mtdevice.MTDevice Class Reference

MTDevice class. More...

Inheritance diagram for mtdevice.MTDevice:

Public Member Functions
def	__init__ (self, port, baudrate=115200, timeout=0.002, autoconf=True, config_mode=False, verbose=False, initial_wait=0.1)
def	AdjustUTCTime (self, ticks)
def	auto_config_legacy (self)
def	ChangeBaudrate (self, baudrate)
def	configure_legacy (self, mode, settings, period=None, skipfactor=None)
	High-level utility functions. More...
def	GetAlignmentRotation (self, parameter)
def	GetAvailableScenarios (self)
def	GetBaudrate (self)
def	GetConfiguration (self)
def	GetCurrentScenario (self)
def	GetDeviceID (self)
def	GetErrorMode (self)
def	GetExtOutputMode (self)
def	GetFirmwareRev (self)
def	GetGnssPlatform (self)
def	GetHardwareVersion (self)
def	GetLatLonAlt (self)
def	GetLocationID (self)
def	GetOptionFlags (self)
def	GetOutputConfiguration (self)
def	GetOutputMode (self)
def	GetOutputSettings (self)
def	GetPeriod (self)
def	GetProductCode (self)
def	GetStringOutputType (self)
def	GetSyncSettings (self)
def	GetTransmitDelay (self)
def	GetUTCTime (self)
def	GoToConfig (self)
def	GoToMeasurement (self)
def	IccCommand (self, command)
def	parse_MTData (self, data, mode=None, settings=None)
def	parse_MTData2 (self, data)
def	read_data_msg (self, buf=bytearray())
def	read_measurement (self, mode=None, settings=None)
def	read_msg (self)
def	ReqDataLength (self)
def	Reset (self, go_to_config=False)
	High-level functions. More...
def	ResetOrientation (self, code)
def	RestoreFactoryDefaults (self)
def	RunSelfTest (self)
def	SetAlignmentRotation (self, parameter, quaternion)
def	SetBaudrate (self, brid)
def	SetCurrentScenario (self, scenario_id)
def	SetErrorMode (self, error_mode)
def	SetExtOutputMode (self, ext_mode)
def	SetGnssPlatform (self, platform)
def	SetLatLonAlt (self, lat, lon, alt)
def	SetLocationID (self, location_id)
def	SetNoRotation (self, duration)
def	SetOptionFlags (self, set_flags, clear_flags)
def	SetOutputConfiguration (self, output_configuration)
def	SetOutputMode (self, mode)
def	SetOutputSettings (self, settings)
def	SetOutputSkipFactor (self, skipfactor)
def	SetPeriod (self, period)
def	SetStringOutputType (self, string_output_type)
def	SetSyncSettings (self, sync_settings)
def	SetTransmitDelay (self, transmit_delay)
def	SetUTCTime (self, ns, year, month, day, hour, minute, second, flag)
def	waitfor (self, size=1)
def	write_ack (self, mid, data=b'', n_resend=30, n_read=25)
def	write_msg (self, mid, data=b'')
	Low-level communication. More...

Public Attributes
	device
	header
	length
	mode
	scenario_id
	scenarios
	settings
	state
	timeout
	verbose

Static Public Attributes
	GetAvailableFilterProfiles = GetAvailableScenarios
	GetFilterProfile = GetCurrentScenario
	SetFilterProfile = SetCurrentScenario

Private Member Functions
def	_ensure_config_state (self)
def	_ensure_measurement_state (self)

Detailed Description

MTDevice class.

XSens MT device communication object.

Definition at line 20 of file mtdevice.py.

Constructor & Destructor Documentation

def mtdevice.MTDevice.__init__	(		self,
			port,
			baudrate = 115200,
			timeout = 0.002,
			autoconf = True,
			config_mode = False,
			verbose = False,
			initial_wait = 0.1
	)

Open device.

Definition at line 24 of file mtdevice.py.

Member Function Documentation

def mtdevice.MTDevice._ensure_config_state (   self )

private

Switch device to config state if necessary.

Definition at line 186 of file mtdevice.py.

def mtdevice.MTDevice._ensure_measurement_state (   self )

private

Switch device to measurement state if necessary.

