Hardware config¶

Device ID¶

Type: u8 | UID: 1573745586 | Config Mode: Basic

The 8 bit address of this device

Use battery¶

Type: bool | UID: 1573745844 | Config Mode: Developer

If enabled, the device is assumed to be battery powered, and will be powered down if the battery charge level is critically low.

Start on USB power¶

Type: bool | UID: 1573806175 | Config Mode: Basic

If enabled, the device will power on when connected to a USB port.

If disabled, the device will stay in charging mode when connected to a USB port, and needs a button press to power on.

Use pre-amp (0 : 2)¶

Type: u8 | UID: 1573806222 | Config Mode: Basic

0: Pre-amp is turned off

1: Pre-amp is turned on

2: Pre-amp is automatically turned on and off depending on measured b-field strength.

LED timeout [ms]¶

Type: u32LE | UID: 1573806228 | Config Mode: Advanced

Number of seconds before LED turns off, turns on again when state changes.

LED Intensity (0 : 100) [%]¶

Type: u8 | UID: 1681280234 | Config Mode: Basic

Adjust the LED intensity

If set to 0, the LED is turned off completely.

Use Synchronization¶

Type: bool | UID: 1581348091 | Config Mode: Developer

Enable sync of the devices frameID

Sync Rate [Hz]¶

Type: f32LE | UID: 1581347624 | Config Mode: Developer

How often the hub send out a sync signal

If set to 0, it follows the sample rate

Max sync rate is 120Hz

External Sync¶

Type: bool | UID: 1581347654 | Config Mode: Advanced

Sync is received from external device

Hub send sync signal on input pin

Sensors sync when receive sync signal from hub

Reset Frame ID on Sync¶

Type: bool | UID: 1730811311 | Config Mode: Advanced

Set the Frame ID to 0 when receiving a sync signal

Invert X coil¶

Type: bool | UID: 1658134601 | Config Mode: Developer

Invert the polarity of the X sensor coil.

Only change this, if the sensor is mounted on a wire, and the wire polarity has been reversed.

Invert Y coil¶

Type: bool | UID: 1658134602 | Config Mode: Developer

Invert the polarity of the Y sensor coil.

Only change this, if the sensor is mounted on a wire, and the wire polarity has been reversed.

Invert Z coil¶

Type: bool | UID: 1658134603 | Config Mode: Developer

Invert the polarity of the Z sensor coil.

Only change this, if the sensor is mounted on a wire, and the wire polarity has been reversed.

Sync switch¶

Type: bool | UID: 1704785815 | Config Mode: Developer

False == Sync out, True == I/O

RF config¶

RF hub (requires restart)¶

Type: bool | UID: 1573745790 | Config Mode: Advanced

Act as a RF hub, which other devices can connect to.

Two RF hubs cannot communicate with each other.

RF frequency (0 : 100) [Mhz + 2.4G]¶

Type: u8 | UID: 1574675720 | Config Mode: Advanced

RF frequency from 2.4 - 2.5 GHz

Can be incremented in steps of 1 MHz

RF address (2 : 8)¶

Type: u8 | UID: 1574675743 | Config Mode: Advanced

RF address of device.

Sensors should be between 2 and 7, Source should be 8

Hub does not need an address, and is normally set to 123 to indicate hub

RF Tx Power (-40 : +4) [dBm]¶

Type: s8 | UID: 1574675748 | Config Mode: Developer

RF transmit power.

Pipe always-on bitfield¶

Type: u8 | UID: 1647599128 | Config Mode: Developer

Bitfield of the 8 addresses the RF hub is listening for.

A 1 bit indicates that the hub should always request data from that address, and never let it time out, even when not receiving data from it for an extended amount of time.

Only set bits to 1 for devices that are always present, since otherwise the RF hub will spend a lot of time waiting for replies, thus lowering the overall bandwidth of the system.

Pipe enabled bitfield¶

Type: u8 | UID: 1647599129 | Config Mode: Developer

Bitfield of the 8 addresses the RF hub can listen to.

A 0 bit indicates that the hub will never request data from that address.

A 1 bit indicates that the RF master will request packets from this address, and if not getting a reply within “Pipe timeout”, will suspend that address for “Pipe connect retry” before trying again, unless “Pipe always-on bitfield” is set for this address.

Pipe timeout [ms]¶

Type: u16LE | UID: 1698660682 | Config Mode: Developer

How long time does the RF hub try to get data from an address, before suspending sending packets to that address.

Pipe connect retry [ms]¶

Type: u16LE | UID: 1698660683 | Config Mode: Developer

How long time an address is suspended after not replying, before the RF hub tries to communicate with that address again.

Retransmit until acked¶

Type: bool | UID: 1647599133 | Config Mode: Developer

Keep sending the same packet until an acknowledge is received.

Set to true to avoid dropped packets, at the expense of occasional higher latency under poor RF conditions.

Set to false to only try to send each packet a few times, before dropping the packet. Use this to get the best real time performance, at the expense of occasional dropped packets under poor RF conditions.

Radio enabled (requires restart)¶

Type: bool | UID: 1663834111 | Config Mode: Developer

True to enable the radio, and false to disable it.

Auto channel finder¶

Type: bool | UID: 1675251785 | Config Mode: Advanced

If enabled, the RF hub will try to find the least noisy RF channel when starting up, and the devices that want to connect to the hub will automatically find the channel.

Auto channel switching¶

Type: bool | UID: 1729151110 | Config Mode: Advanced

If enabled, the RF hub will continuously search for the least noisy RF channel, and make sure all devices switch, without package loss.

