xsensmt
[Drivers]

Collaboration diagram for xsensmt:

The xsensmt driver controls the XSens MTx/MTi Inertial Measurement Unit. It provides Kalman filtered orientation information (pitch, roll, yaw) via its internal 3-axis accelerometer, 3-axis gyroscope and 3-axis magnetometer.

Compile-time dependencies

none

Provides

Requires

none

Configuration requests

PLAYER_IMU_REQ_SET_DATATYPE
PLAYER_IMU_REQ_RESET_ORIENTATION

Configuration file options

port (string)
- Default: "/dev/ttyUSB0"
- Serial port to which the XSens MTx/MTi sensor is attached. If you are using a USB/232 or USB/422 converter, this will be "/dev/ttyUSBx".

data_packet_type (integer)
- Default: 4. Possible values: 1, 2, 3, 4. (1 = 3D pose as X, Y, Z and + orientation/Euler angles as Roll, Pitch, Yaw; 2 = calibrated IMU data: accel, gyro, magnetometer; 3 = quaternions + calibrated IMU data; 4 = Euler angles + calibrated IMU data.)
- Specify the type of data packet to send (can be set using PLAYER_IMU_REQ_SET_DATATYPE as well).

Example

driver
(
  name "xsensmt"
  provides ["imu:0"]
  port "/dev/ttyUSB0"
  # We need quaternions + calibrated accel/gyro/magnetometer data
  data_packet_type 3
)

Author:: Radu Bogdan Rusu

Last updated 12 September 2005 21:38:45

xsensmt [Drivers]

xsensmt
[Drivers]