Definition at line 191 of file mtdevice.py.

def mtdevice.MTDevice.AdjustUTCTime	(		self,
			ticks
	)

Adjust UTC Time of device using correction ticks (0.1 ms).

Definition at line 633 of file mtdevice.py.

def mtdevice.MTDevice.auto_config_legacy

(

self

)

Read configuration from device in legacy mode.

Definition at line 687 of file mtdevice.py.

def mtdevice.MTDevice.ChangeBaudrate	(		self,
			baudrate
	)

Change the baudrate, reset the device and reopen communication.

Definition at line 1160 of file mtdevice.py.

def mtdevice.MTDevice.configure_legacy	(		self,
			mode,
			settings,
			period = None,
			skipfactor = None
	)

High-level utility functions.

Configure the mode and settings of the MT device in legacy mode.

Definition at line 664 of file mtdevice.py.

def mtdevice.MTDevice.GetAlignmentRotation	(		self,
			parameter
	)

Get the object alignment.

parameter indicates the desired alignment quaternion:
    0 for sensor alignment (RotSensor),
    1 for local alignment (RotLocal).

Definition at line 434 of file mtdevice.py.

def mtdevice.MTDevice.GetAvailableScenarios

(

self

)

Get the available XKF scenarios on the device.

Definition at line 554 of file mtdevice.py.

def mtdevice.MTDevice.GetBaudrate

(

self

)

Get the current baudrate id of the device.

Definition at line 269 of file mtdevice.py.

def mtdevice.MTDevice.GetConfiguration

(

self

)

Ask for the current configuration of the MT device.

Definition at line 364 of file mtdevice.py.

def mtdevice.MTDevice.GetCurrentScenario

(

self

)

Get the ID of the currently used XKF scenario.

Definition at line 570 of file mtdevice.py.

def mtdevice.MTDevice.GetDeviceID

(

self

)

Get the device identifier.

Definition at line 226 of file mtdevice.py.

def mtdevice.MTDevice.GetErrorMode

(

self

)

Get the current error mode of the device.

Definition at line 280 of file mtdevice.py.

def mtdevice.MTDevice.GetExtOutputMode

(

self

)

Get current extended output mode (for alternative UART).

Definition at line 480 of file mtdevice.py.

def mtdevice.MTDevice.GetFirmwareRev

(

self

)

Get the firmware version.

Definition at line 246 of file mtdevice.py.

def mtdevice.MTDevice.GetGnssPlatform

(

self

)

Get the current GNSS navigation filter settings.

Definition at line 588 of file mtdevice.py.

def mtdevice.MTDevice.GetHardwareVersion

(

self

)

Get the hardware version.

Definition at line 239 of file mtdevice.py.

def mtdevice.MTDevice.GetLatLonAlt

(

self

)

Get the stored position of the device.
It is used internally for local magnetic declination and local gravity.

Definition at line 531 of file mtdevice.py.

def mtdevice.MTDevice.GetLocationID

(

self

)

Get the location ID of the device.

Definition at line 317 of file mtdevice.py.

def mtdevice.MTDevice.GetOptionFlags

(

self

)

Get the option flags (MTi-1 series).

Definition at line 304 of file mtdevice.py.

def mtdevice.MTDevice.GetOutputConfiguration

(

self

)

Get the output configuration of the device (mark IV).

Definition at line 393 of file mtdevice.py.

def mtdevice.MTDevice.GetOutputMode

(

self

)

Get current output mode.

Definition at line 466 of file mtdevice.py.

def mtdevice.MTDevice.GetOutputSettings

(

self

)

Get current output mode.

Definition at line 493 of file mtdevice.py.

def mtdevice.MTDevice.GetPeriod

(

self

)

Get the sampling period.

Definition at line 421 of file mtdevice.py.

def mtdevice.MTDevice.GetProductCode

(

self

)

Get the product code.

Definition at line 233 of file mtdevice.py.

def mtdevice.MTDevice.GetStringOutputType

(

self

)

Get the NMEA data output configuration.

Definition at line 408 of file mtdevice.py.

def mtdevice.MTDevice.GetSyncSettings

(

self

)

Get the synchronisation settings.

Definition at line 349 of file mtdevice.py.

def mtdevice.MTDevice.GetTransmitDelay

(

self

)

Get the transmission delay (only RS485).

