NGIMU User Manual
Phetolelo ea 1.6
Phatlalatso ea Sechaba

Lintlafatso tsa litokomane
Tokomane ena e ntse e ntlafatsoa khafetsa ho kenyelletsa lintlha tse ling tse kopiloeng ke basebelisi le likarolo tse ncha tse fumanehang ho software le liapdeite tsa firmware. Ka kopo, sheba x-io
Theknoloji websebaka bakeng sa mofuta oa morao-rao oa tokomane ena le firmware ea sesebelisoa.

Nalane ea mofuta oa tokomane

Letsatsi	Phetolelo ea litokomane	Tlhaloso
La 13 Pherekhong 2022	1.6	Letsatsi le nepahetseng la ho qala ha NTP
La 16 Mphalane 2019	1.5	Ntlafatsa linepe tsa boto le matlo a polasetiki
La 24 Phupu 2019	1.4	Nchafatsa RSSI sample sekhahla Tlosa altimeter e le karolo ea nako e tlang Kenya liyuniti ho litlhaloso tsa mola le ho potlakisa lefatše Tlosa processor ho molaetsa oa mocheso Kenya sesupo se tlase sa betri ho tafole ea boitšoaro ea LED
La 07 Nov 2017	1.3	Ntlafatsa lintlha tsa konopo Eketsa karolo ea lintho tsa analogue Fetola litšoantšo tsa mochini ka likhokahano tsa ho websebaka Tlhaloso ea ntlafatso ea LED e bontšang boemo ba karete ea SD
La 10 Pherekhong 2017	1.2	Eketsa litefiso tsa ho romela, leqample litekanyetso, le linakoamps karolo Hlalosa nako ea OSC tag ka botlalo Kenya karolo e thusang ea serial interface Kenya sehlomathiso bakeng sa kopanyo ea mojule oa GPS
La 19 Mphalane 2016	1.1	Kenya tlhaloso ea LED e bontšang tšebetso ea karete ea SD Lokisa phoso ea mongolo o botlaaseng ba leqepheview karolo
La 23 Loetse 2016	1.0	Bontša hore konopo e tlameha ho ts'oaroa halofo ea motsotsoana ho bulela Ntlafatsa tlhaloso ea likhang tse ngata tsa OSC Kenyelletsa liperesentetage ka molaetsa oa RSSI Ntlafatsa foto ea ntlo ea polasetiki le setšoantšo sa mochini Kenya litaelo tsa AHRS tse qalang le zero Kenya molaetsa oa bophahamo
La 19 Motšeanong 2016	0.6	Kenya taelo ea echo Kenya molaetsa oa RSSI Kenya molaetsa oa boholo
La 29 Hlakubele 2016	0.5	Kenya karolo ea protocol ea puisano Kenyelletso e nepahetseng ea analogue voltagho fihla ho 3.1 V Ntlafatsa karolo ea LED Ntlafatsa senepe sa boto Ntlafatsa foto ea ntlo ea polasetiki Ntlafatsa setšoantšo sa mochini oa boto

La 19 Nov 2015	0.4	Ntlafatsa foto le motaki oa mochini oa ntlo ea morao-rao ea polasetiki ea mohlala Kenyelletsa setšoantšo sa mochini oa boto
La 30 Phuptjane 2015	0.3	Litafole tse nepahetseng tsa serial pinout Tšoaea pin 1 setšoantšong se hlalositsoeng sa boto
La 9 Phuptjane 2015	0.2	Kenyelletsa sets'oants'o le setšoantšo sa mochini oa ntlo ea morao-rao ea polasetiki ea mohlala Litafole tse nyane ha lia aroloa maqepheng
La 12 Motšeanong 2015	0.1	Setšoantšo se ntlafalitsoeng sa ntlo ea polasetiki ea mohlala
La 10 Motšeanong 2015	0.0	Tokollo ea pele

Fetileview

The Next Generation IMU (NGIMU) ke compact IMU le data acquisition platform e kopanyang li-sensor tsa onboard le li-algorithms tsa ts'ebetso ea data le mefuta e mengata e fapaneng ea likhokahano tsa puisano ho theha sethala se feto-fetohang se loketseng lits'ebetso tsa nako ea nnete le tsa ho rekota data.
Sesebelisoa se buisana ka ho sebelisa OSC 'me ka hona e lumellana hang-hang le lits'ebetso tse ngata tsa software le ho otloloha ho kopanya le lits'ebetso tse tloaelehileng tse nang le lilaebrari tse fumanehang bakeng sa lipuo tse ngata tsa lenaneo.

1.1. Li-sensor tse ka botong le ho fumana data

• Gyroscope ea li-axis tse tharo (±2000°/s, 400 Hz sampsekhahla)
• Triple-axis accelerometer (±16g, 400 Hz sampsekhahla)
• Magnetometer ea li-axis tse tharo (±1300 µT)
• Khatello ea Barometric (300-1100 hPa)
• Mongobo
• Mocheso1
• Matla a betritage, hona joale, palotage, le nako e setseng
• Lisebelisoa tsa analogue (likanale tse 8, 0-3.1 V, 10-bit, 1 kHz sampsekhahla)
• Auxiliary serial (RS-232 compatible) bakeng sa GPS kapa tloaelo ea elektronike / li-sensor
• Oache ea nako ea sebele le

1.2. Ts'ebetso ea data ka botong

• Li-sensor tsohle li hlophisitsoe
• AHRS fusion algorithm e fana ka tekanyo ea chebahalo e amanang le Lefatše joalo ka quaternion, rotation matrix, kapa Euler angles.
• AHRS fusion algorithm e fana ka tekanyo ea lebelo la mola
• Litekanyo tsohle ke linakoamped
• Kamahanyo ya dinakoamps bakeng sa lisebelisoa tsohle tse ho netweke ea Wi-Fi2

1.3. Likhokahano tsa puisano

• USB
• Lethathamo (RS-232 e tsamaisana)
•  Wi-Fi (802.11n, 5 GHz, manakana a hahelletsoeng kapa a kantle, AP kapa mokhoa oa moreki)
• Karete ea SD (e fumaneha joalo ka koloi ea kantle ka USB)

1.4. Tsamaiso ea matla

• Matla a tsoang ho USB, phepelo ea kantle kapa betri
• Ho tjhaja betri ka USB kapa phepelo ea kantle
• Nako ea ho robala

1 Li-thermometers tse holim'a board li sebelisetsoa ho lekanya 'me ha lia rereloa ho fana ka tekanyo e nepahetseng ea mocheso o tikolohong.
2 Kamahanyo e hloka hardware e eketsehileng (router ya Wi-Fi le kamahanyo master).