Require RF V3.4 to work.

Parameter to sync bitmask¶

Type: u16LE | UID: 1663850521 | Config Mode: Developer

Bitfield of which parameters should the sensors receive from the RF hub

Options¶

Config mode (0 : 2)¶

Type: u8 | UID: 1676370329 | Config Mode: Basic

What level of configuration details should be shown

0 == Basic | 1 == Advanced | 2 == Developer

Combine Poses¶

Type: u8 | UID: 1625131200 | Config Mode: Advanced

0: Calculate the pose of the sensor relative to each source individually.

1: Calculate a weighted average between all the tracked sources

2: Calculate both a weighted average between all the tracked sources. as well as the pose relative to each source individually.

Dual source auto start¶

Type: bool | UID: 1648532686 | Config Mode: Advanced

Use 2 sources to resolve the b-field ambiguity that exists when only tracking one source.

Requires information about the pose of each source in a common world coordinate system, which is entered in the “Source offset” parameters

The axes of the two sources must not be colinear.

Auto Start off radius [m]¶

Type: f32LE | UID: 1666787355 | Config Mode: Advanced

At what distance from the source will the sensor no longer try to perform auto start, when using “Dual source auto start”

Tracking off radius [m]¶

Type: f32LE | UID: 1667477736 | Config Mode: Developer

At what radius the device will stop tracking

Restarts to the startup procedure

Sample-rate (25 : 250) [Hz]¶

Type: f32LE | UID: 1573745627 | Config Mode: Basic

How many poses are calculated each second

Send Pose¶

Type: bool | UID: 1573745654 | Config Mode: Developer

If enabled, send the calculated pose from the b-field as well as IMU data and sensor status information.

Set to false if device is a hub

Send pose and fusion pose¶

Type: bool | UID: 1590579844 | Config Mode: Developer

If enabled, send both the pose calculated only from b-field as well as the pose calculated by fusing the b-field and IMU data.

Can be used to see the effect of running with and without IMU Fusion at the same time.

Send raw B-field¶

Type: u8 | UID: 1589193044 | Config Mode: Developer

Send the calculated b-field amplitudes in raw ADC counts.

Will dobbelt the number of package sent

Send raw B-field with phase¶

Type: u8 | UID: 1615985633 | Config Mode: Developer

Send the calculated b-field amplitudes in raw ADC counts as well as the phase relative to the internal oscillator.

Will dobbelt the number of package sent

Currently not supported in the Amfitrack Viewer

Send normalized B-field¶

Type: u8 | UID: 1589193070 | Config Mode: Advanced

Send the calculated b-field amplitudes when taking the calibration values into account.

Will dobbelt the number of package sent

Fusion Reset¶

Type: ProcedureCall | UID: 1573806327 | Config Mode: Developer

Resets the IMU fusion

Does nothing at the moment

Keep old samples on overflow¶

Type: bool | UID: 1648635890 | Config Mode: Advanced

If enabled, the sensor will drop the newest samples if its internal sample buffer gets filled.

If disabled, the internal sample buffer will always contain the newest samples, and continuously overwrite old samples if the buffer is filled.

The sample buffer only gets filled when there is no or poor connection to the RF hub for extended amounts of time, or if the bandwidth is too low to the selected sample rate and packet selection.

Flush Buffers¶

Type: ProcedureCall | UID: 1649234939 | Config Mode: Advanced

Empty all the internal sample buffers in the sensor.

Buffer Size [sec]¶

Type: f32LE | UID: 1580807477 | Config Mode: Advanced

How many samples are kept in the internal sample buffer.

The maximum time depends on the sample rate and the amount of different packets types that are enabled on the sensor.

Field quality LED Visual¶

Type: bool | UID: 1668603135 | Config Mode: Basic

Show the field quality on the LED, goes from red (worst) -> yellow (better) -> green (best)

Field quality Scale¶

Type: f32LE | UID: 1668603136 | Config Mode: Advanced

Scale of how much/little the field quality needs to be affected to change its value.

Mag norm Upper threshold for source¶

Type: f32LE | UID: 1694092688 | Config Mode: Developer

Sources magnetometer vector length upper threshold

Will blink white if outside this range

Mag norm Lower threshold for source¶

Type: f32LE | UID: 1694092689 | Config Mode: Developer

Sources magnetometer vector length lower threshold

Will blink white if outside this range

Use magnetometer for auto startup¶

Type: bool | UID: 1694177788 | Config Mode: Developer

Use the magnetometer as auto startup

Magnetometer signing threshold¶

Type: f32LE | UID: 1694690944 | Config Mode: Developer

How much more trust it needs in one position, compared to the second to sign correct

Signing number count¶

Type: u8 | UID: 1695977284 | Config Mode: Developer

How many times the sign have to be identical for it to sign

Use accelerometer for auto startup¶

Type: bool | UID: 1694690945 | Config Mode: Developer

Use the accelerometer as auto startup

Accelerometer signing threshold¶

Type: f32LE | UID: 1694177789 | Config Mode: Developer

How much more trust it needs in one position, compared to the second to sign correct

