send. With the byte offset 4, that is parameter value, i guess that is 0x0041, but with the byte offset 0, offset of parameter in unit config structure, I don't know exactly value.
So, can you give me the exactly packet I need to send to IMU. I only need an example, after that I will understand.

Second, I want to take data from IMU. Let's say I want to take data from packet s1 as:

And the payload content is:

Same as above, I still don't know the exactly packet to send to IMU and take data from it.

I am looking forward hearing from anyone of you, thank you very much!