The output configurations window of MT Manager allows you to choose the XDA Processing or Onboard Processing presets. The main difference is that with XDA Processing, data is processed by the Xsens Device API (XDA) in MT Manager, instead of by the on-board processor of the Motion Tracker (MT).
Main advantage of XDA Processing:
Files recorded with XDA processing can be reprocessed using a different filter profile. It allows to test the differences between the filter profiles using a single log file.
Main advantage of Onboard Processing:
No XDA needed. Typically used for applications which use low level communication.
See Figure 1 for an overview of the Sensor Fusion and its inputs and outputs.
Figure 1: Overview of Xsens Sensor Fusion inputs and outputs. Sensor Fusion inputs are part of the XDA processing preset. Data logged using this preset can be re-processed later with different filter profiles and settings.
The XDA performs sensor fusion of the data from the MT instead of the MT processing the data itself. The orientation and inertial data is calculated from the orientation and velocity increments ∆q and ∆v by the XDA.
Recording a file with XDA Processing as preset gives the possibility to playback the file using a different filter profile. This makes XDA Processing ideal for testing multiple filter profiles and testing which filter profile suits your application.
Output prerequisites for XDA processing:
- Orientation: No Orientation*
- Magnetic Field
- Status Word
- ... any other ...
* If the recorded file contains Orientation data you will not be able to select a filter profile on playback
With Onboard Processing all sensor fusion is done by the on-board of the MT. Basically all outputs enabled of the MT are processed on-board. The XDA and its libraries are not needed in this case, as the MT itself process all data. Onboard Processing is typically used for low level communication with the MT.
High-Rate Calibrated Outputs
The High-Rate (HR) Calibrated Outputs preset (available in MTSS version 4.9.1 and higher) are not suited for XDA Processing, and can therefore not be used to determine sensor fusion outputs such as Orientation. For more information on HR data, see the LLCP manual.
Using MT Manager
In MT Manager you can select XDA Processing or Onboard Processing in
Device Settings -> Output Configuration:
Figure 1: Output configuration presets in MT Manager.
Using Xsens Device API (XDA)
In the XDA selecting XDA Processing or Onboard Processing is straight forward.
- Onboard Processing: All enabled outputs on the MT are Onboard Processed.
- XDA Processing: If the prerequisites of XDA processing are met as described above the XDA will calculate the orientation and inertial data instead of the Motion Tracker.
Selecting Filter Profile
Setting the different filter profiles for XDA Processing and Onboard Processing can be done using MT Manager or through the XDA.
Please see the following article on how to set the filter profile:
Selecting Filter Profile