LandMark TM 60 IMU (Inertial Measurement Unit) Technical User s Guide

Transcription

1 LandMark TM 60 IMU (Inertial Measurement Unit) Technical User s Guide Technical Support Gladiator Technologies Attn: Technical Support 8020 Bracken Place SE Snoqualmie, WA USA Tel: x222 Fax: support@gladiatortechnologies.com Web: LandMark TM 60 IMU User s Guide Page 1 Rev. 5/23/2017

2 1 TABLE OF CONTENTS 1 TABLE OF CONTENTS TABLE OF FIGURES SAFETY AND HANDLING INFORMATION PATENT AND TRADEMARK INFORMATION APPLICABLE EXPORT CONTROLS USER LICENSE STANDARD LIMITED WARRANTY QUALITY MANAGEMENT SYSTEM THEORY OF OPERATION LandMark TM 60 IMU PRODUCT DESCRIPTION OUTLINE DRAWING AND 3D SOLID MODELS D Solid Model Outline Drawing Outline Exploded View & Axis Orientation CENTER OF GRAVITY IMU BLOCK DIAGRAM LANDMARK TM 60 IMU PART NAMING CONVENTION & PART NUMBERS LANDMARK TM 60 IMU PIN ASSIGNMENTS LANDMARK TM 60 IMU PERFORMANCE SPECIFICATION LandMark TM 60 IMU MESSAGE PROTOCOL (V70) SERIAL COMMUNICATION SETTINGS: IMU MESSAGE PACKET FORMAT: Important Messaging Protocol Notes: Note 1 Checksum Note 2 Little endian Format Note 3 Transport time per Message Packet Note 4 IMU Status Byte Decoding IMU status byte decode when message counter set to 2 246, bit 6 = 0: IMU status byte decode when message counter set to 2 246, bit 6 = 1: IMU status byte decode when message counter set to 0 or AHRS status byte decode when message counter set to AHRS status byte decode when message counter set to 248 through The board number is a 32 bit value that encodes 5 characters in a 6 bit format as follows: Status byte decode for serial number when message counter set to 252 through Note 5 Accel LSB and Accel Over Range Note 6 Gyro LSB Scale Factor Note 7 Accelerometer LSB Scale Factor Important User Interface Comments LandMark TM 60 IMU User s Guide Page 2 Rev. 5/23/2017

3 11.3 SAMPLE DATA FORMAT CAN Output Messages SYNC INPUT (5 KHZ) Specification: Sync Input (1pps Option) Status Bit Timing Bit Values for External Sync Input BANDWIDTH VS. NOISE LandMark TM IMU USER INTERFACE SOFTWARE CODE HOST RECEIVING IMU OUTPUT HOST SENDING COMMANDS TO IMU TROUBLESHOOTING CODE ISSUES IMU Codes and Possible Actions to Take: SAMPLE TEST DATA & TEST METHODS GLADIATOR ATP EXPLANATION Rate Spin Test: Accelerometer Tumble Test: ANGLE RANDOM WALK VELOCITY RANDOM WALK BIAS IN RUN BIAS AND SCALE FACTOR OVER TEMPERATURE Gyro Bias Over Temperature Gyro Scale Factor Over Temperature Accelerometer Bias Over Temperature Accelerometer Scale Factor Over Temperature BIAS TURN ON (FROM A COLD START) BIAS TURN ON TO TURN ON (TOTO) REPEATABILITY RANDOM AND SINE VIBRATION Random Vibration: Sine Vibration Test: Gyro Sine Vibration Response Accelerometer Sine Vibration Response LandMark TM 60 IMU Software Development Kit RS422/RS485 TO USB POWER SUPPLY & CONVERTER CABLE LANDMARK TM 60 IMU MATING CONNECTOR STOP! READ THIS FIRST INSTALLING THE LINX SDM USB QS S DRIVERS Introduction Installing the Direct Drivers GLAMR SOFTWARE INSTALLATION SELECT APPLICABLE BAUD RATE SELECT APPLICABLE STOP BITS LandMark TM 60 IMU User s Guide Page 3 Rev. 5/23/2017

