WITMOTION WT9011DCL-BT5.0

Serial Connection

Step 1: Connect the sensor with the provided Type-C wire. (Warm Reminder: If you need a longer cable, it should be a standard Type-C data cable.)

Step 2: Install the CH340 driver. Download Link

How to Install and Update the CH340 Driver: Click the "Uninstall" button first, then click on the "Install" button.

The driver installation window shows options to select an INF file and install or uninstall the driver.

How to verify your driver is working:

1. To check that the CH340 enumerates to a COM port, open the device manager. You can click the Start button (or Windows button) and type "device manager" to quickly search for the application. The Control Panel window will display various system options, including Device Manager.
2. After opening the device manager, navigate to the Ports (COM & LPT) tree. The CH340 should appear as "USB-SERIAL CH340 (COM##)". The COM port number may vary depending on your computer. The Device Manager window shows the Ports (COM & LPT) tree with "USB-SERIAL CH340 (COM3)" listed.

BLE 5.0 Adapter Connection

The pairing process may vary depending on the operating system.

Windows 7 OS Computer: Please check the following link for detailed instructions: BLE 5.0 Adapter working with Win 7 OS

Windows 10 OS Computer:

Complete Process:

Step 1: Insert the adapter into the USB port. For the first-time connection, a pop-up window will typically appear indicating the device setup.

The Windows Settings screen shows "Bluetooth & other devices" with options to add devices. A system hint indicates "Setting up a device", showing "nRF52 USB CDC BLE Demo" being set up.

Once the system recognizes the device, it will appear on the “Bluetooth & other devices” control page. Alternatively, confirm if a port has been generated in the device manager (Bluetooth visual port).

Step 2: Turn on the sensor after the adapter's blue light flashes. The sensor's LED light will flash quickly (once per second).

Step 3: Run the MiniIMU.exe application.

Step 4: Long press the sensor button to start it. Turn on the intelligent upper computer software. Select "WT901BLE5.0" for module category, choose the serial port, set the default baud rate to 115200, and click "Add". After a successful connection, the upper computer will display data sent by the sensor.

The software interface shows "No sensors connected" initially, then displays Angle X, Angle Y, and Angle Z values after connection. It also includes a 3D model of the sensor and a compass.

Step 5: Data will appear after the auto-search finishes. The sensor's LED light will flash slowly (once every two seconds). The adapter's LED light will remain steady.

Accelerometer Calibration

Purpose: To remove the zero bias of the accelerometer. Before calibration, there may be bias errors; after calibration, measurements will be accurate.

Methods:

1. Keep the module horizontally stationary.
2. Click "Acceleration" in the “Configuration” menu and wait for 5 seconds.
3. Calibration is complete when "OK" is displayed.

The "Sensor Configuration" window shows "Calibration success!" with a 100% progress bar.

Step 4: Check the result to confirm if there is 1g on Z-axis acceleration. The data screen shows Z-axis acceleration at 1g.

Magnetic Field Calibration

Purpose: To remove the zero bias of the magnetic field sensor, which can have a large initial error. Uncalibrated sensors can lead to significant measurement errors, affecting the accuracy of the z-axis angle (heading angle).

Preparation:

1. Sensors should be at least 20cm away from magnetic and iron materials.
2. The value of H (magnetic field) must be lower than 350.

Methods:

1. Open the "Configuration" menu.
2. Click "Magnetic Field" and slowly rotate the sensor 360° around the X, Y, and Z axes accordingly.

The "Bluetooth 5.0 - Config" window displays calibration options. The "MagCal" section shows scatter plots for chartXZ, chartYZ, and chartXY, illustrating the magnetic field data distribution. It also shows "Current Value", "Offset", and "Range" for X, Y, Z, and |H|.

Step 3: Click OK once calibration is done.

Step 4: Place the sensor horizontally stationary and orient the Y-axis towards North.

Step 5: Check the Z-axis angle data; it should be approximately 0°.

Gyroscope Automatic Calibration

The gyroscope calibration calibrates angular velocity automatically. It is recommended to inactivate automatic gyroscope calibration only if the module rotates at a constant speed.

Reset Z-axis Angle

Note: To avoid magnetic interference, you can switch to a 6-axis algorithm, which allows for resetting the Z-axis angle.

The Z-axis angle is an absolute angle, referencing the northeast sky as the coordinate system, and cannot be relative to 0 degrees by default. Setting Z-axis to 0 makes the initial angle relative to 0 degrees. If the Z-axis drifts significantly during use, it can be recalibrated. When the module is powered on, the Z-axis will automatically return to 0.

Calibration method: Keep the module static, click "Reset Z-axis Angle" in the "Configuration" menu. The Z-axis angle will return to 0 degrees in the "Data" view.

Reset Height to 0

This function is only available for modules with a built-in barometer, such as WT901B, HWT901B, WTGAHRS1, and WTGAHRS2.

Data Recording

The sensor module does not have internal memory; data can be recorded and saved on the computer.