Mag norm Upper threshold for sensor¶

Type: f32LE | UID: 1694433870 | Config Mode: Developer

Sensors magnetometer vector length upper threshold

Will blink white if outside this range

Mag norm Lower threshold for sensor¶

Type: f32LE | UID: 1694433871 | Config Mode: Developer

Sensors magnetometer vector length lower threshold

Will blink white if outside this range

Assume hemisphere using plane¶

Type: bool | UID: 1719913583 | Config Mode: Developer

Assume and then verify using hemisphere detect

Will use the plane set by the normal vector X, Y and Z

Use plane for hemisphere detection¶

Type: bool | UID: 1694608988 | Config Mode: Developer

Enable for no hemisphere detect

Will use the plane set by the normal vector X, Y and Z

Hemisphere detection normal vector X¶

Type: f32LE | UID: 1694608989 | Config Mode: Developer

Normal vector X

Hemisphere detection normal vector Y¶

Type: f32LE | UID: 1694608990 | Config Mode: Developer

Normal vector Y

Hemisphere detection normal vector Z¶

Type: f32LE | UID: 1694608991 | Config Mode: Developer

Normal Vector Z

Hemisphere detection distance thresshold¶

Type: f32LE | UID: 1694608992 | Config Mode: Developer

Minimum distance to hemisphere detection plane

IMU fusion Enable¶

Type: bool | UID: 1693817794 | Config Mode: Basic

Enable Fusion with Gyro and accelerometer

IMU-F position process noise acc gain¶

Type: f32LE | UID: 1696587746 | Config Mode: Developer

Multiplier for acc distrust for estimating position

IMU-F position process noise gyro gain¶

Type: f32LE | UID: 1696587747 | Config Mode: Developer

Multiplier for gyro distrust for estimating position

IMU-F orientation process noise gain¶

Type: f32LE | UID: 1696587748 | Config Mode: Developer

Multiplier for gyro distrust for estimating orientation

IMU-F orientation measurement noise acc gain¶

Type: f32LE | UID: 1696587749 | Config Mode: Developer

Multiplier for acc distrust for estimating orientation

Transient Metal Compensation Enable¶

Type: bool | UID: 1732618818 | Config Mode: Advanced

Enable TMC

IMU fusion must be enabled

Advanced LED pattern¶

Type: bool | UID: 1698213671 | Config Mode: Developer

Enable advanced LED pattern

See LED pattern description for change

Source in sensors origin¶

Type: bool | UID: 1699862342 | Config Mode: Developer

If enabled, calculate the pose of the source relative to the sensor coordinate system.

If disabled, calculate the pose of the sensor relative to the source coordinate system.

Use PLL autostartup¶

Type: bool | UID: 1713181001 | Config Mode: Advanced

Uses PLL for autostartup

Use IMU autostartup¶

Type: bool | UID: 1713181002 | Config Mode: Advanced

Uses IMU for autostartup

Uses magnetometer

Tables saved in flash¶

Type: bool | UID: 1715933165 | Config Mode: Developer

Indicates that the DSP tables have been generated by the firmware and saved in the internal flash. If set to false, the tables will be regenerated the next time the device is powered on.

Use Button for startup¶

Type: bool | UID: 1727100217 | Config Mode: Advanced

Tracking can be started and restarted by clicking button

EMF Calibration¶

Calib split X¶

Type: f32LE | UID: 1573809381 | Config Mode: Developer

X sensor coil and analog frontend calibration value.

Do not change!

Calib split Y¶

Type: f32LE | UID: 1573809383 | Config Mode: Developer

Y sensor coil and analog frontend calibration value.

Do not change!

Calib split Z¶

Type: f32LE | UID: 1573809385 | Config Mode: Developer

Z sensor coil and analog frontend calibration value.

Do not change!

Calib split X_NPA¶

Type: f32LE | UID: 1609936723 | Config Mode: Developer

X sensor coil and analog frontend calibration value, with the pre-amp turned off

* Do not change!

Calib split Y_NPA¶

Type: f32LE | UID: 1609936921 | Config Mode: Developer

Y sensor coil and analog frontend calibration value, with the pre-amp turned off

* Do not change!

Calib split Z_NPA¶

Type: f32LE | UID: 1609936929 | Config Mode: Developer

Z sensor coil and analog frontend calibration value, with the pre-amp turned off

* Do not change!

