Manual mai amfani NGIMU
Shafin 1.6
Sakin Jama'a
Sabunta daftarin aiki
Ana ci gaba da sabunta wannan daftarin aiki don haɗa ƙarin bayanan da masu amfani suka nema da sabbin fasalolin da aka samar a cikin software da sabuntawar firmware. Da fatan za a duba x-io
Fasaha website don sabon sigar wannan takarda da firmware na na'urar.
Tarihin sigar daftarin aiki
| Kwanan wata | Sigar daftarin aiki | Bayani |
| 13 Janairu 2022 | 1.6 |
|
| 16 Oktoba 2019 | 1.5 |
|
| 24 ga Yuli 2019 | 1.4 |
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| 07 Nuwamba 2017 | 1.3 |
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| 10 Janairu 2017 | 1.2 |
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| 19 Oktoba 2016 | 1.1 |
|
| 23 Satumba 2016 | 1.0 |
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| 19 ga Mayu 2016 | 0.6 |
|
| 29 Maris 2016 | 0.5 |
|
| 19 Nuwamba 2015 | 0.4 |
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| 30 ga Yuni 2015 | 0.3 |
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| 9 ga Yuni 2015 | 0.2 |
|
| 12 ga Mayu 2015 | 0.1 |
|
| 10 ga Mayu 2015 | 0.0 |
|
Ƙarsheview
IMU na gaba na gaba (NGIMU) ƙaƙƙarfan IMU ne da dandamali na siye bayanai wanda ke haɗa na'urori masu auna firikwensin kan jirgin da algorithms sarrafa bayanai tare da fa'idodin hanyoyin sadarwa don ƙirƙirar dandamali mai mahimmanci da ya dace da duka aikace-aikacen lokaci-lokaci da aikace-aikacen shiga bayanai.
Na'urar tana sadarwa ta amfani da OSC don haka nan da nan ya dace da aikace-aikacen software da yawa kuma mai sauƙi don haɗawa tare da aikace-aikacen al'ada tare da ɗakunan karatu don yawancin harsunan shirye-shirye.
1.1. Na'urori masu auna firikwensin kan jirgi & sayan bayanai
- Gyroscope guda uku-axis (± 2000°/s, 400 Hz sample da)
- Accelerometer mai axis uku (± 16g, 400 Hz sample da)
- Magnetometer na axis uku (± 1300 µT)
- Barometric matsa lamba (300-1100 hPa)
- Danshi
- Zazzabi1
- Baturi voltage, halin yanzu, kashitage, da sauran lokaci
- Abubuwan shigar da analog (tashoshi 8, 0-3.1 V, 10-bit, 1 kHz sample da)
- Serial na taimako (RS-232 mai jituwa) don GPS ko na'urorin lantarki/ma'auni na al'ada
- Real-lokaci agogo da
1.2. sarrafa bayanan kan-jirgin
- An daidaita duk na'urori masu auna firikwensin
- AHRS fusion algorithm yana ba da ma'auni na daidaitawa dangane da Duniya azaman quaternion, matrix juyawa, ko kusurwar Euler.
- AHRS fusion algorithm yana ba da ma'auni na hanzarin hanzari
- Duk ma'auni sune lokutaamped
- Aiki tare na lokaciamps don duk na'urori akan hanyar sadarwar Wi-Fi2
1.3. Hanyoyin sadarwa
- USB
- Serial (RS-232 masu jituwa)
- Wi-Fi (802.11n, 5 GHz, eriya na ciki ko na waje, AP ko yanayin abokin ciniki)
- Katin SD (wanda ake iya samunsa azaman firam ɗin waje ta USB)
1.4. Gudanar da wutar lantarki
- Wuta daga USB, waje ko baturi
- Cajin baturi ta USB ko na waje
- Lokacin bacci
1 Ana amfani da ma'aunin zafi da sanyio a kan jirgi don daidaitawa kuma ba a yi niyya don samar da ingantacciyar ma'aunin zafin yanayi ba.
2 Aiki tare yana buƙatar ƙarin kayan aiki (Wi-Fi na'ura mai ba da hanya tsakanin hanyoyin sadarwa da mai sarrafa aiki tare).
- Motsi yana jawo farkawa
- Lokacin tashi
- 3.3V wadata don kayan lantarki mai amfani (500mA)
1.5. Siffofin software
- Buɗe tushen GUI da API (C#) don Windows
- Sanya saitunan na'urar
- Shirya bayanan ainihin lokacin
- Shiga bayanan ainihin-lokaci zuwa file (CSV file Tsarin don amfani tare da Excel, MATLAB, da sauransu)
- Kuskuren kayan aikin kulawa da daidaitawa! Ba a bayyana alamar shafi ba.
Hardware
2.1. Maɓallin wuta
Ana amfani da maɓallin wuta da farko don kunnawa da kashe na'urar (yanayin barci). Danna maɓallin yayin da na'urar ke kashe zai kunna shi. Dannawa da riƙe maɓallin na tsawon daƙiƙa 2 yayin da yake kunne zai kashe shi.
Hakanan ana iya amfani da maɓallin azaman tushen bayanai ta mai amfani. Na'urar za ta aika da lokaciampSaƙon maɓallin ed duk lokacin da aka danna maɓallin. Wannan na iya samar da ingantaccen shigarwar mai amfani don aikace-aikacen ainihin-lokaci ko hanya mai amfani na sa alama yayin shiga bayanai. Duba Sashe 7.1.1 don ƙarin bayani.
