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Document MT0605P.2018.E
© Xsens Technologies B.V.
MTi User Manual
5.8.4 Free acceleration
Free acceleration (Data ID 0x4030) is the acceleration in the local frame from which the local gravity is
deducted. Output is in m/s
2
.
5.8.5 Uncalibrated raw output mode
The MTi can give a sensor component readout output (SCR, DataID 0xA010 for the sensors data and
0xA020 for the gyroscope temperatures), i.e. digitized voltages of all sensors, before they are filtered or
calibrated using Xsens’ proprietary firmware and calibration parameters. These sensors are the
gyroscopes (rate of turn), accelerometers (acceleration), magnetometer (magnetic field), barometer
(static pressure) and temperatures (gyroscope temperatures and a general temperature sensor). When
selecting sensor component readout, the following outputs are available:
Table 16: Output specifications Sensor Component Readout (SCR)
Sensor
Digital/analog
Unit
Maximum frequency
Gyroscopes
Analog sensor, 16 bit ADC
2-byte integer
2000 Hz
Accelerometers
Analog sensor, 16 bit ADC
2-byte integer
2000 Hz
Magnetometer
Digital sensor
a.u.
100 Hz
Barometer
Digital sensor
Pa
50 Hz
Temperature sensors Analog sensor, 12 bit ADC
ºC
1 Hz
Note that these SCR-values of the gyroscopes and accelerometers are not calibrated for offset, gain,
misalignment and temperature. Also, coning and sculling compensation is not applied. It is possible to
post-process SCR data with MT Manager, and this output is very suitable if you need to perform your
own calibration. Note that this output cannot be combined with any other output.
5.9 Reset of reference co-ordinate systems
In some situations, it may be that the MT sensor axes are not exactly aligned with the axes of the object
of which the orientation has to be recorded. It may be desired to retrieve the orientation and/or calibrated
inertial data in different sensor-fixed frame (S’ instead of S) or a different earth-fixed local frame (L’
instead of L). Refer to
https://base.xsens.com/hc/en-us/articles/115004491465
the available orientation resets.
5.10 Timestamp and packet counter output
Each data message can be accompanied by a packet counter and/or timestamp. Refer to [LLCP] for
detailed information on the various time outputs.
5.11 Status byte
The status byte includes information about the status of the MTi, its sensors, the filter and user inputs.
Refer to [LLCP] for detailed information on the Status Word output.