• Tsoha
• Nako ea ho tsoha
• Phepelo ea 3.3 V bakeng sa lisebelisoa tsa elektroniki tsa basebelisi (500 mA)

1.5. Lisebelisoa tsa software

• Open-source GUI le API (C #) bakeng sa Windows
• Lokisa litlhophiso tsa lisebelisoa
• Rala data ea nako ea nnete
• Kenya data ea nako ea nnete ho file (CSV file mokhoa oa ho sebelisoa le Excel, MATLAB, joalo-joalo)
• Lisebelisuoa tsa tlhokomelo le ho lekanya Phoso! Bookmark ha e hlalosoe.

Lisebelisoa

2.1. Konopo ea matla
Konopo ea matla e sebelisoa haholo ho bulela le ho tima sesebelisoa (mokhoa oa ho robala). Ho tobetsa konopo ha sesebelisoa se koetsoe ho tla se bulela. Ho tobetsa le ho tšoara konopo bakeng sa metsotsoana e 2 ha e ntse e buletsoe ho tla e tima.
Konopo e ka boela ea sebelisoa e le mohloli oa data ke mosebedisi. Sesebelisoa se tla romella nakoamped konopo nako le nako ha konopo e tobetsoa. Sena se ka fana ka tlhahiso e bonolo ea mosebelisi bakeng sa lits'ebetso tsa nako ea nnete kapa mokhoa o sebetsang oa ho tšoaea liketsahalo ha u rema data. Sheba Karolo ea 7.1.1 bakeng sa lintlha tse ling.

2.2. Li-LED
Boto e na le matšoao a 5 a LED. LED e 'ngoe le e' ngoe e na le 'mala o fapaneng' me e na le karolo e inehetseng. Lethathamo la 1 le thathamisa karolo le boitšoaro bo amanang le LED ka 'ngoe.

Mmala	E supa	Boitšoaro
Bosoeu	Boemo ba Wi-Fi	E tima - Wi-Fi e holofetse Ho benya butle (1 Hz) – Ha e kopane Ho benya ka potlako (5 Hz) - E hokahane ebile e emetse aterese ea IP Tiileng - E hoketsoe mme aterese ea IP e fumanoe
Boputsoa	–	–
Botala	Boemo ba sesebelisoa	E bontša hore sesebelisoa se buletsoe. E tla benya hape nako le nako ha konopo e tobetsoa kapa molaetsa o amoheloa.
Bosehla	Boemo ba karete ea SD	E tima - Ha ho karete ea SD e teng Ho benya butle (1 Hz) - Karete ea SD e teng empa ha e sebelisoe Tiileng - Karete ea SD e teng le ho rengoa ha lifate ho ntse ho tsoela pele
Khubedu	Ho tjhaja betri	E tima – Charger ha e hoketsoe Tiileng - tjhaja e hoketswe mme e ntse e tjhaja Ho benya (0.3 Hz) - Charger e hoketsoe ebile e tjhaja e felile Ho benya ka potlako (5 Hz) - Charger ha e hokahane mme betri e ka tlase ho 20%

Letlapa la 1: Boitšoaro ba LED

Ho romella taelo ea ho tsebahatsa sesebelisoa ho tla etsa hore li-LED tsohle li bonese kapele bakeng sa metsotsoana e 5.
Sena se ka 'na sa e-ba molemo ha u leka ho khetholla sesebelisoa se itseng ka har'a sehlopha sa lisebelisoa tse ngata. Sheba Karolo ea 7.3.6 bakeng sa lintlha tse ling.
Li-LED li kanna tsa tingoa maemong a sesebelisoa. Sena se kanna sa sebelisoa lits'ebetsong moo leseli le tsoang ho li-LED le sa rateheng. Taelo ea ho tseba e ntse e ka sebelisoa ha li-LED li holofalitsoe mme LED e tala e ntse e tla benya nako le nako ha konopo e tobetsoa. Sena se lumella mosebelisi ho hlahloba hore na sesebelisoa se butsoe ha li-LED li sa sebetse.

2.3. pinout ea serial e thusang
Lethathamo la 2 le thathamisa pinout ea sehokelo sa serial. Pin 1 e tšoailoe sehokelong ka motsu o monyane, bona Setšoantšo sa 1.

Pin	Tataiso	Lebitso
1	N/A	Fatše
2	Sephetho	RTS
3	Sephetho	3.3 V tlhahiso
4	Kenyeletso	RX
5	Sephetho	TX
6	Kenyeletso	CTS

Letlapa la 2: pinout ea sehokedi sa serial se thusang

2.4. Pinout ea serial
Lethathamo la 3 le thathamisa pinout ea serial connector. Pin 1 e tšoailoe sehokelong ka motsu o monyane, bona Setšoantšo sa 1.

Pin	Tataiso	Lebitso
1	N/A	Fatše
2	Sephetho	RTS
3	Kenyeletso	5 V ho kenya
4	Kenyeletso	RX
5	Sephetho	TX
6	Kenyeletso	CTS

Letlapa la 3: Pinout ea sehokelo sa serial

2.5. Litlhahiso tsa analogue
Lethathamo la 4 le thathamisa pinout ea sehokelo sa analogue. Pin 1 e tšoailoe sehokelong ka motsu o monyane, bona Setšoantšo sa 1.

Pin	Tataiso	Lebitso
1	N/A	Fatše
2	Sephetho	3.3 V tlhahiso
3	Kenyeletso	Analogue channel 1
4	Kenyeletso	Analogue channel 2
5	Kenyeletso	Analogue channel 3
6	Kenyeletso	Analogue channel 4
7	Kenyeletso	Analogue channel 5
8	Kenyeletso	Analogue channel 6
9	Kenyeletso	Analogue channel 7
10	Kenyeletso	Analogue channel 8

Letlapa la 4: Pinaut ea sehokelo sa analogue

2.6. Linomoro tsa likarolo tsa sehokelo
Lihokelo tsohle tsa boto ke 1.25 mm pitch Molex PicoBlade ™ Headers. Letlapa la 5 le thathamisa nomoro e 'ngoe le e 'ngoe ea karolo e sebelisitsoeng letlapeng le linomoro tsa likarolo tse khothalelitsoeng tsa likhokahanyo tse tsamaisanang tsa ho nyalana.
Sehokelo se seng le se seng sa mating se entsoe ka karolo ea ntlo ea polasetiki le lithapo tse peli kapa ho feta tse khrimped.