4 14.8 SELF TEST IN GLAMR SETTING THE MODE AND DATA RATE Set IMU Mode 500Hz Data Rate UNIT DISPLAY OPTIONS DATA RECORD FEATURE BANDWIDTH FILTERING CAPABILITY CAN BUS DBC FILE Mounting Operation and Troubleshooting TECHNICAL DOCUMENTATION AVAILABLE ON WEBSITE TROUBLESHOOTING & FURTHER TECHNICAL ASSISTANCE AUTHORIZED DISTRIBUTORS AND TECHNICAL SALES REPRESENTATIVES: GLOSSARY OF TERMS ABBREVIATIONS AND ACRONYMS DEFINITIONS OF TERMS LandMark TM 60 IMU User s Guide Page 4 Rev. 5/23/2017

5 2 TABLE OF FIGURES Figure 1 LandMark TM 60 IMU vs 2 Euro Coin Figure 2 IMU 3D Model (STEP) Figure 3 LandMark TM 60 Outline Drawing Figure 4 IMU Axis Orientation Figure 5 LandMark TM 60 IMU Exploded Outline Drawing [metric in mm] Figure 6 LandMark TM 60 IMU Block Diagram Figure 7 Part Naming Convention Figure 8 LandMark TM 60 IMU Part Number Configurations Figure 9 LandMark TM 60 IMU Pin Assignments and Outputs Figure 10 Serial Communication Settings Figure 11 IMU Message Packet Format Figure 12 Status byte decode when bit 6 is set to Figure 13 Status byte decode when bit 6 is set to 1 (every other message) Figure 14 IMU Status byte decode when message count set to 0 or Figure 15 Status byte decode when message count set to Figure 16 Status byte decode when message count set to 248 through Figure 17 Board Number is a 32 bit Value Figure 18 Status byte decode when message count set to 252 through Figure 19 Gyro LSB Scale Factor Figure 20 Accel LSB Scale Factor Figure 21 Screenshot of LandMark TM 60 IMU Sample Data Figure 22 IMU CAN Output Figure khz Timing Diagram Figure 24 Bit Values for External Sync Input Figure 25 Gyro Bandwidth vs. Peak to Peak Noise 100Hz Figure 26 Gyro Bandwidth vs. Peak to Peak Noise 1 khz Figure 27 Show RX Message Figure 28 Show RX Raw Message Figure 29 Show TX Message Figure 30 Rate Spin Test Figure 31 Accelerometer Tumble Test Data Figure 32 Angle Random Walk (ARW) Figure 33 Velocity Random walk Figure 34 X Gyro Bias In Run Figure 35 Y Gyro Bias In Run Figure 36 Z Gyro Bias In Run Figure 37 X accelerometer Bias In Run Figure 38 Y Accelerometer Bias In Run Figure 39 Z accelerometer In Run Bias Figure 40 X Gyro Bias Over Temperature Figure 41 Y Gyro Bias Over Temperature LandMark TM 60 IMU User s Guide Page 5 Rev. 5/23/2017