2.2. LEDs
Jirgin yana da alamun 5 LED. Kowane LED launi daban-daban kuma yana da rawar da aka sadaukar. Tebu 1 ya lissafa rawar da halayen kowane LED.
| Launi | Ya nuna | Hali |
| Fari | Matsayin Wi-Fi | Kashe – An kashe Wi-Fi Sannun walƙiya (1 Hz) – Ba a haɗa Saurin walƙiya (5 Hz) - Haɗa da jiran adireshin IP M – An haɗa da adireshin IP da aka samu |
| Blue | – | – |
| Kore | Halin na'ura | Yana nuna cewa an kunna na'urar. Hakanan za ta yi kiftawa a duk lokacin da aka danna maɓallin ko aka karɓi saƙo. |
| Yellow | Matsayin katin SD | Kashe - Babu katin SD ba Sannun walƙiya (1 Hz) - Katin SD yana nan amma ba a amfani da shi M - Katin SD yanzu da shiga cikin ci gaba |
| Ja | Cajin baturi | Kashe – Ba a haɗa caja ba M – An haɗa caja kuma ana ci gaba da caji Fitilar (0.3 Hz) – An haɗa caja kuma caji cikakke Saurin walƙiya (5 Hz) - Ba a haɗa caja ba kuma baturi ƙasa da 20% |
Table 1: LED hali
Aika umarnin ganowa zuwa na'urar zai sa duk LEDs suyi saurin walƙiya na daƙiƙa 5.
Wannan na iya zama da amfani yayin ƙoƙarin gano takamaiman na'ura a cikin rukunin na'urori da yawa. Duba Sashe 7.3.6 don ƙarin bayani.
Ana iya kashe LEDs a cikin saitunan na'urar. Wannan na iya zama da amfani a aikace-aikace inda haske daga LEDs ba a so. Har ila yau ana iya amfani da umarnin ganowa lokacin da aka kashe LEDs kuma koren LED ɗin zai ci gaba da kiftawa duk lokacin da aka danna maɓallin. Wannan yana bawa mai amfani damar bincika idan na'urar ta kunna yayin da LEDs ke kashe.
2.3. Auxiliary serial pinout
Tebur na 2 ya jera madaidaicin mai haɗin siriyal pinout. Fin 1 an yi masa alama a zahiri akan mahaɗin da ƙaramin kibiya, duba Hoto 1.
| Pin | Hanyar | Suna |
| 1 | N/A | Kasa |
| 2 | Fitowa | RTS |
| 3 | Fitowa | 3.3V fitarwa |
| 4 | Shigarwa | RX |
| 5 | Fitowa | TX |
| 6 | Shigarwa | CTS |
Tebura 2: Madaidaicin mai haɗa siriyal pinout
2.4. Serial pinout
Tebur na 3 ya jera madaidaicin mahaɗin pinout. Fin 1 an yi masa alama a zahiri akan mahaɗin da ƙaramin kibiya, duba Hoto 1.
| Pin | Hanyar | Suna |
| 1 | N/A | Kasa |
| 2 | Fitowa | RTS |
| 3 | Shigarwa | 5V shigarwar |
| 4 | Shigarwa | RX |
| 5 | Fitowa | TX |
| 6 | Shigarwa | CTS |
Table 3: Serial connector pinout
2.5. Analogue shigarwar pinout
Tebu na 4 ya jera abubuwan shigar analog pinout. Fin 1 an yi masa alama a zahiri akan mahaɗin da ƙaramin kibiya, duba Hoto 1.
| Pin | Hanyar | Suna |
| 1 | N/A | Kasa |
| 2 | Fitowa | 3.3V fitarwa |
| 3 | Shigarwa | Analog channel 1 |
| 4 | Shigarwa | Analog channel 2 |
| 5 | Shigarwa | Analog channel 3 |
| 6 | Shigarwa | Analog channel 4 |
| 7 | Shigarwa | Analog channel 5 |
| 8 | Shigarwa | Analog channel 6 |
| 9 | Shigarwa | Analog channel 7 |
| 10 | Shigarwa | Analog channel 8 |
Table 4: Analogue shigar da haši pinout
2.6. Lambobin ɓangaren haɗin haɗin
Duk masu haɗin allo sune 1.25 mm farar Molex PicoBlade™ Headers. Tebur na 5 yana lissafin kowane lambar ɓangaren da aka yi amfani da shi akan allo da lambobin ɓangaren da aka ba da shawarar na mahaɗin mating.
An ƙirƙiri kowane mahaɗin mating daga ɓangaren gidaje na filastik da wayoyi guda biyu ko fiye.
| Mai haɗa allo | Lambar sashi | Mating part number |
| Baturi | Molex PicoBlade™ Header, Surface Dutsen, Dama-Angle, 2-way, P/N: 53261-0271 | Molex PicoBlade™ Gidaje, Mace, Hanya 2, P/N: 51021-0200
Molex Pre-Crimped Lead Single-Karshen PicoBlade™ Mace, 304mm, 28 AWG, P/N: 06-66-0015 (×2) |
| Serial na taimako / Serial | Molex PicoBlade™ Header, Surface Dutsen, Dama-Angle, 6-way, P/N: 53261-0671 | Molex PicoBlade™ Gidaje, Mace, Hanya 6, P/N: 51021-0600 Molex Pre-Crimped Lead Single-Karshen PicoBlade™ Mace, 304mm, 28 AWG, P/N: 06-66-0015 (×6) |
| Abubuwan analog | Molex PicoBlade™ Header, Surface Dutsen, Dama-Angle, 10-way, P/N: 53261-1071 | Molex PicoBlade™ Gidaje, Mace, Hanya 10, P/N: 51021-1000 Molex Pre-Crimped Lead Single-Karshen PicoBlade™ Mace, 304mm, 28 AWG, P/N: 06-66-0015 (×10) |
Tebur 5: Lambobin sashin haɗin allo
2.7. Girman allo
A 3D MATAKI file kuma zanen inji wanda ke ba da cikakken bayani game da duk girman allon ana samun su akan x-io
Fasaha website.
Gidajen filastik
Gidan filastik yana rufe allon tare da baturin 1000 mAh. Gidajen yana ba da dama ga duk mu'amalar jirgi kuma yana da haske don a iya ganin alamun LED. Hoto na 3 yana nuna allon da aka haɗa tare da baturin 1000 mAh a cikin gidaje na filastik.
Hoto na 3: Jirgin da aka haɗa tare da baturin 1000 mAh a cikin gidan filastik
A 3D MATAKI file da zanen injiniya wanda ke ba da cikakken bayani game da duk girman gidaje suna samuwa akan fasahar x-io website.
