MTDevice class. More...

Public Member Functions
def	__init__
def	AdjustUTCTime
def	auto_config_legacy
def	ChangeBaudrate
def	configure_legacy
	High-level utility functions.
def	GetAlignmentRotation
def	GetAvailableScenarios
def	GetBaudrate
def	GetConfiguration
def	GetCurrentScenario
def	GetDeviceID
def	GetErrorMode
def	GetExtOutputMode
def	GetFirmwareRev
def	GetLatLonAlt
def	GetLocationID
def	GetOptionFlags
def	GetOutputConfiguration
def	GetOutputMode
def	GetOutputSettings
def	GetPeriod
def	GetProductCode
def	GetStringOutputType
def	GetSyncSettings
def	GetTransmitDelay
def	GetUTCTime
def	GoToConfig
def	GoToMeasurement
def	parse_MTData
def	parse_MTData2
def	read_data_msg
def	read_measurement
def	read_msg
def	ReqDataLength
def	Reset
	High-level functions.
def	ResetOrientation
def	RestoreFactoryDefaults
def	RunSelfTest
def	SetAlignmentRotation
def	SetBaudrate
def	SetCurrentScenario
def	SetErrorMode
def	SetExtOutputMode
def	SetLatLonAlt
def	SetLocationID
def	SetNoRotation
def	SetOptionFlags
def	SetOutputConfiguration
def	SetOutputMode
def	SetOutputSettings
def	SetOutputSkipFactor
def	SetPeriod
def	SetStringOutputType
def	SetSyncSettings
def	SetTransmitDelay
def	SetUTCTime
def	waitfor
def	write_ack
def	write_msg
	Low-level communication.
Public Attributes
	device
	header
	length
	mode
	scenario_id
	scenarios
	settings
	state
	timeout
	verbose
Private Member Functions
def	_ensure_config_state
def	_ensure_measurement_state

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 23 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 181 of file mtdevice.py.

def mtdevice.MTDevice._ensure_measurement_state ( self ) [private]

Switch device to measurement state if necessary.

Definition at line 186 of file mtdevice.py.

def mtdevice.MTDevice.AdjustUTCTime	(	self,
		ticks
	)

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

Definition at line 600 of file mtdevice.py.

def mtdevice.MTDevice.auto_config_legacy ( self )

Read configuration from device in legacy mode.

Definition at line 632 of file mtdevice.py.

def mtdevice.MTDevice.ChangeBaudrate	(	self,
		baudrate
	)

Change the baudrate, reset the device and reopen communication.

Definition at line 1102 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 609 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 419 of file mtdevice.py.

def mtdevice.MTDevice.GetAvailableScenarios ( self )

Get the available XKF scenarios on the device.

Definition at line 539 of file mtdevice.py.

def mtdevice.MTDevice.GetBaudrate ( self )

Get the current baudrate id of the device.

Definition at line 254 of file mtdevice.py.

def mtdevice.MTDevice.GetConfiguration ( self )

Ask for the current configuration of the MT device.

Definition at line 349 of file mtdevice.py.

def mtdevice.MTDevice.GetCurrentScenario ( self )

Get the ID of the currently used XKF scenario.

Definition at line 555 of file mtdevice.py.

def mtdevice.MTDevice.GetDeviceID ( self )

Get the device identifier.

Definition at line 221 of file mtdevice.py.

def mtdevice.MTDevice.GetErrorMode ( self )

Get the current error mode of the device.

Definition at line 265 of file mtdevice.py.

def mtdevice.MTDevice.GetExtOutputMode ( self )

Get current extended output mode (for alternative UART).

Definition at line 465 of file mtdevice.py.

def mtdevice.MTDevice.GetFirmwareRev ( self )

Get the firmware version.

Definition at line 234 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 516 of file mtdevice.py.

def mtdevice.MTDevice.GetLocationID ( self )

Get the location ID of the device.

Definition at line 302 of file mtdevice.py.

def mtdevice.MTDevice.GetOptionFlags ( self )

Get the option flags (MTi-1 series).

Definition at line 289 of file mtdevice.py.

def mtdevice.MTDevice.GetOutputConfiguration ( self )

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

Definition at line 378 of file mtdevice.py.

def mtdevice.MTDevice.GetOutputMode ( self )

Get current output mode.

Definition at line 451 of file mtdevice.py.

def mtdevice.MTDevice.GetOutputSettings ( self )

Get current output mode.

Definition at line 478 of file mtdevice.py.

def mtdevice.MTDevice.GetPeriod ( self )

Get the sampling period.

Definition at line 406 of file mtdevice.py.

def mtdevice.MTDevice.GetProductCode ( self )

Get the product code.