PLL pre-amp phase bias X¶

Type: f32LE | UID: 1713943113 | Config Mode: Developer

PLL Phase Bias introduced by pre-amp on X coil

Should be 0 after correct calibration

PLL pre-amp phase bias Y¶

Type: f32LE | UID: 1713943114 | Config Mode: Developer

PLL Phase Bias introduced by pre-amp on Y coil

Should be 0 after correct calibration

PLL pre-amp phase bias Z¶

Type: f32LE | UID: 1713943115 | Config Mode: Developer

PLL Phase Bias introduced by pre-amp on Z coil

Should be 0 after correct calibration

PLL sensor phase bias X¶

Type: f32LE | UID: 1714382491 | Config Mode: Developer

PLL Phase Bias on X coil

Should be 0 after correct calibration

PLL sensor phase bias Y¶

Type: f32LE | UID: 1714382497 | Config Mode: Developer

PLL Phase Bias on Y coil

Should be 0 after correct calibration

PLL sensor phase bias Z¶

Type: f32LE | UID: 1714382503 | Config Mode: Developer

PLL Phase Bias on Z coil

Should be 0 after correct calibration

PLL Active Coils (012:Two,3:All,4:Smart)¶

Type: u8 | UID: 1715668882 | Config Mode: Developer

PLL signing strategy

0=XY, 1=XZ, 2=YZ, 3=XYZ, 4=Smart

Use 4 if possible

PLL bias calibration¶

Type: ProcedureCall | UID: 1714130750 | Config Mode: Advanced

Re-calibrate PLL biases to fit with current source

Source should be PLL calibrated beforehand

PLL enable DSP compensation¶

Type: bool | UID: 1724747205 | Config Mode: Developer

Compensate for phase biases introduced by DSP

Need to be true unless calibrating new sensor FW

PLL enable HW compensation¶

Type: bool | UID: 1724747206 | Config Mode: Developer

Compensate for phase biases introduced by HW

Need to be true unless calibrating new sensor HW

Legacy EMF Calibration¶

Type: bool | UID: 1708608205 | Config Mode: Developer

Use EMF calibration values in the legacy format

Do not change without doing a re-calibration in a helmholtz coil

IMU Calibration¶

Gyro offset X [rad/sec]¶

Type: f32LE | UID: 1573806305 | Config Mode: Developer

Gyroscope calibration offset X

Gyro offset Y [rad/sec]¶

Type: f32LE | UID: 1573806308 | Config Mode: Developer

Gyroscope calibration offset Y

Gyro offset Z [rad/sec]¶

Type: f32LE | UID: 1573806311 | Config Mode: Developer

Gyroscope calibration offset Z

Gyro Calibrate¶

Type: ProcedureCall | UID: 1573806324 | Config Mode: Advanced

Calibrate gyroscope

The device needs to lay completely still when being calibrated

MAG Offset X [uT]¶

Type: f32LE | UID: 1690889287 | Config Mode: Advanced

Magnetometer hard iron offset X

MAG Offset Y [uT]¶

Type: f32LE | UID: 1690889288 | Config Mode: Advanced

Magnetometer hard iron offset Y

MAG Offset Z [uT]¶

Type: f32LE | UID: 1690889289 | Config Mode: Advanced

Magnetometer hard iron offset Z

MAG Compensation XX¶

Type: f32LE | UID: 1690889290 | Config Mode: Advanced

Magnetometer soft iron offset XX

MAG Compensation XY¶

Type: f32LE | UID: 1690889291 | Config Mode: Advanced

Magnetometer soft iron offset XY

MAG Compensation XZ¶

Type: f32LE | UID: 1690889292 | Config Mode: Advanced

Magnetometer soft iron offset XZ

MAG Compensation YY¶

Type: f32LE | UID: 1690889293 | Config Mode: Advanced

Magnetometer soft iron offset YY

MAG Compensation YZ¶

Type: f32LE | UID: 1690889294 | Config Mode: Advanced

Magnetometer soft iron offset YZ

MAG Compensation ZZ¶

Type: f32LE | UID: 1690889295 | Config Mode: Advanced

Magnetometer soft iron offset ZZ

Accel Offset X [mg]¶

Type: f32LE | UID: 1690967535 | Config Mode: Developer

Accelerometer offset X

Accel Offset Y [mg]¶

Type: f32LE | UID: 1690967536 | Config Mode: Developer

Accelerometer offset Y

Accel Offset Z [mg]¶

Type: f32LE | UID: 1690967537 | Config Mode: Developer

Accelerometer offset Z

Accel Compensation XX¶

Type: f32LE | UID: 1690967538 | Config Mode: Developer

Gain and rotation compensation: X += XX*acc_x

Default = 1.0

Accel Compensation XY¶

Type: f32LE | UID: 1690967539 | Config Mode: Developer

Gain and rotation compensation: X += XY*acc_y

Default = 0.0

Accel Compensation XZ¶

Type: f32LE | UID: 1690967540 | Config Mode: Developer

Gain and rotation compensation: X += XZ*acc_z

Default = 0.0

Accel Compensation YX¶

Type: f32LE | UID: 1690967541 | Config Mode: Developer

Gain and rotation compensation: Y += YX*acc_x

Default = 0.0

Accel Compensation YY¶

Type: f32LE | UID: 1690967542 | Config Mode: Developer

Gain and rotation compensation: Y += YY*acc_y

Default = 1.0

Accel Compensation YZ¶

Type: f32LE | UID: 1690967543 | Config Mode: Developer

Gain and rotation compensation: Y += YZ*acc_z

Default = 0.0

Accel Compensation ZX¶

Type: f32LE | UID: 1690967544 | Config Mode: Developer

Gain and rotation compensation: Z += ZX*acc_x

Default = 0.0

Accel Compensation ZY¶

Type: f32LE | UID: 1690967545 | Config Mode: Developer

Gain and rotation compensation: Z += ZY*acc_y

Default = 0.0

Accel Compensation ZZ¶

Type: f32LE | UID: 1690967546 | Config Mode: Developer

Gain and rotation compensation: Z += ZZ*acc_z

Default = 1.0

Accelerometer scale (2 : 16) [g]¶

Type: u8 | UID: 1695976819 | Config Mode: Advanced

Accelerometer scale in g

Set between 2 and 16, if outside range, it automatically find the closest macthing.

PCB orientation relative to coil (QX)¶

Type: f32LE | UID: 1730900570 | Config Mode: Advanced

PCB orientation in quaternion (QX)

Coil as reference

PCB orientation relative to coil (QY)¶

Type: f32LE | UID: 1730900572 | Config Mode: Advanced

PCB orientation in quaternion (QY)

Coil as reference

PCB orientation relative to coil (QZ)¶

Type: f32LE | UID: 1730900574 | Config Mode: Advanced

PCB orientation in quaternion (QZ)

Coil as reference

PCB orientation relative to coil (QW)¶

Type: f32LE | UID: 1730900576 | Config Mode: Advanced

PCB orientation in quaternion (QW)

Coil as reference

Source 1 config¶

Source#1 ID¶

Type: u8 | UID: 1573745600 | Config Mode: Advanced

The 8 bit address of the source which the device is tracking

Source#1 offset X [m]¶

Type: f32LE | UID: 1625136580 | Config Mode: Advanced

Source position in world coordinate system [X coordinate]