Abubuwan analog
Ana amfani da mahallin shigar da bayanan analog don auna juzu'itages kuma sami bayanai daga na'urori masu auna firikwensin waje waɗanda ke ba da ma'auni azaman analog voltage. Don misaliample, za a iya shirya firikwensin ƙarfi mai ƙarfi a cikin yuwuwar da'ira mai rarraba don samar da ma'aunin ƙarfi azaman analog vol.tage. Voltage na'urar tana aika ma'auni azaman lokaciamped saƙonnin shigar da analog kamar yadda aka bayyana a Sashe 7.1.13.
Ana siffanta abubuwan shigar da analog ɗin pinout a cikin Sashe na 2.3, kuma an jera lambobin ɓangaren na mahaɗin mating a Sashe na 2.6.
4.1. Bayanin shigarwar analog
- Adadin tashoshi: 8
- Ƙaddamar ADC: 10-bit
- Sampku rateSaukewa: 1000HZ
- Voltage kewayon0V zuwa 3.1V
4.2. 3.3V fitarwa fitarwa
Ƙaddamar da shigar da analog ɗin yana ba da fitarwar 3.3V wanda za'a iya amfani dashi don ƙarfafa na'urorin lantarki na waje. Ana kashe wannan fitowar lokacin da na'urar ta shiga yanayin barci don hana na'urar lantarki ta waje zubar da baturin lokacin da na'urar ba ta aiki.
Serial dubawar taimako
Ana amfani da hanyar haɗin yanar gizo na taimako don sadarwa tare da na'urorin lantarki na waje ta hanyar haɗin yanar gizo.
Don misaliampLe, Shafi A yana bayyana yadda za'a iya haɗa na'urar GPS kai tsaye zuwa siriyal mai taimako don shiga da jera bayanan GPS tare da bayanan firikwensin da ke akwai. A madadin, za a iya amfani da microcontroller da aka haɗa zuwa siriyal na taimako don ƙara aikin shigarwa/fitarwa gaba ɗaya.
An siffanta madaidaicin muƙamuƙi na mataimaka a cikin Sashe na 2.3, kuma an jera lambobin ɓangaren na mahaɗin mating a Sashe na 2.6.
5.1. Ƙayyadaddun bayanai na taimako
- Baud kudi: 7 bps zuwa 12 Mbps
- RTS/CTS sarrafa kwararar kayan masarufi: kunna/an kashe
- Juya layin bayanai (don dacewa da RS-232): kunna/an kashe
- Bayanai: 8-bit (babu jam'iyya)
- Tsaida ragowaku: 1
- Voltage: 3.3V (masu shigarwa suna jure wa RS-232 voltagwa)
5.2. Aika bayanai
Ana aika bayanai daga ma'aunin siriyal na taimako ta hanyar aika saƙon bayanan bayanan taimako zuwa ga
na'urar. Duba Sashe 7.1.15 don ƙarin bayani.
5.3. Karbar bayanai
Bayanan da aka karɓa ta hanyar haɗin yanar gizo na ƙarin na'urar ana aika da su azaman saƙon bayanan bayanan taimako kamar yadda aka bayyana a Sashe na 7.2.1. Ana adana bytes da aka karɓa kafin a aika su tare a cikin saƙo guda ɗaya idan ɗaya daga cikin sharuɗɗan masu zuwa ya cika:
- Adadin bytes da aka adana a cikin buffer yayi daidai da girman buffer
- Ba a karɓi bytes fiye da lokacin ƙarewar ba
- Karɓar byte daidai da halin ƙira
Za'a iya daidaita girman buffer, ƙarewar lokaci, da yanayin ƙirƙira a cikin saitunan na'urar. ExampYi amfani da waɗannan saitunan shine saita yanayin ƙirƙira zuwa ƙimar sabon layin layi ('\n', ƙimar decimal 10) ta yadda kowane igiyar ASCII, ta ƙare ta sabon salon layi, ta karɓi ta hanyar haɗin yanar gizo na taimako. ana aika shi azaman lokaci-stampsakon ed.
5.4. OSC wucewa
Idan an kunna yanayin wucewar OSC to siriyawar siriyal ɗin ba zai aika da karɓa ba kamar yadda aka bayyana a Sashe na 5.2 da 5.3. Madadin haka, ƙirar siriyal ɗin ƙarin zai aika da karɓar fakitin OSC waɗanda aka lulluɓe su azaman fakitin SLIP. Abubuwan da ke cikin OSC da aka karɓa ta hanyar haɗin yanar gizo na ƙarin ana tura su zuwa duk tashoshi na sadarwa mai aiki azaman lokaciamped OSC bund. Saƙonnin OSC da aka karɓa ta kowane tashar sadarwa mai aiki wanda ba a gane shi ba za a tura shi zuwa siriyal mai taimako. Wannan yana ba da damar sadarwa kai tsaye tare da na'urorin OSC na ɓangare na uku da na al'ada ta hanyar saƙonnin da aka aika da karɓa tare da zirga-zirgar OSC na yanzu.
NGIMU Teensy I/O Expansion Example yana nuna yadda Teensy (mai haɗa microcontroller mai dacewa da Arduino) za'a iya amfani da shi don sarrafa kayan aiki na LED don samar da bayanan firikwensin ta amfani da yanayin wucewar OSC.
5.5. RTS/CTS sarrafa kwararar kayan masarufi
Idan RTS/CTS ba a kunna sarrafa kwararar kayan masarufi ba a cikin saitunan na'ura to ana iya sarrafa shigarwar CTS da fitarwar RTS da hannu. Wannan yana ba da shigarwar dijital gaba ɗaya da fitarwa wanda ƙila a yi amfani da shi don mu'amala da na'urorin lantarki na waje. Don misaliample: don gano latsa maɓallin ko don sarrafa LED. An saita yanayin fitarwa na RTS ta hanyar aika saƙon RTS na ƙarin taimako zuwa na'urar kamar yadda aka bayyana a Sashe na 7.2.2. A lokutaamped auxiliary serial CTS na'urar tana aika saƙon a duk lokacin da shigarwar CTS ya bayyana kamar yadda aka bayyana a Sashe na 7.1.16.
5.6. 3.3V fitarwa fitarwa
Serial interface na taimako yana ba da fitarwar 3.3 V wanda za'a iya amfani dashi don sarrafa na'urorin lantarki na waje. Ana kashe wannan fitowar lokacin da na'urar ta shiga yanayin barci don hana na'urar lantarki ta waje zubar da baturin lokacin da na'urar ba ta aiki.
Aika farashin, sample rates, da kuma lokaciamps
Saitunan na'urar suna ba mai amfani damar ƙididdige ƙimar aika kowane nau'in saƙon awo, misaliample, saƙon firikwensin (Sashe na 7.1.2), saƙon quaternion (Sashe na 7.1.4), da sauransu. Adadin aikawa ba shi da wani tasiri a kan s.ampƙimar ma'auni masu dacewa. Ana samun duk ma'auni a ciki a ƙayyadaddun sample rates da aka jera a cikin Table 6. The timesamp don kowane ma'auni ana ƙirƙira lokacin da sample an samu. Lokacinamp don haka ingantaccen ma'auni ne, mai zaman kansa daga latency ko buffering mai alaƙa da tashar da aka bayar.
| Aunawa | Sampda Rate |
| Gyroscope | 400 Hz |
| Accelerometer | 400 Hz |
| Magnetometer | 20 Hz |
| Barometric matsa lamba | 25 Hz |
| Danshi | 25 Hz |
| zazzabi mai sarrafawa | 1 kHz |
| Gyroscope da accelerometer zafin jiki | 100 Hz |
| Yanayin firikwensin yanayi | 25 Hz |
| Baturi (kashitage, lokacin komai, voltage, halin yanzu) | 5 Hz |
| Abubuwan analog | 1 kHz |
| RSSI | 2 Hz |
Table 6: Kafaffen ciki sampda rates
Idan ƙayyadadden adadin aikawa ya fi sampƙimar ma'aunin haɗin gwiwa sannan za a maimaita ma'auni a cikin saƙonni da yawa. Ana iya gano maimaita ma'auni azaman maimaita lokutaamps. Yana yiwuwa a ƙayyade adadin aikawa da ya wuce bandwidth na tashar sadarwa. Wannan zai haifar da asarar saƙonni. Lokaciamps yakamata a yi amfani da shi don tabbatar da cewa tsarin karɓar yana da ƙarfi ga saƙonnin da batattu.
Ka'idar sadarwa
Duk sadarwa an sanya su azaman OSC. Bayanan da aka aika akan UDP yana amfani da OSC kamar yadda aka ƙayyade OSC v1.0. Bayanan da aka saita akan USB, serial ko rubuta zuwa katin SD an sanya OSC azaman fakitin SLIP kamar yadda ƙayyadaddun OSC v1.1. Aiwatar da OSC tana amfani da sauƙi masu zuwa:
- Saƙonnin OSC da aka aika zuwa na'urar na iya amfani da nau'ikan jayayya na lamba (int32, float32, int64, lokacin OSC). tag, 64-bit ninki biyu, hali, boolean, nil, ko Infinitum) masu musanya, da kuma nau'in gardama na blob da kirtani masu mu'amala.
- Tsarin adireshi na OSC da aka aika zuwa na'urar bazai ƙunshi kowane haruffa na musamman ba: '?', '*', '[]', ko '{}'.
- Ana iya aika saƙon OSC da aka aika zuwa na'urar a cikin dam ɗin OSC. Koyaya, ba za a yi watsi da tsarin saƙon ba.
7.1. Bayanai daga na'ura
Duk bayanan da aka aika daga na'urar ana aika su azaman lokutaamped OSC bundle mai ɗauke da saƙon OSC guda ɗaya.
Duk saƙonnin bayanai, ban da maɓalli, jerin ƙarin saƙonni da saƙonni, ana aika su akai-akai a ƙimar aikawa da aka ƙayyade a cikin saitunan na'urar.
Lokatanamp na tarin OSC shine lokacin OSC tag. Wannan shi ne ƙayyadadden wuri lamba 64-bit. Ragowar 32 na farko suna ƙayyadaddun adadin daƙiƙai tun daga 00:00 a ranar 1 ga Janairu, 1900, kuma 32 bits na ƙarshe sun ƙayyade ɓangaren juzu'i na daƙiƙa zuwa daidaici kusan picoseconds 200. Wannan shine wakilcin da lokacin NTP na Intanet ke amfani dashiamps. OSC lokaci tag ana iya canza shi zuwa ƙimar ƙima na daƙiƙa ta farko ta fassara ƙimar a matsayin integer 64-bit mara sa hannu sannan kuma a raba wannan ƙimar ta 2 32. Yana da mahimmanci cewa ana aiwatar da wannan lissafin ta amfani da nau'in madaidaicin madaidaicin nau'in iyo-biyu in ba haka ba rashi na daidaito zai haifar da manyan kurakurai.
7.1.1. Saƙon maɓallin
Adireshin OSC: /button
Ana aika saƙon maɓallin a duk lokacin da aka danna maɓallin wuta. Saƙon ya ƙunshi babu gardama.
7.1.2. Sensors
Adireshin OSC: /sensors
Saƙon firikwensin ya ƙunshi ma'auni daga gyroscope, accelerometer, magnetometer, da barometer. An taƙaita muhawarar saƙo a cikin Tebur 7.
| Hujja | Nau'in | Bayani |
| 1 | taso kan ruwa32 | Giroscope x-axis a cikin °/s |
| 2 | taso kan ruwa32 | Giroscope y-axis a cikin °/s |
| 3 | taso kan ruwa32 | Gyroscope z-axis a cikin °/s |
| 4 | taso kan ruwa32 | Accelerometer x-axis a cikin g |
| 5 | taso kan ruwa32 | Accelerometer y-axis a cikin g |
| 6 | taso kan ruwa32 | Accelerometer z-axis a cikin g |
| 7 | taso kan ruwa32 | Magnetometer x axis a cikin µT |
| 8 | taso kan ruwa32 | Magnetometer y axis a cikin µT |
| 9 | taso kan ruwa32 | Magnetometer z axis a cikin µT |
| 10 | taso kan ruwa32 | Barometer a cikin hPa |
Table 7: Sensor saƙon muhawara
7.1.3. Girma
Adireshin OSC: /magnitudes
Saƙon girma ya ƙunshi ma'auni na gyroscope, accelerometer, da magnitude magnetometer. An taƙaita muhawarar saƙon a cikin Table 8: Girman muhawarar saƙon.
| Hujja | Nau'in | Bayani |
| 1 | taso kan ruwa32 | Girman Gyroscope a cikin °/s |
| 2 | taso kan ruwa32 | Girman Accelerometer a cikin g |
| 3 | taso kan ruwa32 | Girman Magnetometer a cikin µT |
Table 8: Girman muhawarar saƙo
7.1.4. Quaternion
Adireshin OSC: /quaternion
Saƙon quaternion yana ƙunshe da fitowar quaternion na kan jirgin AHRS algorithm wanda ke kwatanta daidaitawar na'urar dangane da Yarjejeniyar Duniya (NWU). An taƙaita muhawarar saƙo a cikin Tebur 9.
| Hujja | Nau'in | Bayani |
| 1 | taso kan ruwa32 | Quaternion w element |
| 2 | taso kan ruwa32 | Quaternion x element |
| 3 | taso kan ruwa32 | Quaternion y element |
| 4 | taso kan ruwa32 | Quaternion z element |
Table 9: Muhawarar saƙon Quaternion
7.1.5. Juyawa matrix
Adireshin OSC: /matrix
Saƙon matrix na jujjuya yana ƙunshe da fitowar matrix na jujjuyawa na kan jirgin AHRS algorithm wanda ke kwatanta yanayin na'urar dangane da al'adar Duniya (NWU). Hujjojin saƙon sun bayyana matrix a ciki jere-manyan oda kamar yadda aka taƙaita a cikin Table 10.
| Hujja | Nau'in | Bayani |
| 1 | taso kan ruwa32 | Juyawa matrix xx element |
| 2 | taso kan ruwa32 | Juyawa matrix xy element |
| 3 | taso kan ruwa32 | Juyawa matrix xz element |
| 4 | taso kan ruwa32 | Juyawa matrix yx element |
| 5 | taso kan ruwa32 | Juyawa matrix yy element |
| 6 | taso kan ruwa32 | Juyawa matrix Yz element |
| 7 | taso kan ruwa32 | Juyawa matrix Zx element |
| 8 | taso kan ruwa32 | Juyawa matrix zy element |
| 9 | taso kan ruwa32 | Juyawa matrix zz element |
Table 10: Juyawa matrix muhawarar saƙon
7.1.6. Euler kusurwa
Adireshin OSC: /Euler
Saƙon kusurwar Euler yana ƙunshe da fitarwar kusurwar Euler na kan jirgin AHRS algorithm wanda ke kwatanta yanayin yanayin na'urar dangane da Duniya (NWU Convention). An taƙaita muhawarar saƙon a cikin Tebur 11.
| Hujja | Nau'in | Bayani |
| 1 | taso kan ruwa32 | Mirgine (x) kusurwa a digiri |
| 2 | taso kan ruwa32 | Pitch (y) kusurwa a digiri |
| 3 | taso kan ruwa32 | Yaw/kan (z) kwana a digiri |
7.1.7. Hanzarin layi
Adireshin OSC: /linear
Saƙon hanzarin linzamin kwamfuta yana ƙunshe da fitowar hanzarin linzamin kwamfuta na kan kan haɗe-haɗen firikwensin algorithm wanda ke kwatanta hanzarin mara nauyi a cikin firam ɗin daidaitawa na firikwensin. An taƙaita muhawarar saƙon a cikin Tebur 12.
| Hujja | Nau'in | Bayani |
| 1 | taso kan ruwa32 | Hanzarta a cikin firikwensin x-axis a g |
| 2 | taso kan ruwa32 | Hanzarta a cikin firikwensin y-axis a g |
| 3 | taso kan ruwa32 | Hanzarta a cikin firikwensin z-axis a g |
Table 12: gardamar saƙon hanzari na layi
7.1.8. Haɗawar duniya
Adireshin OSC: /duniya
Saƙon hanzarin duniya yana ƙunshe da fitowar hanzarin duniya na haɗewar firikwensin algorithm na kan jirgi wanda ke kwatanta hanzarin mara nauyi a cikin firam ɗin daidaitawa. An taƙaita muhawarar saƙo a cikin Tebur 13.
| Hujja | Nau'in | Bayani |
| 1 | taso kan ruwa32 | Hanzarta a Duniya x-axis a g |
| 2 | taso kan ruwa32 | Hanzarta a Duniya y-axis a g |
| 3 | taso kan ruwa32 | Hanzarta a duniyar z-axis a g |
Table 13: Muhawarawar saƙon hanzarin duniya
7.1.9. Tsayi
Adireshin OSC: /tsayi
Sakon tsayin ya ƙunshi ma'aunin tsayi sama da matakin teku. An taƙaita gardamar saƙo a cikin Tebur 14.
| Hujja | Nau'in | Bayani |
| 1 | taso kan ruwa32 | Tsayi sama da matakin teku a cikin m |
Table 14: Hujjar saƙon tsayi
7.1.10. Zazzabi
Adireshin OSC: /zazzabi
Saƙon zafin jiki ya ƙunshi ma'auni daga kowane na'urar firikwensin zafin jiki. An taƙaita muhawarar saƙo a cikin Tebur 15.
| Hujja | Nau'in | Bayani |
| 1 | taso kan ruwa32 | Gyroscope/Accelerometer zazzabi a °C |
| 2 | taso kan ruwa32 | Barometer zafin jiki a cikin ° C |
Table 15: Muhawarar saƙon zafin jiki
7.1.11. Danshi
Adireshin OSC: /danshi
Saƙon zafi ya ƙunshi ma'aunin zafi na dangi. An taƙaita gardamar saƙo a cikin Table 16.
| Hujja | Nau'in | Bayani |
| 1 | taso kan ruwa32 | Dangantakar zafi a cikin% |
Shafi na 16: gardamar saƙon ɗanshi
7.1.12. Baturi
Adireshin OSC: /batir
Saƙon baturi ya ƙunshi baturin voltage da ma'auni na yanzu da kuma jihohin ma'aunin man fetur algorithm. An taƙaita muhawarar saƙon a cikin Tebur 17.
| Hujja | Nau'in | Bayani |
| 1 | taso kan ruwa32 | Matsayin baturi a cikin % |
| 2 | taso kan ruwa32 | Lokaci don komai a cikin mintuna |
| 3 | taso kan ruwa32 | Baturi voltagda in V |
| 4 | taso kan ruwa32 | Batirin halin yanzu a mA |
| 5 | kirtani | Jihar caja |
Shafi na 17: Muhawarar saƙon baturi
7.1.13. Abubuwan shigar da analog
Adireshin OSC: /analogue
Saƙon shigar da analog ɗin ya ƙunshi ma'auni na shigarwar analog voltage. An taƙaita muhawarar saƙo a cikin Tebur 18.
| Hujja | Nau'in | Bayani |
| 1 | taso kan ruwa32 | Tashar 1 voltagda in V |
| 2 | taso kan ruwa32 | Tashar 2 voltagda in V |
| 3 | taso kan ruwa32 | Tashar 3 voltagda in V |
| 4 | taso kan ruwa32 | Tashar 4 voltagda in V |
| 5 | taso kan ruwa32 | Tashar 5 voltagda in V |
| 6 | taso kan ruwa32 | Tashar 6 voltagda in V |
| 7 | taso kan ruwa32 | Tashar 7 voltagda in V |
| 8 | taso kan ruwa32 | Tashar 8 voltagda in V |
Table 18: Analogue shigar da gardama na saƙo
7.1.14. RSSI
Adireshin OSC: /RSSI
Saƙon RSSI ya ƙunshi ma'aunin RSSI (Ƙarfin Ƙarfin Siginar) don haɗin mara waya. Wannan ma'aunin yana aiki ne kawai idan tsarin Wi-Fi yana aiki a yanayin abokin ciniki. An taƙaita muhawarar saƙon a cikin Tebur 19.
| Hujja | Nau'in | Bayani |
| 1 | taso kan ruwa32 | Ma'aunin RSSI a cikin dBm |
| 2 | taso kan ruwa32 | Ma'aunin RSSI a matsayin kashitage inda 0% zuwa 100% ke wakiltar kewayon -100dBm zuwa -50dBm. |
Shafin 19: gardamar saƙon RSSI
7.1.15 Bayanan bayanan taimako
Adireshin OSC: /aux serial
Saƙon serial na ƙarin yana ƙunshe da bayanan da aka karɓa ta hanyar haɗin yanar gizo na taimako. Hujjar saƙon na iya zama ɗaya daga cikin nau'ikan biyu dangane da saitunan na'urar kamar yadda aka taƙaita a ciki Tebur 20.
| Hujja | Nau'in | Bayani |
| 1 | kumburi | Ana karɓar bayanai ta hanyar haɗin yanar gizo na taimako. |
| 1 | kirtani | Bayanan da aka karɓa ta hanyar haɗin yanar gizo na taimako tare da duk baiti mara kyau da aka maye gurbinsu da nau'in halayen "/0". |
Shafi na 20: Hujjar saƙon bayanai na taimako
7.1.16 shigarwar Serial CTS mai taimako
Adireshin OSC: /aux serial/cts
Saƙon shigarwa na CTS na taimako ya ƙunshi yanayin shigarwar CTS na ma'aunin ma'amalar taimako lokacin da aka kashe sarrafa kwararar kayan masarufi. Ana aika wannan saƙon duk lokacin da yanayin shigarwar CTS ya canza. An taƙaita gardamar saƙo a cikin Tebur 21.
| Hujja | Nau'in | Bayani |
| 1 | boolean | Yanayin shigar da CTS. Ƙarya = ƙananan, Gaskiya = babba. |
Tebura 21: Hujjar shigar da saƙon CTS serial na taimako
7.1.17. Serial shigarwar CTS
Adireshin OSC: /serial/cts
Saƙon shigarwar CTS na serial ya ƙunshi yanayin shigarwar CTS na keɓaɓɓiyar dubawa lokacin da aka kashe sarrafa kwararar kayan masarufi. Ana aika wannan saƙon duk lokacin da yanayin shigarwar CTS ya canza. An taƙaita gardamar saƙo a cikin Tebur 22.
| Hujja | Nau'in | Bayani |
| 1 | boolean | Yanayin shigar da CTS. Ƙarya = ƙananan, Gaskiya = babba. |
Table 22: Serial CTS hujjar shigar da saƙon
7.2. Bayanai zuwa na'urar
Ana aika bayanai zuwa na'urar azaman saƙonnin OSC. Na'urar ba za ta aika saƙon OSC ba don amsawa.
7.2.1. Serial bayanai na taimako
Adireshin OSC: /auxserial
Ana amfani da saƙon serial na ƙarin don aika bayanai (daya ko fiye da bytes) daga madaidaicin siriyal ɗin taimako. Ana iya aika wannan saƙon idan yanayin 'OSC passthrough' bai kunna ba. An taƙaita gardamar saƙo a cikin Table 23.
| Hujja | Nau'in | Bayani |
| 1 | OSC-blob / OSC-string | Bayanan da za a watsa daga siriyal mai taimako |
Tebura 23: Bayanan saƙon saƙon taimako
7.2.2. Fitowar siriyal ta RTS
Adireshin OSC: /aux serial/rts
Ana amfani da saƙon RTS na karin taimako don sarrafa fitar da RTS na siriyal mai amfani.