Definition at line 228 of file mtdevice.py.

def mtdevice.MTDevice.GetStringOutputType ( self )

Get the NMEA data output configuration.

Definition at line 393 of file mtdevice.py.

def mtdevice.MTDevice.GetSyncSettings ( self )

Get the synchronisation settings.

Definition at line 334 of file mtdevice.py.

def mtdevice.MTDevice.GetTransmitDelay ( self )

Get the transmission delay (only RS485).

Definition at line 321 of file mtdevice.py.

def mtdevice.MTDevice.GetUTCTime ( self )

Get UTC time from device.

Definition at line 585 of file mtdevice.py.

def mtdevice.MTDevice.GoToConfig ( self )

Place MT device in configuration mode.

Definition at line 210 of file mtdevice.py.

def mtdevice.MTDevice.GoToMeasurement ( self )

Place MT device in measurement mode.

Definition at line 215 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 978 of file mtdevice.py.

def mtdevice.MTDevice.parse_MTData2	(	self,
		data
	)

Definition at line 650 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 637 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 498 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 194 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 568 of file mtdevice.py.

def mtdevice.MTDevice.RestoreFactoryDefaults ( self )

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

Definition at line 315 of file mtdevice.py.

def mtdevice.MTDevice.RunSelfTest ( self )

Run the built-in self test.

Definition at line 243 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 440 of file mtdevice.py.

def mtdevice.MTDevice.SetBaudrate	(	self,
		brid
	)

Set the baudrate of the device using the baudrate id.

Definition at line 260 of file mtdevice.py.

def mtdevice.MTDevice.SetCurrentScenario	(	self,
		scenario_id
	)

Sets the XKF scenario to use.

Definition at line 562 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 272 of file mtdevice.py.

def mtdevice.MTDevice.SetExtOutputMode	(	self,
		ext_mode
	)

Set extended output mode (for alternative UART).

Definition at line 472 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 531 of file mtdevice.py.

def mtdevice.MTDevice.SetLocationID	(	self,
		location_id
	)

Set the location ID of the device (arbitrary).

Definition at line 309 of file mtdevice.py.

def mtdevice.MTDevice.SetNoRotation	(	self,
		duration
	)

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

Definition at line 579 of file mtdevice.py.

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

Set the option flags (MTi-1 series).

Definition at line 296 of file mtdevice.py.

def mtdevice.MTDevice.SetOutputConfiguration	(	self,
		output_configuration
	)

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

Definition at line 386 of file mtdevice.py.

def mtdevice.MTDevice.SetOutputMode	(	self,
		mode
	)

Select which information to output.

Definition at line 458 of file mtdevice.py.

def mtdevice.MTDevice.SetOutputSettings	(	self,
		settings
	)

Select how to output the information.

Definition at line 485 of file mtdevice.py.

def mtdevice.MTDevice.SetOutputSkipFactor	(	self,
		skipfactor
	)

Set the output skip factor.

Definition at line 492 of file mtdevice.py.

def mtdevice.MTDevice.SetPeriod	(	self,
		period
	)

Set the sampling period.

Definition at line 413 of file mtdevice.py.

def mtdevice.MTDevice.SetStringOutputType	(	self,
		string_output_type
	)

Set the configuration of the NMEA data output.

Definition at line 400 of file mtdevice.py.

def mtdevice.MTDevice.SetSyncSettings	(	self,
		sync_settings
	)

Set the synchronisation settings (mark IV)

Definition at line 342 of file mtdevice.py.

def mtdevice.MTDevice.SetTransmitDelay	(	self,
		transmit_delay
	)

Set the transmission delay (only RS485).

Definition at line 328 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 593 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_retries = `500`
	)

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 23 of file mtdevice.py.

mtdevice.MTDevice::header

Definition at line 23 of file mtdevice.py.

mtdevice.MTDevice::length

Definition at line 23 of file mtdevice.py.

mtdevice.MTDevice::mode

Definition at line 23 of file mtdevice.py.

mtdevice.MTDevice::scenario_id

Definition at line 555 of file mtdevice.py.

mtdevice.MTDevice::scenarios

Definition at line 539 of file mtdevice.py.

mtdevice.MTDevice::settings

Definition at line 23 of file mtdevice.py.

mtdevice.MTDevice::state

Definition at line 23 of file mtdevice.py.

mtdevice.MTDevice::timeout

Definition at line 23 of file mtdevice.py.

mtdevice.MTDevice::verbose

Definition at line 23 of file mtdevice.py.

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

mtdevice.py

Public Member Functions

Public Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation