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
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 as sensor fusion inputs 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 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.
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