Method: Click "Record", then "Start Record", and finally "End Record". This saves the data as a TXT file in the "Data" directory of the upper computer program. The beginning of the file contains values corresponding to the data.

The software interface shows real-time sensor data (Angle X, Y, Z) and a compass.

It is highly recommended to paste the data into an Excel file for organized reviewing.

Data Playback

New Function: When a recorded file is created, a BIN file is generated in the record file folder of the installed software.

Recorded data playback method:

1. Disconnect the sensor.
2. Click the "Record" button, then click "Play file playback".

The "Data playback" window prompts to select a file. An error message "Failed to load the playback file. The file is incorrect" may appear if the file is corrupted.

Step 3: Choose the original path of the software installation and load the BIN file.

Step 4: Click "Run". The Binary file will be played back, and the playback rate can be edited.

Placement Direction

The default installation direction is horizontal. For vertical installation, follow these steps:

1. Rotate the module 90 degrees around the X-axis.
2. Place the sensor 90 degrees vertically.
3. Click "Vertical" under "Installation Direction" in the “Configuration” menu.

The "Sensor Configuration" window shows the "Vertical" option selected for "Installation Direction".

Bandwidth

The default bandwidth is 20Hz.

Explanation:

1. A higher bandwidth setting results in more fluctuation in the data waveform. Conversely, a lower bandwidth makes the data smoother. For example, a Bandwidth of 5Hz with a Baud Rate of 5Hz results in a very steady waveform.

The "Sensor Configuration" window displays options for Band Width, including 256 Hz, 188 Hz, 98 Hz, 42 Hz, 20 Hz, 10 Hz, and 5 Hz.

Example 1: Band Width as 256Hz, Baud Rate as 50Hz shows more fluctuation.

Example 2: Band Width as 5Hz, Baud Rate as 50Hz.

2. Increasing the bandwidth can help solve data-repeating issues. For instance, with a bandwidth of 20Hz and a retrieval rate of 50Hz, there might be 5 repeating data points. To avoid repeating data, increase the bandwidth to more than 50Hz.

6-axis/ 9-axis Algorithm

6-axis algorithm: Z-axis angle is primarily calculated based on angular velocity integral, which can lead to calculated errors.

9-axis algorithm: Z-axis angle is calculated and analyzed based on the magnetic field, resulting in minimal drift.

The default algorithm for WT9011DCL-BT5.0 is 9-axis. If magnetic field interference is present in the environment, switching to the 6-axis algorithm is recommended for angle detection.

Method:

1. Switch to the "Axis 6" algorithm in the “Configuration” menu.
2. Proceed with "Accelerometer calibration" and "Reset Z-axis angle" calibration.

After calibration, the device can be used normally.

The "Sensor Configuration" window shows "Axis 6" selected for "Algorithm".

APP Installation

Install the APK file and grant permissions for Location and Storage.

The app store interface shows WITMOTION utilities with an "OPEN" button. Permissions for Storage and Location are required.

Download links are provided for the "2022v APP" and "WITMOTION 2023v New Android APP".

About Android APP:

1. The app requires permission for application positioning (Always allowed) and the activation of the positioning function and Bluetooth. Note: Paired devices can be searched without positioning enabled, but for Android versions 6.0 and higher, positioning must be allowed when using Bluetooth.
2. After turning on Bluetooth, it takes approximately one minute to search for and authorize Bluetooth devices.

Connection

Step 1: Install the APK file and grant permissions for Location and Storage.

Step 2: Open the APP and choose "BLE 5.0 Series".

The "Select Module Type" screen offers options for 3-axis, 6-axis, 9-axis, and BLE 5.0 Series.

Step 3: Turn on the sensor and scan for devices. The device will appear as "WT901BLE" followed by its MAC address.

The "BLE Device Scan" interface lists available devices with their RSSI values, such as WT901BLE56, WT901BLE57, and WT901BLE58.

Calibration

How to Install

Step 1: Search "WITMOTION" on the iOS App Store and install the APP.

The App Store search results display the WITMOTION app with an "OPEN" button. Screenshots show the app's interface and features.

How to setup

Step 1: Turn on the sensor and then click "Scan".

The "Device Scan" interface shows "This Device" and "WT901BLE67" with its MAC address and signal strength.

Configuration

For menu settings and introductions, please refer to Chapter 2.2.

Click the "SET" button to open the menu.

The screen displays a graph and options like "Acc Cali", "Mag Cali", "Rate", "Restore", "Rename", and "Cancel".

Data Recording

Data can be recorded easily by pressing the record button. The recorded file is currently in TXT format. You can send the record file to a computer and paste the data into an Excel file for intuitive reviewing.

P.S: If you encounter any problems, please contact the support team at support@wit-motion.com.

The interface shows a graph and data values for ax(g), ay(g), az(g), and |a|(g). Buttons for "Record" and "HistoryRecord" are present.

If your phone has a TXT reader, the recorded file can be easily opened. A TXT recorder like Micro Software is recommended.

Download link for a file: File Download Link