Set to 0 to use this source origin as world origin

Source#1 offset Y [m]¶

Type: f32LE | UID: 1625136581 | Config Mode: Advanced

Source position in world coordinate system [Y coordinate]

Set to 0 to use this source origin as world origin

Source#1 offset Z [m]¶

Type: f32LE | UID: 1625136582 | Config Mode: Advanced

Source position in world coordinate system [Z coordinate]

Set to 0 to use this source origin as world origin

Source#1 offset QX¶

Type: f32LE | UID: 1625136583 | Config Mode: Advanced

Source orientation in world coordinate system [X quaternion]

Set to 0 to use this source orientation as world orientation

Source#1 offset QY¶

Type: f32LE | UID: 1625136584 | Config Mode: Advanced

Source orientation in world coordinate system [Y quaternion]

Set to 0 to use this source orientation as world orientation

Source#1 offset QZ¶

Type: f32LE | UID: 1625136585 | Config Mode: Advanced

Source orientation in world coordinate system [Z quaternion]

Set to 0 to use this source orientation as world orientation

Source#1 offset QW¶

Type: f32LE | UID: 1625136586 | Config Mode: Advanced

Source orientation in world coordinate system [W quaternion]

Set to 1 to use this source orientation as world orientation

Source#1 apply offset¶

Type: bool | UID: 1634221440 | Config Mode: Advanced

If enabled, calculate sensor pose in world coordinate

If disabled, calculate sensor pose relative to this source origin and orientation

Source#1 invert offset¶

Type: bool | UID: 1637321095 | Config Mode: Advanced

If enabled, the source offsets specifies the world origin relative to the source

If disabled, the source offsets specifies the source pose in the world coordinate system

Startup pose X [m]¶

Type: f32LE | UID: 1573830346 | Config Mode: Advanced

Expected sensor position relative to source#1s coordinate system when performing manual startup [X coordinate]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose Y [m]¶

Type: f32LE | UID: 1573830351 | Config Mode: Advanced

Expected sensor position relative to source#1s coordinate system when performing manual startup [Y coordinate]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose Z [m]¶

Type: f32LE | UID: 1573830354 | Config Mode: Advanced

Expected sensor position relative to source#1s coordinate system when performing manual startup [Z coordinate]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose QX¶

Type: f32LE | UID: 1573830357 | Config Mode: Advanced

Expected sensor orientation relative to source#1s coordinate system when performing manual startup [X quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose QY¶

Type: f32LE | UID: 1573830361 | Config Mode: Advanced

Expected sensor orientation relative to source#1s coordinate system when performing manual startup [Y quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose QZ¶

Type: f32LE | UID: 1573830363 | Config Mode: Advanced

Expected sensor orientation relative to source#1s coordinate system when performing manual startup [Z quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose QW¶

Type: f32LE | UID: 1573830366 | Config Mode: Advanced

Expected sensor orientation relative to source#1s coordinate system when performing manual startup [W quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Record startup pose¶

Type: ProcedureCall | UID: 1574174379 | Config Mode: Advanced

Use the current pose of the sensor as the new startup pose for source#1.

Reset startup pose¶

Type: ProcedureCall | UID: 1575376781 | Config Mode: Advanced

Revert the startup pose for source#1 back to the default

Default is [0.6 0.0 0.3] m and a rotation of 180 degrees around the Z axis.

Set startup pose¶

Type: ProcedureCall | UID: 1575547842 | Config Mode: Advanced

Apply the startup pose for source#1.

Must be set to true after changing any of the “Startup pose” parameters for them to have an effect.

Force untrack #1¶

Type: ProcedureCall | UID: 1713177870 | Config Mode: Advanced

Revert the sensors tracking state for source#1 to before either manual or auto startup has been performed.

Assume X Frequency [Hz]¶

Type: f32LE | UID: 1610463416 | Config Mode: Developer

Ignores source packets and sets source #1’s X-frequency

Assume Y Frequency [Hz]¶

Type: f32LE | UID: 1610463431 | Config Mode: Developer

Ignores source packets and sets source #1’s Y-frequency

Assume Z Frequency [Hz]¶

Type: f32LE | UID: 1610463438 | Config Mode: Developer

Ignores source packets and sets source #1’s Z-frequency

Assume X Current [mA]¶

Type: f32LE | UID: 1610463446 | Config Mode: Developer

Ignores source packets and sets source #1’s X-Current

Assume Y Current [mA]¶

Type: f32LE | UID: 1610463455 | Config Mode: Developer

Ignores source packets and sets source #1’s Y-Current

Assume Z Current [mA]¶

Type: f32LE | UID: 1610463463 | Config Mode: Developer

Ignores source packets and sets source #1’s Z-Current

Assume X Cal¶

Type: f32LE | UID: 1610464205 | Config Mode: Developer

Ignores source packets and sets source #1’s X-Calibration value

Assume Y Cal¶

Type: f32LE | UID: 1610464213 | Config Mode: Developer

Ignores source packets and sets source #1’s Y-Calibration value

Assume Z Cal¶

Type: f32LE | UID: 1610464218 | Config Mode: Developer

Ignores source packets and sets source #1’s Z-Calibration value

Source 2 config¶

Source#2 ID¶

Type: u8 | UID: 1573745618 | Config Mode: Advanced

The 8 bit address of the 2nd source which the device is tracking

Source#2 offset X [m]¶

Type: f32LE | UID: 1612965632 | Config Mode: Advanced

Source#2 position in world coordinate system [X coordinate]

