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Xsens DOT New Features - Release 2020.1

This article contains an overview of all new features introduced with the new update in April 2020. For more detailed information, check out the specific article for each new feature presented, as well as, the release notes 

New Release

  • Android App and SDK - 2020.1. Android app guide 
  • iOS App and SDK - 2020.1.  iOS app guide 
  • Firmware – 1.3.0
  • BLE service specifications manual 
  • Release notes

New Features

  • Heading reset function in Xsens DOT App to align sensor's heading
  • Support for 5-sensor firmware update at the same time
  • User can get update notifications for new available firmware
  • Latest beta firmware version can be rolled back to last stable version
  • Added support for saving firmware crash logs

App and SDK Release v2020.1

For more detailed information, check out the specific guide for each version of the app.

  • Android Version
    • “Default mode” no longer supported
    • 12 different measurement modes are implemented with differentiation between Sensor Fusion mode and Inertial Data mode.
    • Heading reset
    • Fetching firmware crash logs
  • iOS Version
    • 3 recording modes are supported
    • Don’t support heading reset in this release
    • Don’t support fetching firmware crash logs in this release
 

iOS App and SDK

Android APK and SDK

Measurement modes

3 modes

12 modes

Heading reset

×

Ö

Firmware crash logs

×

Ö

Please note that iOS app and SDK will support all these functions for the next release.

 

Payload Change

The new update implements different measurement modes. Each mode features a different payload by streaming different combinations of data.  For more detailed information on the supported modes, check out the Xsens DOT User Manual. In brief, the table below shows an overview of the modes being introduced and the payload associated with it. Note, it is not possible to record data types from the two different modes of sensor fusion and inertial: i.e. recording orientation data (sensor fusion) and acc & AngVel (inertial) in rate quantities together is not possible for now.

Mode

Data

Payload (Bytes)

Sensor Fusion Data

Orientation – Quaternion

Orientation – Euler

Free acceleration

Status*

20

16

16

4

Inertial Data

Acc & AngVel – High Fidelity

Acc & AngVel – Delta quantities

Acc & AngVel – Rate quantities

Magnetic Field**

29

32

28

6

 

*Status byte is only available in combination with orientation data.
**Magnetic field is only available in combination with acceleration and angular velocity data

 

BLE Service Specification manual

With the release of the BLE Service Specification manual, Xsens will enable complete integration of Xsens DOT with any device that supports Bluetooth 5.0, including mobile phones, PC, cloud services and much more. Note that this document requires extensive expertise with Bluetooth technology and it thus targets experienced developers. The manual can be downloaded from here [link]

 

Documentation Update

  • Xsens DOT User Manual
  • Xsens DOT SDK Programming guide for iOS
  • Xsens DOT SDK Programming guide for Android
  • Xsens DOT BLE Services Specifications
  • Release notes and changelogs

 

Details on measurement modes: Sensor Fusion

Mode

Transmitted Data

Plotting Data

Logging Data

Payload/Bytes

Complete (Quaternion)

Timestamp

Quaternion (-)

Free acceleration (m/s2)

Euler angles (deg)

Free acceleration (m/s2)

Timestamp

Quaternion ( - )

Free acceleration (m/s2)

32

Complete (Euler)

Timestamp

Euler angles (degree)

Free acceleration (m/s2)

Euler angles (deg)

Free acceleration (m/s2)

Timestamp

Euler ( degree )

Free acceleration (m/s2)

28

Extended (Quaternion)

Timestamp

Quaternion (-)

Free acceleration (m/s2)

Status

Euler angles (deg)

Free acceleration (m/s2)

Timestamp

Quaternion ( - )

Free acceleration (m/s2)

Status

36

Orientation (Euler)

Timestamp

Euler angles (degree)

Euler angles (deg)

Timestamp

Euler angles (degree)

16

Orientation (Quaternion)

Timestamp

Quaternion (-)

Euler angles (deg)

Timestamp

Quaternion ( - )

20

Free acceleration

Timestamp

Free acceleration (m/s2)

Free acceleration (m/s2)

Timestamp

Free acceleration (m/s2)

16

 

Details on recording modes: Inertial Data

Mode

Transmitted data

Plotting data

Logging data

Payload
/bytes

High Fidelity (with mag)

Timestamp

Xsens Proprietary Data

Magnetic field (a.u.)

Status

clipCountAcc

clipCountGyr

Acceleration (m/s2)

Angular velocity (dps)

Magnetic field (a.u.)

Timestamp

dq

dv

Magnetic field (a.u.)

Status

35

High Fidelity

Timestamp

Xsens Proprietary Data

Status

clipCountAcc

clipCountGyr

Acceleration (m/s2)

Angular velocity (dps)

Timestamp

dq

dv

Status

29

Delta quantities (with mag)

Timestamp

dQ (-)

dV (m/s)

Calibrated magnetic field (a.u.)

Acceleration (m/s2)

Angular velocity (dps)

Magnetic field (a.u.)

Timestamp

dq

dv

Magnetic field (a.u.)

38

Delta quantities

Timestamp

dQ (-)

dV (m/s)

Acceleration (m/s2)

Angular velocity (dps)

Timestamp

dq

dv

32

Rate quantities (with mag)

Timestamp

Calibrated acceleration (m/s2)

Calibrated angular velocity (dps)

Calibrated magnetic field (a.u.)

Acceleration (m/s2)

Angular velocity (dps)

Magnetic field (a.u.)

Timestamp

Acceleration (m/s2)

Angular velocity (rps)

Magnetic field (a.u.)

34

Rate quantities

Timestamp

Calibrated acceleration (m/s2)

Calibrated angular velocity (dps)

Acceleration (m/s2)

Angular velocity (dps)

Timestamp

Acceleration (m/s2)

Angular velocity (rps)

28

 

 

 

 

 

 

 

 

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