6 Figure 42 Z Gyro Bias Over Temperature Figure 43 X Gyro Scale Factor Over Temperature Figure 44 Y Gyro Scale Factor Over Temperature Figure 45 Z Gyro Scale Factor Over Temperature Figure 46 X Accelerometer Bias Over Temperature Figure 47 Y Accelerometer Bias Over Temperature Figure 48 Z Accelerometer Bias Over Temperature Figure 49 X Scale Factor Over Temperature Figure 50 Y Scale Factor Over Temperature Figure 51 Z Accelerometer Scale Factor Over Temperature Figure 52 X Gyro Bias Turn On Figure 53 Y Gyro Bias Turn On Figure 54 Z Gyro Bias Turn On Figure 55 X Accelerometer Bias Turn On Figure 56 Y Accelerometer Bias Turn On Figure 57 Z Accelerometer Bias Turn On Figure 58 Gyro Bias Turn On to Turn On (TOTO) Repeatability Figure 59 Accelerometer Bias Turn On to Turn On (TOTO) Repeatability Figure 60 Random Vibration Test Data Figure 61 Sine Vibration Test Data Figure 62 X Gyro Sine Vibration Response Figure 63 Y Gyro Sine Vibration Response Figure 64 Z Gyro Sine Vibration Response Figure 65 X Accelerometer Sine Vibration Response Figure 66 Y Accelerometer Sine Vibration Response Figure 67 Z Accelerometer Sine Vibration Response Figure 68 SDK Battery Power Supply, Cabling, Connector, USB Converter & Self Test Figure 69 Unit Connector Figure 70 LandMark TM 60 Development Kit RS422/RS485 to USB Converter Schematic Figure 71 Read Me First installation guide Figure 72 SDK Installation Disk Figure 73 Files on Installation Disk Figure 74 Driver Setup Wizard Figure 75 License Agreement Prompt Figure 76 Installation Folder Prompt Figure 77 Driver Package information Prompt Figure 78 Driver Installation Status Figure 79 GLAMR Location on the SDK CD ROM Figure 80 GLAMR Shortcut Software Icon Figure 81 GLAMR Screen before Selecting Correct COM Port Settings Figure 82 Confirmed Correct LINX Port with Message "success" Figure 83 LINX success and Unit Outputs Figure 84 Baud Rate Selection for 1000Hz Data Rate Figure 85 IMU Data in Full Mode at 1000Hz Data Rate LandMark TM 60 IMU User s Guide Page 6 Rev. 5/23/2017

7 Figure 86 Stop Bit Selection for comm. port Figure 87 Power and Self Test Momentary Switch Figure 88 Self Test Display When Activated ON Figure 89 Mode Selection / Data Rate Figure 90 IMU Mode at 1000 Hz Data Rate Figure 91 Gyro Units of Measure Selection Options Figure 92 Accelerometer Units of Measure Selection Options Figure 93 Data Record Capability Figure 94 Saving Data Record Files Figure 95 Select Desired Bandwidth Filter from Drop Down Menu Figure 96 CAN BUS DBC File Generation Figure 97 Message Options for Trouble Shooting Figure 98 Website Select Product Category Figure 99 Select Product of Interest Figure 100 Documentation Tab & Technical Data Available Figure 101 Technical Support Web Page Figure 102 Training & Setup Videos Web Page Figure 103 Remote Desktop Support Web Page Figure 104 Web Conferencing Web Page LandMark TM 60 IMU User s Guide Page 7 Rev. 5/23/2017

8 3 SAFETY AND HANDLING INFORMATION ALWAYS USE CAUTION WHEN HANDLING the LandMark TM 60 IMU! SUPPLYING TOO HIGH OF INPUT VOLTAGE, COULD PERMANENTLY DAMAGE THE UNIT. Input Power is specified at +7.0V to +36V Maximum. The unit can withstand input power up to +60V without damaging the unit, but may not perform within specification. The LandMark TM 60 IMU is a sensitive scientific instrument containing shock and vibration sensitive inertial and other sensors. Excessive shock and or vibration can damage these sensors and can adversely affect sensor performance and unit output. Avoid exposure to electrostatic discharge (ESD). Observe proper grounding whenever handling the LandMark TM 60 IMU. Properly attach connector and ensure that it has been wired correctly before applying power to the LandMark TM 60 IMU. 4 PATENT AND TRADEMARK INFORMATION The LandMark TM 60 IMU is a newly developed unit containing significant intellectual property and it is expected to be protected by United States of America (USA) and other foreign patents pending. LandMark TM is an official and registered Trademark that identifies Gladiator Technologies brand name for our digital inertial and integrated GPS systems products. 5 APPLICABLE EXPORT CONTROLS The LandMark TM 60 IMU has been self classified by Gladiator Technologies with pending Commodity Classification by the U.S. Department of Commerce under the Export Administration Regulations (EAR), as ECCN7A994 and as such may be exported without a license using symbol NLR (No License Required) to destinations other than those identified in country group E of supplement 1 to Part 740 (commonly referred to as the T 5 countries) of the Export Administration Regulations. Items otherwise eligible for export under NLR may require a license if the exporter knows or is informed that the items will be used in prohibited chemical, biological or nuclear weapons or missile activities as defined in Part 774 of the EAR. Copies of official U.S. Department of Commerce Commodity Classifications are available upon request. 6 USER LICENSE Gladiator Technologies grants purchasers and/or consignees of Gladiator s LandMark TM 60 IMU a no cost, royalty free license for use of the following software code for use with the LandMark TM 60 IMU. Companies or persons not meeting the criteria as a purchaser or consignee are strictly prohibited from use of this code. Users in this category wanting to use the code may contact the factory for other user license options. LandMark TM 60 IMU User s Guide Page 8 Rev. 5/23/2017