Sehokedi sa boto	Nomoro ea karolo	Nomoro ea karolo ea ho nyalana
Betri	Molex PicoBlade™ Header, Surface Mount, Right-Angle, 2-way, P/N: 53261-0271	Molex PicoBlade™ Housing, Mosali, 2- way, P/N: 51021-0200 Molex Pre-Crimped Single-Ended PicoBlade™ Female, 304mm, 28 AWG, P/N: 06-66-0015 (×2)
Motlatsi oa serial / serial	Molex PicoBlade™ Header, Surface Mount, Right-Angle, 6-way, P/N: 53261-0671	Molex PicoBlade™ Housing, Mosali, 6- way, P/N: 51021-0600 Molex Pre-Crimped Single-Ended PicoBlade™ Female, 304mm, 28 AWG, P/N: 06-66-0015 (×6)
Lisebelisoa tsa analogue	Molex PicoBlade™ Header, Surface Mount, Right-Angle, 10-way, P/N: 53261-1071	Molex PicoBlade™ Housing, Mosali, 10- way, P/N: 51021-1000 Molex Pre-Crimped Single-Ended PicoBlade™ Female, 304mm, 28 AWG, P/N: 06-66-0015 (×10)

Letlapa la 5: Linomoro tsa karolo ea sehokelo sa boto

2.7. Litekanyo tsa boto
MOHATO WA 3D file 'me setšoantšo sa mochini se hlalosang litekanyo tsohle tsa boto lia fumaneha ho x-io
Theknoloji websebaka.

Ntlo ea polasetiki

Ntlo ea polasetiki e kentse boto ka betri ea 1000 mAh. Ntlo e fana ka phihlello ea li-interfaces tsohle tsa boto 'me e fetoha e khanyang e le hore matšoao a LED a ka bonoa. Setšoantšo sa 3 se bonts'a boto e kopantsoeng le betri ea 1000 mAh matlong a polasetiki.

Setšoantšo sa 3: Boto e kopantsoeng le betri ea 1000 mAh ntlong ea polasetiki
MOHATO WA 3D file 'me litšoantšo tsa mochini tse hlalosang boholo ba matlo li fumaneha ho x-io Technologies websebaka.

Lisebelisoa tsa analogue

Sehokelo sa li-analogue input se sebelisoa ho metha voltages le ho fumana data ho tsoa ho li-sensor tsa kantle tse fanang ka litekanyo joalo ka analogue voltage. Bakeng sa mohlalaample, sensor ea matla a hanyetsang e ka hlophisoa ka potoloho e ka arolang ho fana ka litekanyo tsa matla joalo ka analogue vol.tage. Phatlalatsotaglitekanyo tsa e li romelloa ke sesebelisoa joalo ka linakoamped analogue e kenyang melaetsa joalo ka ha e hlalositsoe Karolong ea 7.1.13.
Pinout ea analogue e hlalositsoe Karolong ea 2.3, 'me linomoro tsa karolo bakeng sa sehokelo sa ho nyalana li thathamisitsoe ho Karolo ea 2.6.

4.1. Tlhaloso ea lintlha tsa analogue

• Palo ea likanale: 8
• Qeto ea ADC: 10-bit
• Sample sekhahlaTlhaloso: 1000Hz
• Moqtage fapanengMatla: 0 ho isa ho 3.1 V

4.2. 3.3 V tlhahiso ea phepelo
Khokahano ea ho kenya analogue e fana ka tlhahiso ea 3.3 V e ka sebelisoang ho matlafatsa lisebelisoa tsa elektroniki tsa kantle. Sehlahisoa sena sea tima ha sesebelisoa se kena mokhoeng oa ho robala ho thibela lisebelisoa tsa elektroniki tsa kantle ho tsoa betri ha sesebelisoa se sa sebetse.

Sesebelisoa sa serial se thusang

Sesebelisoa sa serial se thusang se sebelisetsoa ho buisana le lisebelisoa tsa elektroniki tsa kantle ka khokahano ea serial.
Bakeng sa mohlalaample, Sehlomathiso sa A se hlalosa hore na mojule oa GPS o ka hokahanngoa joang ka kotloloho ho sehokelo sa serial se thusang ho kenya le ho tsamaisa data ea GPS hammoho le data e teng ea sensor. Ntle le moo, microcontroller e hokahaneng le sebopeho sa serial se thusang se ka sebelisoa ho eketsa ts'ebetso ea sepheo se akaretsang sa ho kenya / ho tsoa.
Pinout ea serial e thusang e hlalositsoe Karolong ea 2.3, 'me linomoro tsa sehokelo sa ho nyalana li thathamisitsoe ho Karolo ea 2.6.

5.1. Litlhaloso tsa serial tse thusang

• Sekhahla sa Baud: 7 ho isa ho 12 Mbps
• Taolo ea phallo ea thepa ea RTS/CTS: e nolofalitsoe/e koetsoe
• Fetolela mela ea data (bakeng sa RS-232 e sebeletsanang le eona): e nolofalitsoe/e koetsoe
• Lintlha: 8-bit (ha ho mokete)
• Emisa likotoana:1
• Moqtage: 3.3 V (litlhahiso li mamella RS-232 voltages)

5.2. Ho romela lintlha
Lintlha li romelloa ho tsoa ho sehokelo sa serial se thusang ka ho romella molaetsa oa data oa tlatsetso ho
sesebelisoa. Sheba Karolo ea 7.1.15 bakeng sa lintlha tse ling.
5.3. Ho amohela data
Lintlha tse fumanoeng ke sehokelo sa serial se thusang se romelloa ke sesebelisoa joalo ka molaetsa oa data oa tlatsetso joalo ka ha ho hlalositsoe Karolong ea 7.2.1. Li-byte tse amohetsoeng li bolokoa pele li romelloa hammoho ka molaetsa o le mong ha e 'ngoe ea maemo a latelang e finyelloa:

• Nomoro ea li-byte tse bolokiloeng ka har'a "buffer" e lumellana le boholo ba buffer
• Ha ho li-byte tse amohetsoeng bakeng sa nako e fetang ea nako e felileng
• Kamohelo ea baiti e lekanang le tlhaku ea foreime

Saese ea buffer, nako ea ho felloa ke nako, le sebopeho sa frame li ka fetoloa ho li-setting tsa sesebelisoa. ExampTs'ebeliso ea litlhophiso tsena ke ho beha sebopeho sa sebopeho ho boleng ba mohala oa mola o mocha ('\n', boleng ba decimal 10) e le hore khoele e 'ngoe le e 'ngoe ea ASCII, e felisitsoeng ke mohala o mocha, e amoheloe ke sehokelo sa serial se thusang. e romeloa e le nako e arohanengampmolaetsa oa ed.
5.4. Phetoho ea OSC
Haeba mokhoa oa ho feta oa OSC o nolofalitsoe joale sehokelo sa serial se thusang se ke ke sa romella le ho amohela ka tsela e hlalositsoeng ho Karolo ea 5.2 le 5.3. Sebakeng seo, sehokelo sa serial se thusang se tla romella le ho amohela lipakete tsa OSC tse kentsoeng joalo ka lipakete tsa SLIP. Litaba tsa OSC tse amoheloang ke sehokelo sa serial se thusang li fetisetsoa ho liteishene tsohle tse sebetsang tsa puisano joalo ka nakoamped bongata ba OSC. Melaetsa ea OSC e amohetsoeng ka kanale efe kapa efe e sebetsang ea puisano e sa tsejoeng e tla fetisetsoa ho sehokelo sa serial se thusang. Sena se lumella puisano e tobileng le lisebelisoa tsa OSC tsa motho oa boraro le tsa tloaelo tse thehiloeng ho serial ka melaetsa e rometsoeng le e amoheloang hammoho le sephethephethe sa OSC se teng.
The NGIMU Teensy I/O Expansion Example bontša kamoo Teensy (e leng Arduino-compatible microcontroller) e hokahaneng le sebopeho sa serial se thusang se ka sebelisoang ho laola li-LED le ho fana ka lintlha tsa sensor ho sebelisa mokhoa oa ho feta oa OSC.

