With our MT Software Suite it is possible to select XDA Processing or Onboard Processing. The main difference is that with XDA Processing data is processed by the Xsens Device API (XDA) instead of on board of the Motion Tracker (MT).
This means that if you use our XDA when building your application or are using MT Manager you have to consider XDA Processing and Onboard Processing.
Main advantage of XDA Processing:
Files recorded with XDA processing can be reprocessed using a different filter profile. It gives the opportunity to test the differences between the filter profiles.
Main advantage of Onboard Processing:
No XDA needed. Typically used for applications which use low level communication.
The XDA processes 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.
When building your own application and wish to have XDA Processing keep in mind that you need our XDA and its libraries.
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
XDA Processing with SCR Data
Next to XDA Processing there is XDA Processing with SCR Data. The behavior is identical to XDA Processing except that the Sensor Component Readout (SCR) outputs are used instead of ∆q, ∆v and Magnetic Field.
XDA Processing with SCR Data is only available for the MTi-10 and MTi-100 series.
With Onboard Processing all processing is done on board of the MT. Basically all outputs enabled of the MT are on board processed. The XDA and its libraries are not needed in this case, the MT itself process all data. Onboard Processing is typically used for low level communication with the MT.
As mentioned above when using the XDA in your application or when using MT Manager you have to be aware that you need to consider the difference between XDA Processing and Onboard Processing. Selecting XDA Processing or Onboard Processing is then critical.
Using MT Manager
In MT Manager you can select XDA Processing or Onboard Processing in
Output configuration options >> Normal Mode >> Preset:
Figure 1: XDA Processing, XDA Processing with SCR Data and Onboard Processing 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.
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