Ana iya aika wannan saƙon idan an kashe sarrafa kwararar kayan masarufi. An taƙaita gardamar saƙo a cikin Tebur 24.
| Hujja | Nau'in | Bayani |
| 1 | Int32/float32/boolean | Yanayin fitarwa na RTS. 0 ko ƙarya = ƙananan, mara sifili ko gaskiya = babba. |
Tebur 24: Taimakon saƙon fitarwa na RTS
7.2.3. Serial RTS fitarwa
Adireshin OSC: /serial/rts
Ana amfani da saƙon RTS na serial don sarrafa fitowar RTS na keɓancewar siriyal. Ana iya aika wannan saƙon idan an kashe sarrafa kwararar kayan masarufi. An taƙaita gardamar saƙo a cikin Tebur 25.
| Hujja | Nau'in | Bayani |
| 1 | Int32/float32/boolean | Yanayin fitarwa na RTS. 0 ko ƙarya = ƙananan, mara sifili ko gaskiya = babba. |
Table 25: Serial RTS fitarwa muhawarar
7.3. Umarni
Ana aika duk umarni azaman saƙonnin OSC. Na'urar za ta tabbatar da karɓar umarnin ta hanyar aika saƙon OSC iri ɗaya zuwa ga mai watsa shiri.
7.3.1. Saita lokaci
Adireshin OSC: /lokaci
Umurnin lokacin saita saita kwanan wata da lokaci akan na'urar. Hujjar saƙon lokacin OSC netag.
7.3.2. Yin shiru
Adireshin OSC: / bebe
Umurnin bebe ya hana aika duk saƙonnin bayanai da aka jera a Sashe na 7.1. Har yanzu za a aika saƙon tabbatar da umarni da saitin karanta/rubutu saƙonnin amsawa. Na'urar za ta kasance a rufe har sai an aika umarnin cire sauti.
7.3.3. Cire sauti
Adireshin OSC: / unnute
Umurnin cire sautin zai soke yanayin bebe da aka kwatanta a Sashe na 7.3.2.
7.3.4. Sake saiti
Adireshin OSC: /sake saiti
Umurnin sake saiti zai yi sake saitin software. Wannan yayi daidai da kashe na'urar sannan a sake kunnawa. Sake saitin software za a yi 3 seconds bayan an karɓi umarnin don tabbatar da cewa mai watsa shiri ya iya tabbatar da umarnin kafin a aiwatar da shi.
7.3.5. Barci
Adireshin OSC: / barci
Umarnin barci zai sanya na'urar cikin yanayin barci (an kashe). Na'urar ba za ta shiga yanayin barci ba har sai daƙiƙa 3 bayan an karɓi umarnin don tabbatar da cewa mai watsa shiri ya iya tabbatar da umarnin kafin a aiwatar da shi.
7.3.6. Shaida
Adireshin OSC: / gano
Umurnin ganowa zai sa duk LEDs suyi saurin walƙiya na daƙiƙa 5. Wannan na iya zama da amfani yayin ƙoƙarin gano takamaiman na'ura a cikin rukunin na'urori da yawa.
7.3.7. Aiwatar
Adireshin OSC: /aiwatar
Umurnin da aka yi amfani da shi zai tilasta wa na'urar yin amfani da duk saitunan da ke jiran aiki waɗanda aka rubuta amma ba a yi amfani da su ba tukuna. Ana aika tabbatar da wannan umarni bayan an yi amfani da duk saituna.
7.3.8. Mayar da tsoho
Adireshin OSC: /default
Umurnin maido da tsoho zai sake saita duk saitunan na'ura zuwa ƙimar tsohuwar masana'anta.
7.3.9. Farashin AHRS
Adireshin OSC: /ahrs/initialise
Umarnin farawa AHRS zai sake kunna algorithm AHRS.
7.3.10. AHRS zero yaw
Adireshin OSC: /ahrs/zero
Umurnin sifili na AHRS zai zama sifili da ɓangaren yaw na daidaitawar AHRS na yanzu. Ana iya ba da wannan umarni kawai idan an yi watsi da magnetometer a cikin saitunan AHRS.
7.3.11. Amsa
Adireshin OSC: /echo
Ana iya aika umarnin echo tare da kowace gardama kuma na'urar za ta amsa da saƙon OSC iri ɗaya.
7.4. Saituna
Ana karantawa da rubuta saitunan na'ura ta amfani da saƙonnin OSC. Shafin saituna na software na na'urar
yana ba da dama ga duk saitunan na'ura kuma ya haɗa da cikakkun takardu don kowane saiti.
7.4.1. Karanta
Ana karanta saituna ta hanyar aika saƙon OSC tare da daidaitaccen adireshin OSC kuma babu gardama. Na'urar za ta amsa da saƙon OSC tare da adireshin OSC iri ɗaya da ƙimar saitin yanzu azaman hujja.
7.4.2. Rubuta
Ana rubuta saituna ta hanyar aika saƙon OSC tare da daidaitaccen adireshin OSC da ƙimar hujja. Na'urar za ta amsa tare da saƙon OSC tare da adireshin OSC iri ɗaya da sabon ƙimar saiti azaman hujja.
Ba a yi amfani da wasu saitin rubutun nan da nan saboda wannan na iya haifar da asarar sadarwa tare da na'urar idan an canza saitin da ya shafi tashar sadarwa. Ana amfani da waɗannan saitunan 3 seconds bayan rubuta na ƙarshe na kowane saiti.
7.5. Kurakurai
Na'urar za ta aika saƙonnin kuskure azaman saƙon OSC tare da adireshin OSC: /kuskure da hujjar kirtani ɗaya.
A. Haɗa tsarin GPS tare da NGIMU
Wannan sashe yana bayyana yadda ake haɗa tsarin GPS na waje tare da NGIMU. NGIMU ya dace da kowane serial GPS module, da "Adafruit Ultimate GPS Breakout - tashar 66 w/10 Hz sabuntawa - Shafin 3" an zaba a nan don dalilai na nunawa. Ana iya siyan wannan tsarin daga Adafruit ko wani mai rabawa.