5.5. Taolo ea phallo ea hardware ea RTS/CTS
Haeba taolo ea phallo ea Hardware ea RTS/CTS e sa lumelloa ho li-setting tsa sesebelisoa joale ho kenya CTS le tlhahiso ea RTS li ka laoloa ka letsoho. Sena se fana ka tlhahiso le tlhahiso ea dijithale tsa sepheo se akaretsang tse ka sebelisoang ho hokahana le lisebelisoa tsa elektroniki tsa kantle. Bakeng sa mohlalaample: ho bona ho toboketsa ha konopo kapa ho laola lebone la LED. Boemo ba tlhahiso ea RTS bo hlophisoa ka ho romella molaetsa oa tlatsetso oa serial RTS ho sesebelisoa joalo ka ha ho hlalositsoe Karolong ea 7.2.2. A linakoamped auxiliary serial molaetsa oa CTS o romelloa ke sesebelisoa nako le nako ha ho kenya CTS ho bolela liphetoho joalo ka ha ho hlalositsoe Karolong ea 7.1.16.

5.6. 3.3 V tlhahiso ea phepelo
Sesebelisoa sa serial se thusang se fana ka tlhahiso ea 3.3 V e ka sebelisoang ho matlafatsa lisebelisoa tsa elektroniki tsa kantle. Sehlahisoa sena sea tima ha sesebelisoa se kena mokhoeng oa ho robala ho thibela lisebelisoa tsa elektroniki tsa kantle ho tsoa betri ha sesebelisoa se sa sebetse.

Romela litefiso, sample litekanyetso, le linakoamps

Litlhophiso tsa sesebelisoa li lumella mosebelisi ho bolela sekhahla sa ho romella sa mofuta o mong le o mong oa molaetsa oa tekanyo, mohlalaample, melaetsa ea li-sensor (Karolo ea 7.1.2), molaetsa oa quaternion (Karolo ea 7.1.4), joalo-joalo. Sekhahla sa ho romela ha se na phello ho s.ample sekhahla sa litekanyo tse tsamaellanang. Litekanyo tsohle li fumanoa ka hare ho tse tsitsitseng sample litekanyetso tse thathamisitsoeng ho Lethathamo la 6. The timesamp bakeng sa tekanyo ka 'ngoe e bōpiloe ha sample fumaneha. Linakoamp ka hona ke tekanyo e ka tšeptjoang, e ikemetseng ho latency kapa buffering e amanang le mocha o fanoeng oa ho fetola.

Tekanyo	Sample Rate
Gyroscope	400 Hz
Accelerometer	400 Hz
Magnetometer	20 Hz
Khatello ea barometric	25 Hz
Mongobo	25 Hz
Mocheso oa processor	1 kHz
Gyroscope le mocheso oa accelerometer	100 Hz
Mocheso oa sensor ea tikoloho	25 Hz
Betri (percencetage, nako ea ho lahla, voltage, hona joale)	5 Hz
Lisebelisoa tsa analogue	1 kHz
RSSI	2 Hz

Lethathamo la 6: E tsitsitseng ka hare samplitefiso

Haeba sekhahla se boletsoeng se le seholo ho feta sample sekhahla sa tekanyo e amanang le eona, litekanyo li tla phetoa ka har'a melaetsa e mengata. Litekanyo tse pheta-phetoang li ka tsejoa e le linako tse pheta-phetoangamps. Hoa khoneha ho hlakisa litefiso tsa ho romella tse fetang bandwidth ea mocha oa puisano. Sena se tla etsa hore melaetsa e lahlehe. Timesstamps e lokela ho sebelisoa ho netefatsa hore tsamaiso ea ho amohela e matla ho melaetsa e lahlehileng.

Protocol ea puisano

Lipuisano tsohle li kentsoe e le OSC. Lintlha tse rometsoeng ka UDP li sebelisa OSC ho latela litlhaloso tsa OSC v1.0. Lintlha tse behiloeng holim'a USB, serial kapa tse ngoliloeng kareteng ea SD li kentsoe OSC e le lipakete tsa SLIP ho latela litlhaloso tsa OSC v1.1. Ts'ebetsong ea OSC e sebelisa lintlha tse latelang tse nolofatsang:

• Melaetsa ea OSC e rometsoeng sesebelisoa e ka sebelisa mefuta ea likhang tsa linomoro (int32, float32, int64, nako ea OSC tag, 64-bit habeli, tlhaku, boolean, nil, kapa Infinitum) ka ho fapanyetsana, le mefuta ea likhang tsa blob le likhoele ka ho fapanyetsana.
• Lipaterone tsa liaterese tsa OSC tse rometsoeng sesebelisoa li kanna tsa se be le litlhaku tse ikhethileng: '?', '*', '[]', kapa '{}'.
• Melaetsa ea OSC e romelloang sesebelisoa e ka romelloa ka har'a mekotla ea OSC. Leha ho le joalo, kemiso ea melaetsa e tla hlokomolohuoa.

7.1. Lintlha tse tsoang sesebelisoa
Lintlha tsohle tse rometsoeng ho tsoa sesebelisoa li romelloa joalo ka nakoamped OSC bundle e nang le molaetsa o le mong oa OSC.
Melaetsa eohle ea data, ntle le konopo, melaetsa ea tlatsetso le ea serial, e romelloa khafetsa ka litefiso tsa ho romella tse boletsoeng ho litlhophiso tsa sesebelisoa.
Linakoamp ea bongata ba OSC ke nako ea OSC tag. Ena ke nomoro ea lintlha tse tsitsitseng tsa 64-bit. Li-bits tsa pele tse 32 li hlakisa palo ea metsotsoana ho tloha ka 00:00 ka la 1 Pherekhong, 1900, 'me li-bits tse 32 tsa ho qetela li bolela likarolo tse nyenyane tsa motsotsoana ho isa ho tse ka bang 200 picoseconds. Ena ke kemiso e sebelisoang ke Internet NTP timesamps. Nako ea OSC tag e ka fetoleloa ho boleng ba decimal ea metsotsoana ka ho qala ka ho hlalosa boleng e le palo e saenneng ea 64-bit ebe e arola boleng bona ka 2 32. Ho bohlokoa hore palo ena e kenngoe ts'ebetsong ka mokhoa o nepahetseng habeli oa ntlha ea phaphametseng ho seng joalo ho haella. ho nepahala ho tla fella ka liphoso tse kholo.
7.1.1. Molaetsa oa konopo
Aterese ea OSC: /button
Molaetsa oa konopo o romelloa nako le nako ha konopo ea matla e tobetsoa. Molaetsa ha o na likhang.
7.1.2. Li-sensor
Aterese ea OSC: /sensors
Molaetsa oa sensor o na le litekanyo tse tsoang ho gyroscope, accelerometer, magnetometer, le barometer. Likhang tsa molaetsa li akaretsoa ho Lethathamo la 7.

