A python implementation of a standalone Xsens driver that supports communication with the MTi devices using the Xsense Xbus protocol.
Contains logic to reconstruct the xbus messages correctly by parsing the packet delimiter & packet length. This is necessary since the xbus packets can be split up over different serial reads.
This logic is tested in the xbus_reconstructor_tests.py
You can run the tests using python3 -m unittest tests.xbus_reconstructor_tests
Using python3 raw_xsens_comms.py a connection can be set up with the MTi device. You can setup the serial port by changing the self.serial_port = '/dev/ttyUSB0' variable (it should be a COM port if you are using windows). This script will configure the MTi device to send out the following information:
50 42 00 0A -> Position at 10Hz
20 30 00 0A -> Rotation in Euler angles at 10Hz
40 30 00 64 -> Free acceleration at 100Hz
80 20 00 0A -> Rate of turn at 10Hz
D0 12 00 0A -> Velocity at 10 Hz
E0 20 FF FF -> Status word whenever available
The roll & free accelerations values will be printed out in the console.
Support for more messages can easily be added in the xbus_reconstructor.py in the __parse_mtdata2_message method. Pull requests are welcome!