A.1. Saitin kayan aikin
Dole ne a siyar da shirin batir ɗin tsabar tsabar tsabar kudin CR1220 da wayoyi masu haɗin haɗin yanar gizo na taimako zuwa allon ƙirar GPS. An yi dalla-dalla dalla-dalla lambobi masu haɗin haɗin keɓantattun hanyoyin sadarwa a cikin Sashe na 2.6. Abubuwan haɗin da ake buƙata tsakanin tashar tashar taimako da tsarin GPS an kwatanta su a cikin Table 26. Hoto na 5 yana nuna tsarin GPS da aka haɗa tare da mai haɗawa don haɗin haɗin haɗin gwiwa.
| Serial fil fil | GPS module pin |
| Kasa | "GND" |
| RTS | Ba a haɗa |
| 3.3V fitarwa | "3.3V" |
| RX | "TX" |
| TX | "RX" |
| CTS | Ba a haɗa |
Tebura 26: Haɗin haɗin haɗin yanar gizo na taimako zuwa tsarin GPS
Hoto na 4: Haɗaɗɗen tsarin GPS tare da mai haɗawa don ƙirar siriyal mai taimako
Batirin tantanin halitta tsabar kudin CR1220 ya zama dole don adana saitunan module na GPS kuma don kunna agogon ainihin lokacin yayin da ƙarfin waje ba ya nan. Tsarin GPS zai rasa wuta a duk lokacin da aka kashe NGIMU. Agogon ainihin lokacin yana rage lokacin da ake buƙata don samun makullin GPS. Ana iya sa ran baturin zai šauki kusan kwanaki 240.
A.2. NGIMU saituna
Dole ne a saita saitin ƙimar baud na taimako zuwa 9600. Wannan shine tsoffin ƙimar baud na tsarin GPS. Tsarin GPS yana aika bayanai a cikin fakitin ASCII daban-daban, kowannensu ya ƙare da sabon salon layi. Don haka dole ne a saita saitin siriyal ɗin siriyal ɗin zuwa 10 domin kowane fakitin ASCII ya zama mafi tsayi.amped kuma aika/shiga ta NGIMU daban. Dole ne a kunna saitin 'aika azaman kirtani' na taimako don a fassara fakiti azaman kirtani ta software ta NGIMU. Duk sauran saituna yakamata a bar su a dabi'u na asali domin saitunan su dace da waɗanda aka nuna a hoto na 5.
Hoto na 5: Saitunan mu'amala na taimakon taimako wanda aka saita don tsarin GPS
A.3. Viewing da sarrafa bayanan GPS
Da zarar an daidaita saitunan NGIMU kamar yadda aka bayyana a Sashe na A.2, za a karɓi bayanan GPS kuma a tura su zuwa duk tashoshin sadarwa masu aiki azaman lokaci.amped saƙon bayanan bayanan taimako kamar yadda aka bayyana a Sashe 7.1.15. Ana iya amfani da NGIMU GUI don view bayanan GPS masu shigowa ta amfani da Tashar Tashar Tashar Tashar Taimako (a ƙarƙashin menu na Kayan aiki). Hoto na 6 yana nuna bayanan GPS masu shigowa bayan an sami gyara GPS. Tsarin na iya ɗaukar mintuna goma don cimma gyara lokacin da aka kunna shi da farko. 
Hoto 6: A cikin zuwan bayanan GPS ana nunawa a cikin Tashar Tashar Tashar Taimako
Saitunan tsarin GPS na asali suna ba da bayanan GPS cikin nau'ikan fakitin NMEA guda huɗu: GPGGA, GPGSA, GPRMC, da GPVTG. The Bayanan Bayani na NMEA yana ba da cikakken bayanin bayanan da ke cikin kowane fakitin.
Ana iya amfani da software na NGIMU don shiga bayanan ainihin lokacin azaman CSV files ko don canza bayanan da aka shiga zuwa katin SD file ku CSV files. Ana ba da bayanan GPS a cikin auxserial.csv file. The file ya ƙunshi ginshiƙai biyu: shafi na farko shine lokaciamp na fakitin NMEA da NGIMU ta samar lokacin da aka karɓi fakitin daga tsarin GPS, kuma shafi na biyu shine fakitin NMEA. Dole ne mai amfani ya kula da shigo da fassarar wannan bayanan.
A.4. Ana saita ƙimar sabuntawar 10 Hz
Saitunan tsoho na tsarin GPS suna aika bayanai tare da ƙimar ɗaukaka 1 Hz. Za a iya saita tsarin don aika bayanai tare da ƙimar ɗaukakawa 10 Hz. Ana samun wannan ta hanyar aika fakitin umarni don daidaita saitunan kamar yadda aka bayyana a Sashe A.4.1 da A.4.2. Ana iya aika kowane fakitin umarni ta amfani da Tashar Tashar Taimako ta NGIMU GUI (a ƙarƙashin menu na Kayan aiki). Tsarin GPS zai koma zuwa saitunan tsoho idan an cire baturin.
An ƙirƙiri fakitin umarni da aka siffanta a wannan sashe kamar yadda Fakitin umarni na GlobalTop PMTK takardu tare da kididdigar lissafin ta amfani da kan layi Kalkuleta na checksum na NMEA.
A.4.1. Mataki na 1 - Canja ƙimar baud zuwa 115200
Aika fakitin umarni "$PMTK251,115200*1F\r\n" zuwa tsarin GPS. Sannan bayanan da ke shigowa za su bayyana a matsayin bayanan 'sharar gida' saboda adadin serial baud na yanzu na 9600 bai dace da sabon tsarin baud na GPS module na 115200 ba. Sai a saita madaidaicin serial baud saitin zuwa 115200 a cikin saitunan NGIMU kafin bayanai sun sake bayyana daidai.
A.4.2. Mataki 2 - Canja ƙimar fitarwa zuwa 10 Hz
Aika fakitin umarni "$PMTK220,100*2F\r\n" zuwa tsarin GPS. Tsarin GPS yanzu zai aika bayanai tare da ƙimar sabuntawa na 10 Hz.
A.4.3. Ajiye saitunan tsarin GPS
Tsarin GPS zai adana saituna ta atomatik. Koyaya, tsarin GPS zai koma zuwa saitunan tsoho idan an cire baturin.
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