Document MT0605P.E
© Xsens Technologies B.V.
MTi User Manual
23
4.1 Overview of data outputs
The MTi supports two different data protocols: the binary (hexadecimal) XBus protocol and NMEA.
Refer to [LLCP] to learn how to switch between data protocols.
4.1.1
MTData2 output in XBus protocol
In order to learn more on how to work with XDA type name and Hex Value, please refer to
[XDA_DOC] and [LLCP] respectively.
Group Name
Type Name
XDA type name
Hex
Value
Valid for MTi
product
Max
freq
3
10
20
30
100
200
300
700
Temperature
XDI_TemperatureGroup
08x0
●
●
●
●
●
●
●
1 Hz
Temperature
XDI_Temperature
081y
●
●
●
●
●
●
●
Timestamp
XDI_TimestampGroup
10x0
●
●
●
●
●
●
●
2000 Hz
UTC Time
XDI_UtcTime
1010
●
●
●
●
●
●
●
Packet Counter
XDI_PacketCounter
1020
●
●
●
●
●
●
●
Integer Time of Week
XDI_Itow
1030
●
●
●
●
●
●
●
GPS Age
XDI_GpsAge
1040
●
Pressure Age (legacy)
XDI_PressureAge
1050
Sample Time Fine
XDI_SampleTimeFine
1060
●
●
●
●
●
●
●
Sample Time Coarse
XDI_SampleTimeCoarse
1070
●
●
●
●
●
●
●
Frame Range
XDI_FrameRange
1080
Orientation Data
XDI_OrientationGroup
20xy
●
●
●
●
●
400 Hz
Quaternion
XDI_Quaternion
201y
●
●
●
●
●
Rotation Matrix
XDI_RotationMatrix
202y
●
●
●
●
●
Euler Angles
XDI_EulerAngles
203y
●
●
●
●
●
Pressure
XDI_PressureGroup
30xy
●
●
●
●
50 Hz
Baro Pressure
XDI_BaroPressure
301y
●
●
●
●
Acceleration
XDI_AccelerationGroup
40xy
●
●
●
●
●
●
●
2000 Hz
Delta V
XDI_DeltaV
401y
●
●
●
●
●
●
●
Acceleration
XDI_Acceleration
402y
●
●
●
●
●
●
●
Free Acceleration
XDI_FreeAcceleration
403y
●
●
●
●
●
Trigger Indication
XDI_IndicationGroup
4800
For MTw only; MTi see StatusWord
TriggerIn1
XDI_TriggerIn
4810
For MTw only; MTi see StatusWord
TriggerIn1
XDI_TriggerIn2
4820
For MTw only; MTi see StatusWord
Position
XDI_PositionGroup
50xy
●
400 Hz
Altitude MSL
XDI_AltitudeMsl
501y
●
Altitude Ellipsoid
XDI_AltitudeEllipsoid
502y
●
Position ECEF
XDI_PositionEcef
503y
●
3
Maximum frequencies may differ on the chosen combination of outputs. Availability and frequency of outputs
may differ between onboard processing and processing in XDA, as SCR or delta_q/delta_v is needed for
processing data.