Khang	Mofuta	Tlhaloso
1	phaphamala32	The gyroscope x-axis ka °/s
2	phaphamala32	The gyroscope y-axis ka °/s
3	phaphamala32	Gyroscope z-axis ka °/s
4	phaphamala32	Accelerometer x-axis ho g
5	phaphamala32	Accelerometer y-axis ho g
6	phaphamala32	Accelerometer z-axis ho g
7	phaphamala32	Magnetometer x axis ho µT
8	phaphamala32	Magnetometer y axis ho µT
9	phaphamala32	Magnetometer z axis ho µT
10	phaphamala32	Barometer ka hPa

Lethathamo la 7: Likhang tsa melaetsa ea kutlo

7.1.3. Boholo
Aterese ea OSC: /magnitudes
Molaetsa oa boholo o na le litekanyo tsa gyroscope, accelerometer, le magnetometer magnitudes. Likhang tsa molaetsa li akaretsoa ho Lethathamo la 8: Melaetsa ea boholo ba likhang.

Khang	Mofuta	Tlhaloso
1	phaphamala32	Boholo ba gyroscope ka °/s
2	phaphamala32	Accelerometer boholo ka g
3	phaphamala32	Boholo ba Magnetometer ho µT

Letlapa la 8: Melaetsa ea boholo ba likhang

7.1.4. Quaternion
Aterese ea OSC: /quaternion
Molaetsa oa quaternion o na le tlhahiso ea quaternion ea algorithm ea onboard AHRS e hlalosang chebahalo ea sesebelisoa se amanang le Lefatše (kopano ea NWU). Likhang tsa molaetsa li akaretsoa ho Lethathamo la 9.

Khang	Mofuta	Tlhaloso
1	phaphamala32	Quaternion w element
2	phaphamala32	Quaternion x element
3	phaphamala32	Quaternion y element
4	phaphamala32	Karolo ea Quaternion z

Letlapa la 9: Likhang tsa molaetsa oa Quaternion

7.1.5. Matrix a ho potoloha
Aterese ea OSC: /matrix
Molaetsa oa "rotation matrix" o na le tlhahiso ea "rotation matrix" ea algorithm ea onboard AHRS e hlalosang chebahalo ea sesebelisoa se amanang le Lefatše (kopano ea NWU). Likhang tsa molaetsa li hlalosa matrix ka taelo-kholo joalo ka ha ho akarelitsoe ho Lethathamo la 10.

Khang	Mofuta	Tlhaloso
1	phaphamala32	Karolo ea potoloho ea matrix xx
2	phaphamala32	Rotation matrix xy element
3	phaphamala32	Rotation matrix xz element
4	phaphamala32	Rotation matrix yx element
5	phaphamala32	Rotation matrix yy element
6	phaphamala32	Rotation matrix Yz element
7	phaphamala32	Karolo ea potoloho ea Zx
8	phaphamala32	Rotation matrix zy element
9	phaphamala32	Rotation matrix zz element

Lethathamo la 10: Likhang tsa molaetsa oa matrix

7.1.6. Li-angles tsa Euler
Aterese ea OSC: /Euler
Molaetsa oa li-angles tsa Euler o na le tlhahiso ea angle ea Euler ea algorithm ea onboard AHRS e hlalosang chebahalo ea sesebelisoa se amanang le Lefatše (kopano ea NWU). Likhang tsa molaetsa li akaretsoa ho Lethathamo la 11.

Khang	Mofuta	Tlhaloso
1	phaphamala32	Theola (x) angle ka likhato
2	phaphamala32	Pitch (y) angle ka likhato
3	phaphamala32	Yaw/heading (z) angle in degrees

7.1.7. Ho potlakisa mela
Aterese ea OSC: /linear
Molaetsa oa ho potlakisa o nang le mola o potlakileng o hlahisoang ke onboard sensor fusion algorithm e hlalosang lebelo le se nang matla a khoheli ka har'a foreimi ea khokahano ea sensor. Likhang tsa molaetsa li akaretsoa ho Lethathamo la 12.

Khang	Mofuta	Tlhaloso
1	phaphamala32	Ho potlakisa ho sensor x-axis ho g
2	phaphamala32	Ho potlakisa ho sensor y-axis ho g
3	phaphamala32	Ho potlakisa ho sensor z-axis ho g

Letlapa la 12: Likhang tsa molaetsa oa potlakiso

7.1.8. Ho potlakisa lefatshe
Aterese ea OSC: /earth
Molaetsa oa ho potlakisa Lefatše o na le tlhahiso ea ho potlakisa Lefatše ea algorithm ea onboard sensor fusion e hlalosang lebelo la khoheli le se nang khoheli ka har'a foreimi ea khokahano ea Lefatše. Likhang tsa molaetsa li akaretsoa ho Lethathamo la 13.

Khang	Mofuta	Tlhaloso
1	phaphamala32	Ho potlakisa Lefats'eng la x-axis ka g
2	phaphamala32	Ho potlakisa Lefats'eng la y-axis ka g
3	phaphamala32	Ho potlakisa Lefats'eng la z-axis ka g

Letlapa la 13: Likhang tsa molaetsa oa ho potlakisa lefatše

7.1.9. Bophahamo
Aterese ea OSC: /altitude
Molaetsa oa bophahamo o na le tekanyo ea bophahamo ka holim'a bophahamo ba leoatle. Khang ea molaetsa e akaretsoa ho Lethathamo la 14.

Khang	Mofuta	Tlhaloso
1	phaphamala32	Bophahamo bo ka holim'a bophahamo ba leoatle ka m

Letlapa la 14: Khang ea molaetsa oa bophahamo

7.1.10. Mocheso
Aterese ea OSC: /temperature
Molaetsa oa mocheso o na le litekanyo tse tsoang ho lisensara tsa mocheso ka har'a sesebelisoa. Likhang tsa molaetsa li akaretsoa ho Lethathamo la 15.