Definition at line 336 of file mtdevice.py.

def mtdevice.MTDevice.GetUTCTime

(

self

)

Get UTC time from device.

Definition at line 618 of file mtdevice.py.

def mtdevice.MTDevice.GoToConfig

(

self

)

Place MT device in configuration mode.

Definition at line 215 of file mtdevice.py.

def mtdevice.MTDevice.GoToMeasurement

(

self

)

Place MT device in measurement mode.

Definition at line 220 of file mtdevice.py.

def mtdevice.MTDevice.IccCommand	(		self,
			command
	)

Command of In-run Compass Calibration (ICC).

Definition at line 639 of file mtdevice.py.

def mtdevice.MTDevice.parse_MTData	(		self,
			data,
			mode = None,
			settings = None
	)

Read and parse a legacy measurement packet.

Definition at line 1035 of file mtdevice.py.

def mtdevice.MTDevice.parse_MTData2	(		self,
			data
	)

Definition at line 705 of file mtdevice.py.

def mtdevice.MTDevice.read_data_msg	(		self,
			buf = bytearray()
	)

Low-level MTData receiving function.
Take advantage of known message length.

Definition at line 94 of file mtdevice.py.

def mtdevice.MTDevice.read_measurement	(		self,
			mode = None,
			settings = None
	)

Definition at line 692 of file mtdevice.py.

def mtdevice.MTDevice.read_msg

(

self

)

Low-level message receiving function.

Definition at line 131 of file mtdevice.py.

def mtdevice.MTDevice.ReqDataLength

(

self

)

Get data length for mark III devices.

Definition at line 513 of file mtdevice.py.

def mtdevice.MTDevice.Reset	(		self,
			go_to_config = False
	)

High-level functions.

Reset MT device.

If go_to_config then send WakeUpAck in order to leave the device in
config mode.

Definition at line 199 of file mtdevice.py.

def mtdevice.MTDevice.ResetOrientation	(		self,
			code
	)

Reset the orientation.

Code can take several values:
    0x0000: store current settings (only in config mode),
    0x0001: heading reset (NOT supported by MTi-G),
    0x0003: object reset.

Definition at line 601 of file mtdevice.py.

def mtdevice.MTDevice.RestoreFactoryDefaults

(

self

)

Restore MT device configuration to factory defaults (soft version).

Definition at line 330 of file mtdevice.py.

def mtdevice.MTDevice.RunSelfTest

(

self

)

Run the built-in self test.

Definition at line 258 of file mtdevice.py.

def mtdevice.MTDevice.SetAlignmentRotation	(		self,
			parameter,
			quaternion
	)

Set the object alignment.

parameter indicates the desired alignment quaternion:
    0 for sensor alignment (RotSensor),
    1 for local alignment (RotLocal).

Definition at line 455 of file mtdevice.py.

def mtdevice.MTDevice.SetBaudrate	(		self,
			brid
	)

Set the baudrate of the device using the baudrate id.

Definition at line 275 of file mtdevice.py.

def mtdevice.MTDevice.SetCurrentScenario	(		self,
			scenario_id
	)

Set the XKF scenario to use.

Definition at line 577 of file mtdevice.py.

def mtdevice.MTDevice.SetErrorMode	(		self,
			error_mode
	)

Set the error mode of the device.

The error mode defines the way the device deals with errors (expect
message errors):
    0x0000: ignore any errors except message handling errors,
    0x0001: in case of missing sampling instance: increase sample
counter and do not send error message,
    0x0002: in case of missing sampling instance: increase sample
counter and send error message,
    0x0003: in case of non-message handling error, an error message is
sent and the device will go into Config State.

Definition at line 287 of file mtdevice.py.

def mtdevice.MTDevice.SetExtOutputMode	(		self,
			ext_mode
	)

Set extended output mode (for alternative UART).

Definition at line 487 of file mtdevice.py.

def mtdevice.MTDevice.SetGnssPlatform	(		self,
			platform
	)

Set the GNSS navigation filter settings.

Definition at line 595 of file mtdevice.py.

def mtdevice.MTDevice.SetLatLonAlt	(		self,
			lat,
			lon,
			alt
	)

Set the position of the device.
It is used internally for local magnetic declination and local gravity.