Set to 0 to use this source origin as world origin

Source#2 offset Y [m]¶

Type: f32LE | UID: 1612965633 | Config Mode: Advanced

Source#2 position in world coordinate system [Y coordinate]

Set to 0 to use this source origin as world origin

Source#2 offset Z [m]¶

Type: f32LE | UID: 1612965634 | Config Mode: Advanced

Source#2 position in world coordinate system [Z coordinate]

Set to 0 to use this source origin as world origin

Source#2 offset QX¶

Type: f32LE | UID: 1612965635 | Config Mode: Advanced

Source#2 orientation in world coordinate system [X quaternion]

Set to 0 to use this source orientation as world orientation

Source#2 offset QY¶

Type: f32LE | UID: 1612965636 | Config Mode: Advanced

Source#2 orientation in world coordinate system [Y quaternion]

Set to 0 to use this source orientation as world orientation

Source#2 offset QZ¶

Type: f32LE | UID: 1612965637 | Config Mode: Advanced

Source#2 orientation in world coordinate system [Z quaternion]

Set to 0 to use this source orientation as world orientation

Source#2 offset QW¶

Type: f32LE | UID: 1612965638 | Config Mode: Advanced

Source#2 orientation in world coordinate system [W quaternion]

Set to 1 to use this source orientation as world orientation

Source#2 apply offset¶

Type: bool | UID: 1612965639 | Config Mode: Advanced

If enabled, calculate sensor pose in world coordinate

If disabled, calculate sensor pose relative to this source origin and orientation

Source#2 invert offset¶

Type: bool | UID: 1637321110 | Config Mode: Advanced

If enabled, the source offsets specifies the world origin relative to the source

If disabled, the source offsets specifies the source pose in the world coordinate system

Startup pose#2 X [m]¶

Type: f32LE | UID: 1575290986 | Config Mode: Advanced

Expected sensor position relative to source#2s coordinate system when performing manual startup [X coordinate]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#2 Y [m]¶

Type: f32LE | UID: 1575291020 | Config Mode: Advanced

Expected sensor position relative to source#2s coordinate system when performing manual startup [Y coordinate]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#2 Z [m]¶

Type: f32LE | UID: 1575291029 | Config Mode: Advanced

Expected sensor position relative to source#2s coordinate system when performing manual startup [Z coordinate]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#2 QX¶

Type: f32LE | UID: 1575291039 | Config Mode: Advanced

Expected sensor orientation relative to source#2s coordinate system when performing manual startup [X quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#2 QY¶

Type: f32LE | UID: 1575291047 | Config Mode: Advanced

Expected sensor orientation relative to source#2s coordinate system when performing manual startup [Y quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#2 QZ¶

Type: f32LE | UID: 1575291055 | Config Mode: Advanced

Expected sensor orientation relative to source#2s coordinate system when performing manual startup [Z quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#2 QW¶

Type: f32LE | UID: 1575291064 | Config Mode: Advanced

Expected sensor orientation relative to source#2s coordinate system when performing manual startup [W quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Record startup pose#2¶

Type: ProcedureCall | UID: 1575291072 | Config Mode: Advanced

Use the current pose of the sensor as the new startup pose for source#2.

Reset startup pose#2¶

Type: ProcedureCall | UID: 1575291074 | Config Mode: Advanced

Revert the startup pose for source#2 back to the default

Default is [0.6 0.0 0.3] m and a rotation of 180 degrees around the Z axis.

Set startup pose#2¶

Type: ProcedureCall | UID: 1575291076 | Config Mode: Advanced

Apply the startup pose for source#2.

Must be set to true after changing any of the “Startup pose” parameters for them to have an effect.

Force untrack #2¶

Type: ProcedureCall | UID: 1713177871 | Config Mode: Advanced

Revert the sensors tracking state for source#2 to before either manual or auto startup has been performed.

Assume X#2 Frequency [Hz]¶

Type: f32LE | UID: 1610529874 | Config Mode: Developer

Ignores source packets and sets source #2’s X-frequency

Assume Y#2 Frequency [Hz]¶

Type: f32LE | UID: 1610529875 | Config Mode: Developer

Ignores source packets and sets source #2’s Y-frequency

Assume Z#2 Frequency [Hz]¶

Type: f32LE | UID: 1610529876 | Config Mode: Developer

Ignores source packets and sets source #2’s Z-frequency

Assume X#2 Current [mA]¶

Type: f32LE | UID: 1610529877 | Config Mode: Developer

Ignores source packets and sets source #2’s X-Current

Assume Y#2 Current [mA]¶

Type: f32LE | UID: 1610529878 | Config Mode: Developer

Ignores source packets and sets source #2’s Y-Current

Assume Z#2 Current [mA]¶

Type: f32LE | UID: 1610529879 | Config Mode: Developer

Ignores source packets and sets source #2’s Z-Current

Assume X#2 Cal¶

Type: f32LE | UID: 1610529880 | Config Mode: Developer

Ignores source packets and sets source #2’s X-Calibration value

Assume Y#2 Cal¶

Type: f32LE | UID: 1610529881 | Config Mode: Developer

Ignores source packets and sets source #2’s Y-Calibration value

Assume Z#2 Cal¶

Type: f32LE | UID: 1610529882 | Config Mode: Developer

Ignores source packets and sets source #2’s Z-Calibration value

Source 3 config¶

Source#3 ID¶

Type: u8 | UID: 1709040443 | Config Mode: Advanced

The 8 bit address of the 3rd source which the device is tracking

Source#3 offset X [m]¶

Type: f32LE | UID: 1709040445 | Config Mode: Advanced

Source#3 position in world coordinate system [X coordinate]

