User manual

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 DocumentMT0100P.N
©XsensTechnologiesB.V. MTiandMTxUserManualandTechnicalDocumentation
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MTData
 MID 50(0x32)
 Datafield DATA(lengthvariable)
 Direction FromMTi/MTx
 Validin MeasurementState
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Thismessagecontainstheoutputdatadependingon thecurrentOutputModeandOutputsettings.
The data field can contain multiple data outputs but the order of outputs is always the same. The
followingorderisused(disabledoutputsmustbeomitted):
1. Temp
2. Calibrateddataoutput
3. Orientationdataoutput
4. Auxiliarydataoutput
5. Status
6. Samplecounter
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Un‐calibrated raw data output can not be used together with other outputs and is therefore not
listed.Thefollowingtextexplainsthedatavaluesofeachoutput.
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DATA
Thedatacancontainmultipleoutputs.Allthedifferentoutputsarenotdescribedseparatelyhere.If
notspecified otherwise each datavalueis 4 byteslong bydefaultand corresponds with thesingle‐
precision floating‐point value as defined in the IEEE 754 standard (= float). Other data formats are
alsosupported.
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NOTE: RAW inertial data output however can not be used together with any of the other outputs. It is
therefore not listed above. Please refer to the MT Low‐Level Communication Document for detailed
information on the various DATA modes and options, interpretation of the values as well as a detailed 
discussion on the DATA fields.
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The Communication MT (CMT) C++ class has easy to use member functions to retrieve the individual data
fields.SeeMTSDKDocumentation.
5.4 CommunicationTiming
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Formany applicationsit canbe crucial to know exactly the various delays and latencies in a system. In this
sectionitisdescribedhowthetimingbetweenphysicaleventsandthedeviceoutputarerelatedinthebasic
usagemodesoftheMTiandMTx.
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