Definition at line 546 of file mtdevice.py.

def mtdevice.MTDevice.SetLocationID	(		self,
			location_id
	)

Set the location ID of the device (arbitrary).

Definition at line 324 of file mtdevice.py.

def mtdevice.MTDevice.SetNoRotation	(		self,
			duration
	)

Initiate the "no rotation" procedure to estimate gyro biases.

Definition at line 612 of file mtdevice.py.

def mtdevice.MTDevice.SetOptionFlags	(		self,
			set_flags,
			clear_flags
	)

Set the option flags (MTi-1 series).

Definition at line 311 of file mtdevice.py.

def mtdevice.MTDevice.SetOutputConfiguration	(		self,
			output_configuration
	)

Set the output configuration of the device (mark IV).

Definition at line 401 of file mtdevice.py.

def mtdevice.MTDevice.SetOutputMode	(		self,
			mode
	)

Select which information to output.

Definition at line 473 of file mtdevice.py.

def mtdevice.MTDevice.SetOutputSettings	(		self,
			settings
	)

Select how to output the information.

Definition at line 500 of file mtdevice.py.

def mtdevice.MTDevice.SetOutputSkipFactor	(		self,
			skipfactor
	)

Set the output skip factor.

Definition at line 507 of file mtdevice.py.

def mtdevice.MTDevice.SetPeriod	(		self,
			period
	)

Set the sampling period.

Definition at line 428 of file mtdevice.py.

def mtdevice.MTDevice.SetStringOutputType	(		self,
			string_output_type
	)

Set the configuration of the NMEA data output.

Definition at line 415 of file mtdevice.py.

def mtdevice.MTDevice.SetSyncSettings	(		self,
			sync_settings
	)

Set the synchronisation settings (mark IV)

Definition at line 357 of file mtdevice.py.

def mtdevice.MTDevice.SetTransmitDelay	(		self,
			transmit_delay
	)

Set the transmission delay (only RS485).

Definition at line 343 of file mtdevice.py.

def mtdevice.MTDevice.SetUTCTime	(		self,
			ns,
			year,
			month,
			day,
			hour,
			minute,
			second,
			flag
	)

Set UTC time on the device.

Definition at line 626 of file mtdevice.py.

def mtdevice.MTDevice.waitfor	(		self,
			size = 1
	)

Get a given amount of data.

Definition at line 82 of file mtdevice.py.

def mtdevice.MTDevice.write_ack	(		self,
			mid,
			data = b'',
			n_resend = 30,
			n_read = 25
	)

Send a message and read confirmation.

Definition at line 165 of file mtdevice.py.

def mtdevice.MTDevice.write_msg	(		self,
			mid,
			data = b''
	)

Low-level communication.

Low-level message sending function.

Definition at line 60 of file mtdevice.py.

Member Data Documentation

mtdevice.MTDevice.device

Definition at line 29 of file mtdevice.py.

mtdevice.MTDevice.GetAvailableFilterProfiles = GetAvailableScenarios

static

Definition at line 584 of file mtdevice.py.

mtdevice.MTDevice.GetFilterProfile = GetCurrentScenario

static

Definition at line 585 of file mtdevice.py.

mtdevice.MTDevice.header

Definition at line 53 of file mtdevice.py.

mtdevice.MTDevice.length

Definition at line 51 of file mtdevice.py.

mtdevice.MTDevice.mode

Definition at line 47 of file mtdevice.py.

mtdevice.MTDevice.scenario_id

Definition at line 574 of file mtdevice.py.

mtdevice.MTDevice.scenarios

Definition at line 565 of file mtdevice.py.

mtdevice.MTDevice.SetFilterProfile = SetCurrentScenario

static

Definition at line 586 of file mtdevice.py.

mtdevice.MTDevice.settings

Definition at line 49 of file mtdevice.py.

mtdevice.MTDevice.state

Definition at line 42 of file mtdevice.py.

mtdevice.MTDevice.timeout

Definition at line 40 of file mtdevice.py.

mtdevice.MTDevice.verbose

Definition at line 26 of file mtdevice.py.

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The documentation for this class was generated from the following file:

• mtdevice.py