Khang	Mofuta	Tlhaloso
1	phaphamala32	Thempereichara ea gyroscope/accelerometer ho °C
2	phaphamala32	Thempereichara ea barometer ho °C

Letlapa la 15: Likhang tsa molaetsa oa mocheso

7.1.11. Mongobo
Aterese ea OSC: /mongobo
Molaetsa oa mongobo o na le tekanyo ea mongobo o lekanyelitsoeng. Khang ea molaetsa e akaretsoa ho Lethathamo la 16.

Khang	Mofuta	Tlhaloso
1	phaphamala32	Mongobo o amanang le %

Lethathamo la 16: Khang ea molaetsa oa mongobo

7.1.12. Betri
Aterese ea OSC: /betri
Molaetsa oa betri o na le matla a betritage le litekanyo tsa hona joale hammoho le linaha tsa algorithm ea gauge ea mafura. Likhang tsa molaetsa li akaretsoa ho Lethathamo la 17.

Khang	Mofuta	Tlhaloso
1	phaphamala32	Boemo ba betri ho %
2	phaphamala32	Nako ea ho lahla ka metsotso
3	phaphamala32	Matla a betritage ho V
4	phaphamala32	Battery e teng ho mA
5	khoele	Boemo ba tjhaja

Lethathamo la 17: Likhang tsa molaetsa oa betri

7.1.13. Lisebelisoa tsa analogue
Aterese ea OSC: /analogue
Molaetsa oa li-analogue o na le litekanyo tsa lisebelisoa tsa analogue voltages. Likhang tsa molaetsa li akaretsoa ho Lethathamo la 18.

Khang	Mofuta	Tlhaloso
1	phaphamala32	Channel 1 voltage ho V
2	phaphamala32	Channel 2 voltage ho V
3	phaphamala32	Channel 3 voltage ho V
4	phaphamala32	Channel 4 voltage ho V
5	phaphamala32	Channel 5 voltage ho V
6	phaphamala32	Channel 6 voltage ho V
7	phaphamala32	Channel 7 voltage ho V
8	phaphamala32	Channel 8 voltage ho V

Letlapa la 18: Analogue e kenya likhang tsa molaetsa

7.1.14. RSSI
Aterese ea OSC: /RSSI
Molaetsa oa RSSI o na le tekanyo ea RSSI (Receive Signal Strength Indicator) bakeng sa khokahanyo ea waelese. Tekanyo ena e sebetsa ha feela module ea Wi-Fi e sebetsa ka mokhoa oa moreki. Likhang tsa molaetsa li akaretsoa ho Lethathamo la 19.

Khang	Mofuta	Tlhaloso
1	phaphamala32	Tekanyo ea RSSI ka dBm
2	phaphamala32	Tekanyo ea RSSI joalo ka liperesentetage moo 0% ho 100% e emelang mefuta e fapaneng -100 dBm ho -50 dBm.

Lethathamo la 19: Khang ea molaetsa oa RSSI

7.1.15 Lintlha tse thusang tsa serial

Aterese ea OSC: /aux serial

Molaetsa oa serial o thusang o na le data e amohetsoeng ka sebopeho sa serial se thusang. Khang ea molaetsa e kanna ea ba o mong oa mefuta e 'meli ho latela litlhophiso tsa sesebelisoa joalo ka ha li akaretsoa ho Lethathamo la 20.

Khang	Mofuta	Tlhaloso
1	hlaba	Lintlha li amoheloa ka sebopeho sa serial se thusang.
1	khoele	Lintlha tse fumanoeng ka sehokelo sa serial se thusang ka li-byte tsohle tse se nang letho tse nkeloang sebaka ke "/0".

Lethathamo la 20: Khang ea molaetsa oa serial e thusang

7.1.16 Kenyelletso ea serial e thusang ea CTS

Aterese ea OSC: /aux serial/cts

Molaetsa oa tlatsetso oa serial oa CTS o na le boemo ba ho kenya ba CTS ba sehokelo sa serial se thusang ha taolo ea phallo ea hardware e koetsoe. Molaetsa ona o romelloa nako le nako ha boemo ba mongolo oa CTS bo fetoha. Khang ea molaetsa e akaretsoa ho Lethathamo la 21.

Khang	Mofuta	Tlhaloso
1	boolean	Boemo ba ho kenya CTS. Bohata = tlaase, 'Nete = phahameng.

Lethathamo la 21: Molaetsa oa tlatsetso oa serial oa CTS

7.1.17. Kenyelletso ea serial CTS
Aterese ea OSC: /serial/cts
Molaetsa oa serial oa ho kenya CTS o na le boemo ba ho kenya ba CTS ba sebopeho sa serial ha taolo ea phallo ea hardware e koetsoe. Molaetsa ona o romelloa nako le nako ha boemo ba mongolo oa CTS bo fetoha. Khang ea molaetsa e akaretsoa ho Lethathamo la 22.

Khang	Mofuta	Tlhaloso
1	boolean	Boemo ba ho kenya CTS. Bohata = tlaase, 'Nete = phahameng.

Lethathamo la 22: Khang ea molaetsa oa serial CTS

7.2. Lintlha ho sesebelisoa
Lintlha li romelloa sesebelisoa joalo ka melaetsa ea OSC. Sesebelisoa se ke ke sa romela molaetsa oa OSC ho arabela.
7.2.1. Lintlha tse thusang tsa serial
Aterese ea OSC: /auxserial
Molaetsa oa serial o thusang o sebelisetsoa ho romella data (byte e le 'ngoe kapa ho feta) ho tsoa ho sehokelo sa serial se thusang. Molaetsa ona o ka romelloa feela haeba mokhoa oa 'OSC passthrough' o sa lumelloa. Khang ea molaetsa e akaretsoa ho Lethathamo la 23.

Khang	Mofuta	Tlhaloso
1	OSC-blob / OSC-string	Lintlha tse lokelang ho fetisoa ho tsoa ho sehokelo sa serial se thusang

Letlapa la 23: Melaetsa e thusang ea serial data

7.2.2. Motlatsi oa serial RTS tlhahiso
Aterese ea OSC: /aux serial/rts
Molaetsa o thusang oa serial RTS o sebelisoa ho laola tlhahiso ea RTS ea sebopeho sa serial se thusang.
Molaetsa ona o ka romelloa feela haeba taolo ea phallo ea hardware e koetsoe. Khang ea molaetsa e akaretsoa ho Lethathamo la 24.

Khang	Mofuta	Tlhaloso
1	Int32/float32/boolean	Boemo ba tlhahiso ea RTS. 0 kapa leshano = tlase, eseng lefela kapa nnete = phahameng.

