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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ThePreamble,BusID,MesssageID,lengthindicatorandchecksumtogetherisalways5bytes.Thelengthofthe
variousdatamessagesisdiscussedin[LLCP].
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Example1:Calibrateddataoutputmodeat100Hzwithabaudrateof115200bps.
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Calibrateddatais36bytes.
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
ms
sbits
bytebits
timeontransmissi 56.3
)/(115200
/10*)536(
_ =
+
=
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Togetherwiththeinternalacquisitionandcomputationtime(1.97msformachine_nomagscenario),thetotal
timefromacquisitionofthedatauntilthereceptionatthehostis5.53ms.
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Example2:Quaternionorientation dataoutputmodeplus timestampat 120Hz witha baudrate of921600
bps.
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Quaternionorientationdatais16bytes,timestampis2bytes.


ms
sbits
bytebits
timeontransmissi 25.0
)/(921600
/10*)518(
_ =
+
=
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Togetherwiththeinternalacquisitionandcomputationtime(1.97msformachine_nomagscenario),thetotal
timefromacquisitionofthedatauntilthereceptionatthehostis2.22ms.
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