Set to 0 to use this source origin as world origin

Source#3 offset Y [m]¶

Type: f32LE | UID: 1709040446 | Config Mode: Advanced

Source#3 position in world coordinate system [Y coordinate]

Set to 0 to use this source origin as world origin

Source#3 offset Z [m]¶

Type: f32LE | UID: 1709040447 | Config Mode: Advanced

Source#3 position in world coordinate system [Z coordinate]

Set to 0 to use this source origin as world origin

Source#3 offset QX¶

Type: f32LE | UID: 1709040448 | Config Mode: Advanced

Source#3 orientation in world coordinate system [X quaternion]

Set to 0 to use this source orientation as world orientation

Source#3 offset QY¶

Type: f32LE | UID: 1709040449 | Config Mode: Advanced

Source#3 orientation in world coordinate system [Y quaternion]

Set to 0 to use this source orientation as world orientation

Source#3 offset QZ¶

Type: f32LE | UID: 1709040450 | Config Mode: Advanced

Source#3 orientation in world coordinate system [Z quaternion]

Set to 0 to use this source orientation as world orientation

Source#3 offset QW¶

Type: f32LE | UID: 1709040451 | Config Mode: Advanced

Source#3 orientation in world coordinate system [W quaternion]

Set to 1 to use this source orientation as world orientation

Source#3 apply offset¶

Type: bool | UID: 1709040452 | Config Mode: Advanced

If enabled, calculate sensor pose in world coordinate

If disabled, calculate sensor pose relative to this source origin and orientation

Source#3 invert offset¶

Type: bool | UID: 1709040453 | Config Mode: Advanced

If enabled, the source offsets specifies the world origin relative to the source

If disabled, the source offsets specifies the source pose in the world coordinate system

Startup pose#3 X [m]¶

Type: f32LE | UID: 1709040454 | Config Mode: Advanced

Expected sensor position relative to source#3s coordinate system when performing manual startup [X coordinate]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#3 Y [m]¶

Type: f32LE | UID: 1709040455 | Config Mode: Advanced

Expected sensor position relative to source#3s coordinate system when performing manual startup [Y coordinate]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#3 Z [m]¶

Type: f32LE | UID: 1709040456 | Config Mode: Advanced

Expected sensor position relative to source#3s coordinate system when performing manual startup [Z coordinate]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#3 QX¶

Type: f32LE | UID: 1709040457 | Config Mode: Advanced

Expected sensor orientation relative to source#3s coordinate system when performing manual startup [X quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#3 QY¶

Type: f32LE | UID: 1709040458 | Config Mode: Advanced

Expected sensor orientation relative to source#3s coordinate system when performing manual startup [Y quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#3 QZ¶

Type: f32LE | UID: 1709040459 | Config Mode: Advanced

Expected sensor orientation relative to source#3s coordinate system when performing manual startup [Z quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#3 QW¶

Type: f32LE | UID: 1709040460 | Config Mode: Advanced

Expected sensor orientation relative to source#3s coordinate system when performing manual startup [W quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Record startup pose#3¶

Type: ProcedureCall | UID: 1709040461 | Config Mode: Advanced

Use the current pose of the sensor as the new startup pose for source#3.

Reset startup pose#3¶

Type: ProcedureCall | UID: 1709040462 | Config Mode: Advanced

Revert the startup pose for source#3 back to the default

Default is [0.6 0.0 0.3] m and a rotation of 180 degrees around the Z axis.

Set startup pose#3¶

Type: ProcedureCall | UID: 1709040463 | Config Mode: Advanced

Apply the startup pose for source#3.

Must be set to true after changing any of the “Startup pose” parameters for them to have an effect.

Force untrack #3¶

Type: ProcedureCall | UID: 1713177872 | Config Mode: Advanced

Revert the sensors tracking state for source#3 to before either manual or auto startup has been performed.

Assume X#3 Frequency [Hz]¶

Type: f32LE | UID: 1709040465 | Config Mode: Developer

Ignores source packets and sets source #3’s X-frequency

Assume Y#3 Frequency [Hz]¶

Type: f32LE | UID: 1709040466 | Config Mode: Developer

Ignores source packets and sets source #3’s Y-frequency

Assume Z#3 Frequency [Hz]¶

Type: f32LE | UID: 1709040467 | Config Mode: Developer

Ignores source packets and sets source #3’s Z-frequency

Assume X#3 Current [mA]¶

Type: f32LE | UID: 1709040468 | Config Mode: Developer

Ignores source packets and sets source #3’s X-Current

Assume Y#3 Current [mA]¶

Type: f32LE | UID: 1709040469 | Config Mode: Developer

Ignores source packets and sets source #3’s Y-Current

Assume Z#3 Current [mA]¶

Type: f32LE | UID: 1709040470 | Config Mode: Developer

Ignores source packets and sets source #3’s Z-Current

Assume X#3 Cal¶

Type: f32LE | UID: 1709040471 | Config Mode: Developer

Ignores source packets and sets source #3’s X-Calibration value

Assume Y#3 Cal¶

Type: f32LE | UID: 1709040472 | Config Mode: Developer

Ignores source packets and sets source #3’s Y-Calibration value

Assume Z#3 Cal¶

Type: f32LE | UID: 1709040473 | Config Mode: Developer

Ignores source packets and sets source #3’s Z-Calibration value

Source 4 config¶

Source#4 ID¶

Type: u8 | UID: 1709040478 | Config Mode: Advanced

The 8 bit address of the 4th source which the device is tracking

Source#4 offset X [m]¶

Type: f32LE | UID: 1709040480 | Config Mode: Advanced

Source#4 position in world coordinate system [X coordinate]

