Document MT0605P.E
© Xsens Technologies B.V.
MTi User Manual
54
time. Instead of a single fixed output format for a particular configuration an MTData2 message
consists of one or more packets, each containing a specific output.
The layout of an MTData2 message is shown below:
The payload of the message consists of multiple (N) packets. Each packet starts with a two byte Data
Identifier followed by a one byte Size field. After that follows the Packet Data that is Size bytes long.
The Data Identifier determines the format of the Packet Data.
This packet scheme makes the output data format very flexible. If a particular output data is not
available the packet is omitted from the message. Also if during parsing of the message an unknown
Data Identifier is encountered the packet can be skipped using its Size field. It allows for more optimal
bandwidth usage and simplifies keeping future devices and/or software backwards compatible.
In the MT Low Level Communication Protocol documentation, format descriptions of all data packets
are described.
5.4 Communication Timing
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
When the MTi is in Measurement State, the internal processor core continuously controls a signal
processing pipeline, roughly according to the above diagram. Outputting data can be triggered by the
device internal clock, or by external software triggers (polling), or hardware triggers. For more
Sensor fusion
Physical
calibration
Sampling
and
ADC
Output formatting
and
message
generation
Data
Triggering
Hardware/software
triggers
