x-IMU Inertial Measurement Unit Interface App
In V3.411+ of the
Generic motion software an interface App for the
inertial measurement unit has been added.
The App can be found in the
x_IMU_Sender folder in the main Generic Motion Driver zip. To run
the App double click on the .exe in the App folder, or set up a
shortcut that points to the exe - DO NOT remove the App from the
other files in the App's folder.
The x-IMU_Sender App reads
acceleration and orientation data from the x-IMU via its virtual COM
port (USB) connection.
It processes the data and then
exports it via UDP to the Generic 6 DOF Motion
The x-IMU_Sender App therefore
runs on the same PC/Laptop as the x-IMU is connected to.
The Generic Motion Driver can also
run on the same PC, or on a networked PC.
The x-IMU_Sender App reads data
from the following x-IMU data packets:
So please ensure that these
packets are available in the x-IMU output stream.
Configuration settings for the App
are made in the X-IMU_Sender.ini file in the Apps folder. Open it
with a text editor (eg NotePad) and set the x-IMU COM port and baud.
The COM port must be in the range
COM1 to 9.
Baud is usually 115200 but may be
different if you have configured the x-IMU differently.
UDP settings are the UDP Port and IP address of both the sender PC
and the PC on which the motion software is running. If both are on
the same PC a loop-back IP address can be used (eg 127.0.0.1).
Note: The target PC receiving Port
must also be set correctly in the Generic Motion Software's .bff
config file. See Section 14 for details.
The rate at which the sender app
samples the x-IMU data can be controlled by the [Loop] Delay
parameter in the ini file. Reducing the Delay value will increase
the loop speed of the app. Note however the loop speed of the motion
software is also significant, so setting a high sample rate for the
Sender App will not have much end effect if the motion software is
looping more slowly.
A default 6dof-Default-Generic-IMU.bff
configuration file is provided in the motion software zip. However
you will need to adjust the motion cue settings to suit the motion
of the vehicle/device the x-IMU is mounted on; the acceleration and
angle ranges will depend on the nature of the motion.