xsensmt

XSens MTx/MTi Inertial Measurement Unit driver. More...

XSens MTx/MTi Inertial Measurement Unit driver.

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

• imu

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, 5. (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. 5 = Full state: 3D pose, velocity and acceleration as high presision values, only available for MtiG's)
  • Specify the type of data packet to send (can be set using PLAYER_IMU_REQ_SET_DATATYPE as well).

• mtig (integer)
  • Defalut: 0. Posible values: 0,1
  • Specifies whether the device is a Mtx/Mti (Default) or an Mti-G (1)

• gps_arm (double, double, double) (MTI-G ONLY)
  • Default (0,0,0)
  • Specifies the x, y and z offsets of the gps antenna with respect to the imu

• xkf (integer) - (ONLY TESTED ON MTI-G - remove this comment if you try and it works on an Mti or Mtx, the cenarios may be different)
  • Default: -1
  • Specifies which XKF scenario should be used: -2 = All of the possible xfk senario numbers and their names are printed out -1 = the xkf_scenario is left to whatever was previously written to flash 0-5 = other scenarios

    Example

    driver
    (
      name "xsensmt"
      provides ["imu:0"]
      port "/dev/ttyUSB0"
      # We need quaternions + calibrated accel/gyro/magnetometer data
      data_packet_type 3
      gps_arm [0.8 0 1.2]
      xkf 2
    )
    

Author:

Radu Bogdan Rusu, extended by Chris Chambers for the MTi-G