Letlapa la 24: Melaetsa e thusang ea serial ea RTS

7.2.3. Sephetho sa serial RTS
Aterese ea OSC: /serial/rts
Molaetsa oa serial oa RTS o sebelisoa ho laola tlhahiso ea RTS ea sebopeho sa serial. Molaetsa ona o ka romelloa feela haeba taolo ea phallo ea hardware e koetsoe. Khang ea molaetsa e akaretsoa ho Lethathamo la 25.

Khang	Mofuta	Tlhaloso
1	Int32/float32/boolean	Boemo ba tlhahiso ea RTS. 0 kapa leshano = tlase, eseng lefela kapa nnete = phahameng.

Letlapa la 25: Likhang tsa molaetsa oa serial RTS

7.3. Litaelo
Litaelo tsohle li romelloa e le melaetsa ea OSC. Sesebelisoa se tla netefatsa kamohelo ea taelo ka ho romella molaetsa o ts'oanang oa OSC ho moamoheli.
7.3.1. Beha nako
Aterese ea OSC: /time
Taelo ea nako e behiloeng e beha letsatsi le nako sesebelisoa. Khang ea molaetsa ke nako ea OSCtag.
7.3.2. Semumu
Aterese ea OSC: /mute
Taelo e sa bueng e thibela ho romelloa ha melaetsa eohle ea data e thathamisitsoeng ho Karolo ea 7.1. Melaetsa ea netefatso ea litaelo le melaetsa ea karabo ea ho bala/ngola e ntse e tla romelloa. Sesebelisoa se tla lula se khutsitse ho fihlela taelo ea ho khutsisa e romelloa.

7.3.3. Tlosa puo
Aterese ea OSC: /bulisa
Taelo e sa bueng e tla etsolla boemo ba semumu bo hlalositsoeng Karolong ea 7.3.2.
7.3.4. Hlahisa bocha
Aterese ea OSC: /reset
Taelo ea reset e tla etsa reset ea software. Sena se lekana le ho tima sesebelisoa ebe o se bula hape. Ho tsosolosa software ho tla etsoa metsotsoana ea 3 ka mor'a hore taelo e amoheloe ho netefatsa hore moamoheli o khona ho tiisa taelo pele e etsoa.

7.3.5. Robala
Aterese ea OSC: /robala
Taelo ea boroko e tla kenya sesebelisoa mokhoeng oa ho robala (o tima). Sesebelisoa se ke ke sa kenya mokhoa oa ho robala ho fihlela metsotsoana ea 3 ka mor'a hore taelo e amoheloe ho netefatsa hore moeti o khona ho tiisa taelo pele e etsoa.
7.3.6. Boitsebiso
Aterese ea OSC: /identify
Taelo ea ho tseba e tla etsa hore li-LED tsohle li bonese kapele bakeng sa metsotsoana e 5. Sena se ka 'na sa e-ba molemo ha u leka ho khetholla sesebelisoa se itseng ka har'a sehlopha sa lisebelisoa tse ngata.
7.3.7. Etsa kopo
Aterese ea OSC: /apply
Taelo ea ho sebetsa e tla qobella sesebelisoa hore se sebelise hang-hang litlhophiso tsohle tse emetseng tse ngotsoeng empa li e-s'o sebelisoe. Netefatso ea taelo ena e romelloa ka mor'a hore litlhophiso tsohle li sebelisoe.
7.3.8. Khutlisa kamehla
Aterese ea OSC: /default
Taelo ea kamehla ea ho tsosolosa e tla tsosolosa litlhophiso tsohle tsa lisebelisoa ho litekanyetso tsa tsona tsa feme.
7.3.9. AHRS e qala
Aterese ea OSC: /ahrs/initialise
Taelo ea ho qala ea AHRS e tla tsosolosa algorithm ea AHRS.
7.3.10. AHRS ha ho letho
Aterese ea OSC: /ahrs/zero
Taelo ea AHRS ea zero eaw e tla emisa karolo ea yaw ea mokhoa oa hajoale oa algorithm ea AHRS. Taelo ena e ka fanoa feela haeba magnetometer e hlokomolohuoa ho litlhophiso tsa AHRS.
7.3.11. Echo
Aterese ea OSC: /echo
Taelo ea echo e ka romelloa ka likhang life kapa life mme sesebelisoa se tla arabela ka molaetsa o ts'oanang oa OSC.
7.4. Litlhophiso
Litlhophiso tsa sesebelisoa li baloa le ho ngoloa ho sebelisoa melaetsa ea OSC. Thebo ea li-setting tsa software ea sesebelisoa
e fana ka phihlello ho litlhophiso tsohle tsa sesebelisoa mme e kenyelletsa litokomane tse felletseng bakeng sa tlhophiso ka 'ngoe.
7.4.1. Bala
Litlhophiso li baloa ka ho romella molaetsa oa OSC ka aterese ea OSC e tsamaellanang mme ha ho likhang. Sesebelisoa se tla arabela ka molaetsa oa OSC ka aterese e tšoanang ea OSC le boleng ba boemo ba hajoale e le khang.
7.4.2. Ngola
Litlhophiso li ngoloa ka ho romella molaetsa oa OSC ka aterese ea OSC e tsamaisanang le boemo ba likhang. Sesebelisoa se tla arabela ka molaetsa oa OSC ka aterese e tšoanang ea OSC le boleng bo bocha ba maemo e le khang.
Li-setting tse ling ha li sebelisoe hang-hang hobane sena se ka baka tahlehelo ea puisano le sesebelisoa haeba maemo a amang mocha oa puisano a fetotsoe. Litlhophiso tsena li sebelisoa metsotsoana e 3 ka mor'a mongolo oa ho qetela oa tlhophiso efe kapa efe.

7.5. Liphoso
Sesebelisoa se tla romella melaetsa ea liphoso e le molaetsa oa OSC o nang le aterese ea OSC: / phoso le khang ea khoele e le 'ngoe.
A. Ho kopanya mojule wa GPS le NGIMU
Karolo ena e hlalosa mokhoa oa ho hokahanya mojule oa GPS o kantle ho sethala le NGIMU. NGIMU e tsamaisana le mojule ofe kapa ofe oa serial GPS, the "Adafruit Ultimate GPS  Ho phatloha - lintlafatso tse 66 tsa liteishene le 10 Hz - Mofuta oa 3” e khethiloe mona molemong oa pontšo. Mojule ona o ka rekoa ho Adafruit kapa mofani ofe kapa ofe e mong.
A.1. Ho hlophisoa ha Hardware
Sekotwana sa betri ea tšepe ea CR1220 le likhoele tsa sehokelo sa serial interface li tlameha ho rekisetsoa boto ea module ea GPS. Linomoro tsa likarolo tsa sehokelo sa serial interface li hlalositsoe ka botlalo Karolong ea 2.6. Likamano tse hlokahalang pakeng tsa sekepe sa serial se thusang le mochine oa GPS li hlalositsoe ho Lethathamo la 26. Setšoantšo sa 5 se bontša mochine oa GPS o kopaneng o nang le sehokelo bakeng sa sebopeho sa serial se thusang.