Set to 0 to use this source origin as world origin

Source#4 offset Y [m]¶

Type: f32LE | UID: 1709040481 | Config Mode: Advanced

Source#4 position in world coordinate system [Y coordinate]

Set to 0 to use this source origin as world origin

Source#4 offset Z [m]¶

Type: f32LE | UID: 1709040482 | Config Mode: Advanced

Source#4 position in world coordinate system [Z coordinate]

Set to 0 to use this source origin as world origin

Source#4 offset QX¶

Type: f32LE | UID: 1709040483 | Config Mode: Advanced

Source#4 orientation in world coordinate system [X quaternion]

Set to 0 to use this source orientation as world orientation

Source#4 offset QY¶

Type: f32LE | UID: 1709040484 | Config Mode: Advanced

Source#4 orientation in world coordinate system [Y quaternion]

Set to 0 to use this source orientation as world orientation

Source#4 offset QZ¶

Type: f32LE | UID: 1709040485 | Config Mode: Advanced

Source#4 orientation in world coordinate system [Z quaternion]

Set to 0 to use this source orientation as world orientation

Source#4 offset QW¶

Type: f32LE | UID: 1709040486 | Config Mode: Advanced

Source#4 orientation in world coordinate system [W quaternion]

Set to 1 to use this source orientation as world orientation

Source#4 apply offset¶

Type: bool | UID: 1709040487 | Config Mode: Advanced

If enabled, calculate sensor pose in world coordinate

If disabled, calculate sensor pose relative to this source origin and orientation

Source#4 invert offset¶

Type: bool | UID: 1709040488 | Config Mode: Advanced

If enabled, the source offsets specifies the world origin relative to the source

If disabled, the source offsets specifies the source pose in the world coordinate system

Startup pose#4 X [m]¶

Type: f32LE | UID: 1709040489 | Config Mode: Advanced

Expected sensor position relative to source#4s coordinate system when performing manual startup [X coordinate]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#4 Y [m]¶

Type: f32LE | UID: 1709040490 | Config Mode: Advanced

Expected sensor position relative to source#4s coordinate system when performing manual startup [Y coordinate]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#4 Z [m]¶

Type: f32LE | UID: 1709040491 | Config Mode: Advanced

Expected sensor position relative to source#4s coordinate system when performing manual startup [Z coordinate]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#4 QX¶

Type: f32LE | UID: 1709040492 | Config Mode: Advanced

Expected sensor orientation relative to source#4s coordinate system when performing manual startup [X quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#4 QY¶

Type: f32LE | UID: 1709040493 | Config Mode: Advanced

Expected sensor orientation relative to source#4s coordinate system when performing manual startup [Y quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#4 QZ¶

Type: f32LE | UID: 1709040494 | Config Mode: Advanced

Expected sensor orientation relative to source#4s coordinate system when performing manual startup [Z quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Startup pose#4 QW¶

Type: f32LE | UID: 1709040495 | Config Mode: Advanced

Expected sensor orientation relative to source#4s coordinate system when performing manual startup [W quaternion]

When all new startup pose parameters have been entered, “Set startup pose” must be set to true for it to have an effect.

Record startup pose#4¶

Type: ProcedureCall | UID: 1709040496 | Config Mode: Advanced

Use the current pose of the sensor as the new startup pose for source#4.

Reset startup pose#4¶

Type: ProcedureCall | UID: 1709040497 | Config Mode: Advanced

Revert the startup pose for source#4 back to the default

Default is [0.6 0.0 0.3] m and a rotation of 180 degrees around the Z axis.

Set startup pose#4¶

Type: ProcedureCall | UID: 1709040498 | Config Mode: Advanced

Apply the startup pose for source#4.

Must be set to true after changing any of the “Startup pose” parameters for them to have an effect.

Force untrack #4¶

Type: ProcedureCall | UID: 1713177873 | Config Mode: Advanced

Revert the sensors tracking state for source#4 to before either manual or auto startup has been performed.

Assume X#4 Frequency [Hz]¶

Type: f32LE | UID: 1709040500 | Config Mode: Developer

Ignores source packets and sets source #4’s X-frequency

Assume Y#4 Frequency [Hz]¶

Type: f32LE | UID: 1709040501 | Config Mode: Developer

Ignores source packets and sets source #4’s Y-frequency

Assume Z#4 Frequency [Hz]¶

Type: f32LE | UID: 1709040502 | Config Mode: Developer

Ignores source packets and sets source #4’s Z-frequency

Assume X#4 Current [mA]¶

Type: f32LE | UID: 1709040503 | Config Mode: Developer

Ignores source packets and sets source #4’s X-Current

Assume Y#4 Current [mA]¶

Type: f32LE | UID: 1709040504 | Config Mode: Developer

Ignores source packets and sets source #4’s Y-Current

Assume Z#4 Current [mA]¶

Type: f32LE | UID: 1709040505 | Config Mode: Developer

Ignores source packets and sets source #4’s Z-Current

Assume X#4 Cal¶

Type: f32LE | UID: 1709040506 | Config Mode: Developer

Ignores source packets and sets source #4’s X-Calibration value

Assume Y#4 Cal¶

Type: f32LE | UID: 1709040507 | Config Mode: Developer

Ignores source packets and sets source #4’s Y-Calibration value

Assume Z#4 Cal¶

Type: f32LE | UID: 1709040508 | Config Mode: Developer

Ignores source packets and sets source #4’s Z-Calibration value