Document MT0605P.E
© Xsens Technologies B.V.
MTi User Manual
24
LatLon
XDI_LatLon
504y
●
Angular Velocity
XDI_AngularVelocityGroup
80xy
●
●
●
●
●
●
●
2000 Hz
Rate of Turn
XDI_RateOfTurn
802y
●
●
●
●
●
●
●
Delta Q
XDI_DeltaQ
803y
●
●
●
●
●
●
●
GPS
XDI_GpsGroup
88x0
●
4 Hz
DOP
XDI_GpsDop
8830
●
SOL
XDI_GpsSol
8840
●
Time UTC
XDI_GpsTimeUtc
8880
●
SV Info
XDI_GpsSvInfo
88A0
●
Sensor Component Readout (SCR)
XDI_RawSensorGroup
A0x0
●
●
●
●
●
●
●
2000 Hz
ACC + GYR + MAG +
temperature
XDI_RawAccGyrMagTemp
A010
●
●
●
●
●
●
●
Gyro temperatures
XDI_RawGyroTemp
A020
●
●
●
●
●
●
●
Magnetic
XDI_MagneticGroup
C0xy
●
●
●
●
●
●
●
100 Hz
Magnetic Field
XDI_MagneticField
C02y
●
●
●
●
●
●
●
Velocity
XDI_VelocityGroup
D0xy
●
400 Hz
Velocity XYZ
XDI_VelocityXYZ
D01y
●
Status
XDI_StatusGroup
E0x0
●
●
●
●
●
●
●
2000 Hz
Status Byte
XDI_StatusByte
E010
●
●
●
●
●
●
●
Status Word
XDI_StatusWord
E020
●
●
●
●
●
●
●
RSSI
XDI_Rssi
E040
‘x’ = The hex value of the Type bits
‘y’ = The hex value of the Format bits (float, fixed point; coordinate system)
See the [LLCP] for more information.
4.1.2
NMEA protocol
The MTi also supports a variety of strings in NMEA protocol. Below is a list of the various strings that
can be outputted by the MTi.
Bit
String Type
Description
Bit 0
$HCHDM
Magnetic Heading
Bit 1
$HCHDG
Heading with HeadingOffset
Bit 2
TSS2
Heading, Heave (0), Status, Roll, Pitch, Heading Status flag (F)
Bit 3
$PHTRO
Pitch, Roll
Bit 4
$PRDID
Pitch, Roll, Heading
Bit 5
EM1000
Roll, Pitch, Heave (0), Heading
Bit 6
$PSONCMS
Quaternion, Acceleration, Rate of Turn, Magnetic Field, Temp.
Bit 7
$HCMTW
Temperature
Bit 8
$HEHDT
True Heading
Bit 9
$HEROT
Rate of Turn
Bit 10-15
Reserved
Reserved for future string types
