Data Sheet

Visualizing Data

Certain output data can be shown in visual form as well, inside the widgets. All widgets for visualizing data are created in the

section number 2 of GUI shown in Figure 8, while corresponding numerical data is still shown under corresponding title in

section number 3 in Figure 8.

Raw Data

Selecting ‘Raw data’ in ‘Output data’ section will create a widget with 3 graphs to constantly visualize calibrated sensory

output on all 3 axes (Figure 9). Red curve indicates X-Axis data, green for Y-Axis and blue for Z-Axis.

Quaternion

Selecting the ‘Quaternion’ output under ‘World frame’ opens a widget with a 3D cube whose orientation in 3D space is aligned

relative to the Earth’s frame based on the module output (Figure 12). Rotating the module around any of its principal axes also

changes the orientation of the cube in its 3D space (Figure 11).

Figure 12: Initial acquired state visualization

(relative to Earth's frame)

Figure 11: State visualization after rotating 90° CW

(looking from top) around Z-axis

Figure 10: Output data selection

Figure 9: Raw data visualization