User manual

ManualsBrandsDAGE-MTI ManualsHome building and DecorExcel Series



 DocumentMT0100P.N

©XsensTechnologiesB.V. MTiandMTxUserManualandTechnicalDocumentation



State. The data in theConfigurationmessage can always be used to determine the output mode and

settings.ItisalsopossibletoentertheConfigStateatpower‐up,seeWakeUpmessagedescriptionintheMTi

andMTxLow‐LevelCommunicationDocument.AnotherwaytoentertheConfigStateorMeasurementState

istousetheGoToConfigor GoToMeasurementmessages.



ThedefaultconfigurationoftheMTi/MTxisshowninthefollowingtable.



With the default configuration the MTi / MTx outputs in Measurement State the MTData message at a

frequency of 100Hz (based on its internal clock). The MTData message contains the orientation data in

quaternionstogetherwithasamplecounter.



Ifyouwanttoretrievetheoutput data on request then set Outputskipfactortovalue65535 (0xFFFF) and

sendReqMTDatamessagetothedevice.FormoreinformationseeMTiandMTxLow‐LevelCommunication

Document.



5.3 Messages

5.3.1 Messagestructure

The communication with the MTi and MTx is done by messages which are built according to a standard

structure.ThestandardMTmessagecancontainzeroto254bytesofdataandthetotallengthisfiveto259

bytes.



AnMTmessagecontainsthefollowingfields:







device. This data is referred to as the eMTS data (extended Motion Tracker Specification data). This data is

requiredtobeabletolaterprocessthedatabyXsenssoftwaretocalculatecalibratedinertialdatavaluesas

wellasestimatingorientationetc.

Property Value

Outputmode Orientationoutput

Outputsettings Orientationinquaternionmode

Samplecounterenabled

Samplefrequency 100Hz

Baudrate 115k2bps

Outputskipfactor 0

Field Fieldwidth Description

PRE 1byte Preamble,indicatorofstartofpacket 

Æ250(0xFA)

BID 1byte Busidentifier/address Æ 255(0xFF)

MID 1byte Messageidentifier

LEN 1byte ValueequalsnumberofbytesinDATAfield

Maximumvalueis254(0xFE).Value255(0xFF)isreserved.

DATA 0

–

254bytes Databytes(optional)

CS 1byte Checksumofmessage