User manual


 DocumentMT0100P.N
©XsensTechnologiesB.V. MTiandMTxUserManualandTechnicalDocumentation
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Example
Requestcurrentoutputmode:
Sendingmessage:
ReqOutputMode = 0xFA0xFF0xD00x000x31(hexadecimalvalues)
Receivingmessage(=Acknowledge):
ReqOutputModeAck = 0xFA0xFF0xD10x02MHMLCS(hexadecimalvalues)

ReqOutputModeAck contains data which represents the current mode (= MH & ML). CS stands for the
checksum value. To change the output mode you must add the new mode in the data field of the sending
message:

Settheoutputmode:
Sendingmessage:
SetOutputMode = 0xFA0xFF0xD00x02MHMLCS(hexadecimalvalues)
Receivingmessage(=Acknowledge):
SetOutputModeAck = 0xFA0xFF0xD10x000x30(hexadecimalvalues)
5.3.3 Commonmessages
GoToConfig
 MID 48(0x30)
 Datafield n/a
 Direction ToMTi/MTx
 Validin MeasurementState&ConfigState

Switches the active state of the device from Measurement State to Config State. This message can
alsobeusedinConfigStatetoconfirmthatConfigStateiscurrentlytheactivestate.

SetOutputMode
 MID 208(0xD0)
 Datafield MODE(2bytes)
 Direction ToMTi/MTx
 Validin ConfigState

Sets the output mode of the MTi / MTx. The output mode can be set to various output modes of
whichmostofthemcanbecombined,likeforexamplecalibratedsensordataandorientationdata.
Theun‐calibratedrawinertialdataoutputhowevercan notbeused togetherwithanyoftheother
outputs.

MODE


MODE bits Output mode
Bit 0 Temperature data
Bit 1 Calibrated data
Bit 2 Orientation data
Bit 3
Auxiliary data (see also SetOutputSettings)
Bit 14 Un-calibrated raw data (not in combination with
calibrated sensor data and/or orientation data)
R R R R R R R R R R R
1514131211109876543210Bit #