Pin ea serial e thusang	GPS module pin
Fatše	"GND"
RTS	Ha e kopane
3.3 V tlhahiso	"3.3V"
RX	"TX"
TX	"RX"
CTS	Ha e kopane

Letlapa la 26: Lihokelo tsa serial tse thusang mojuleng oa GPS

Setšoantšo sa 4: Mojule oa GPS o kopaneng o nang le sehokelo bakeng sa sebopeho sa serial se thusang

Betri ea sele ea tšepe ea CR1220 ea hlokahala ho boloka litlhophiso tsa module ea GPS le ho matlafatsa oache ea nako ea nnete ha matla a kantle a le sieo. Mojule oa GPS o tla felloa ke matla nako le nako ha NGIMU e tingoa. Oache ea nako ea 'nete e fokotsa haholo nako e hlokahalang ho fumana senotlolo sa GPS. Ho ka lebelloa hore betri e tšoare matsatsi a ka bang 240.

A.2. Litlhophiso tsa NGIMU
Litlhophiso tse thusang tsa serial baud rate li tlameha ho hlophisoa ho 9600. Ena ke sekhahla sa kamehla sa mojule oa GPS. Mojule oa GPS o romella data ka lipakete tse arohaneng tsa ASCII, e 'ngoe le e' ngoe e felisitsoe ke mohala o mocha. Ka hona, litlhophiso tse thusang tsa serial framing li tlameha ho hlophisoa ho 10 e le hore pakete ka 'ngoe ea ASCII e be nako.ampe hlophisitsoeng le ho fetisoa/ketsoa ke NGIMU ka thoko. Sethapo sa tlatsetso sa 'send as string' se tlameha ho etsoa hore lipakete li toloke e le likhoele ke software ea NGIMU. Litlhophiso tse ling kaofela li lokela ho siuoa maemong a kamehla e le hore li-setting li lumellane le tse bontšitsoeng ho Setšoantšo sa 5.

Setšoantšo sa 5: Litlhophiso tsa serial tse thusang tse hlophisitsoeng bakeng sa module ea GPS

A.3. Viewho kenya le ho lokisa data ea GPS
Hang ha litlhophiso tsa NGIMU li se li hlophisitsoe joalo ka ha ho hlalositsoe Karolong ea A.2, data ea GPS e tla amoheloa le ho fetisetsoa ho mecha eohle ea puisano e sebetsang joalo ka linako.amped molaetsa o thusang oa serial joalo ka ha o hlalositsoe Karolong ea 7.1.15. NGIMU GUI e ka sebelisoa ho view data e kenang ea GPS e sebelisa Auxiliary Serial Terminal (tlas'a Tools menu). Setšoantšo sa 6 se bontša lintlha tsa GPS tse kenang ka mor'a hore ho finyelloe tokiso ea GPS. Mojule o ka nka metsotso e mashome ho fihlela tokiso ha o sebelisoa lekhetlo la pele.

Setšoantšo sa 6: Ho tla data ea GPS e bonts'itsoeng Sebakeng sa Auxiliary Serial Terminal

Litlhophiso tsa kamehla tsa module oa GPS li fana ka data ea GPS ka mefuta e mene ea liphutheloana tsa NMEA: GPGGA, GPGSA, GPRMC, le GPVTG. The Buka ea Litšupiso ea NMEA e fana ka tlhaloso e qaqileng ea data e ka har'a e 'ngoe le e 'ngoe ea lipakete tsena.
Software ea NGIMU e ka sebelisoa ho kenya data ea nako ea nnete joalo ka CSV files kapa ho fetolela data e kentsoeng kareteng ea SD file ho CSV files. Lintlha tsa GPS li fanoe ho auxserial.csv file. The file e na le litšiea tse peli: kholomo ea pele ke nakoamp ea pakete e fanoeng ea NMEA e hlahisitsoeng ke NGIMU ha pakete e amoheloa ho tsoa mojuleng oa GPS, 'me kholomo ea bobeli ke pakete ea NMEA. Mosebedisi o tlameha ho sebetsana le ho tlisa le ho hlaloswa ha data ena.

A.4. E lokisa sekhahla sa ntlafatso sa 10 Hz
Litlhophiso tsa kamehla tsa module oa GPS li romella data ka sekhahla sa ntlafatso sa 1 Hz. Mojule o ka hlophisoa ho romella data ka sekhahla sa ntlafatso sa 10 Hz. Sena se finyelloa ka ho romela lipakete tsa litaelo ho lokisa litlhophiso joalokaha ho hlalositsoe ho Karolo ea A.4.1 le A.4.2. Pakete e 'ngoe le e' ngoe ea litaelo e ka romelloa ho sebelisoa NGIMU GUI's Auxiliary Serial Terminal (tlasa menu ea Lisebelisoa). Mojule oa GPS o tla khutlela ho li-setting tsa kamehla haeba betri e tlositsoe.
Lipakete tsa litaelo tse hlalositsoeng karolong ena li entsoe ka mokhoa oa Pakete ea taelo ea GlobalTop PMTK litokomane tse nang le li-checksum tse baloang ho sebelisoa inthaneteng NMEA "Checksum Calculator"

A.4.1. Mohato oa 1 - Fetola sekhahla sa baud ho 115200
Romela pakete ea taelo “$PMTK251,115200*1F\r\n” mojuleng oa GPS. Lintlha tse kenang li tla hlaha e le 'litšila' hobane tekanyo ea hona joale ea serial baud ea 9600 ha e lumellane le lebelo le lecha la GPS la mojule oa 115200. Sethapo sa serial baud rate se tlameha ho behoa ho 115200 ho litlhophiso tsa NGIMU pele ho moo. data e hlaha hantle hape.

A.4.2. Mohato oa 2 - Fetola sekhahla sa tlhahiso ho 10 Hz
Romela pakete ea taelo “$PMTK220,100*2F\r\n” mojuleng oa GPS. Mojule oa GPS joale o tla romella data ka sekhahla sa ntlafatso sa 10 Hz.
A.4.3. Ho boloka litlhophiso tsa module oa GPS
Mojule oa GPS o tla boloka li-setting ka bohona. Leha ho le joalo, mojule oa GPS o tla khutlela ho li-setting tsa kamehla haeba betri e tlositsoe.

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X-IO TECHNOLOGY NGIMU e Phahameng ka ho Fetisisa E Featured IMU [pdf] Bukana ea Mosebelisi NGIMU, IMU e Phahameng ka ho Fetisisa e Felletseng ka Botlalo, IMU e Phahameng ka ho Fetisisa e Hlahisoa ka Botlalo IMU, IMU e Felletseng ka Botlalo, IMU e Felletseng, E Featured IMU, IMU

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