9 7 STANDARD LIMITED WARRANTY Gladiator Technologies offers a standard one year limited warranty with the factory s option to either repair or replace any units found to be defective during the warranty period. Opening the case, mishandling or damaging the unit will void the warranty. Please see Gladiator Technologies Terms & Conditions of sale regarding specific warranty information. 8 QUALITY MANAGEMENT SYSTEM Gladiator Technologies Quality Management System (QMS) is certified to AS9100 Rev. C and ISO9001:2008. UL DQS is the company s registrar and our certification number is ASH09. Please visit our website at to view our current certificates. 9 THEORY OF OPERATION The LandMark TM 60 IMU is a digital 6 Degree of Freedom MEMS (Micro Electro Mechanical System) IMU that outputs X, Y and Z axis angular rates, X, Y and Z axis linear acceleration data as well as temperature. Utilizing Gladiator's proprietary thermal modeling process, this unit is fully temperature compensated, with temperature corrected bias and scale factor as well as corrected misalignment and g sensitivity. The unit features: The RS422/RS485 digital interface provides serial data outputs enabling the user to monitor the outputs during use. Internal sampling is done at 10KHz. Over sampling is done on the IMU output rate (4X) when set at 2.5 KHz and then averaged to improve the noise of the MEMS sensors. The nominal output rate in the LandMark TM 60 IMU is 1 khz ±5%. An RS422/RS485 to USB converter is available in Gladiator's LandMark TM 60 IMU Software Development Kit (SDK) to enable a quick IMU to PC integration and ease of use. Three MEMS gyro signals with active filtering and 4X over sampled when set at 2.5 KHz with a 16 bit A/D converter. The gyros are available in standard ranges of ±250 /sec or ±490 /sec. Three MEMS accelerometer signals with analog buffering and 4X over sampled when set at 2.5 KHz with a 16 bit A/D converter. The accelerometers are available in standard ranges of ±6g s or ±10g s. Higher g ranges are available upon request. Please contact the factory for further information. Six internal temperature sensors outputs are 4X over sampled when set at 2.5 KHz with a 16 bit converter. These temperature measurements are co located with each X, Y and Z axis gyro and each X, Y and Z axis accelerometer to enable accurate temperature compensation of the gyro and accelerometer outputs. The calibration process measures temperature at a minimum of 5 set points from 40 C to +85 C and a 9 point correction table is generated that identifies temperature based offsets for each of the gyro and accelerometer data sets. Depending upon the variable, up to a 3 rd order thermal model is used to create a correction model. LandMark TM 60 IMU User s Guide Page 9 Rev. 5/23/2017

10 Though a precision orthogonal mounting block is used in the LandMark TM 60 IMU, misalignment error correction is also essential in enabling high performance navigation from a MEMS inertial sensor assembly. The calibration process also corrects and compensates for internal misalignment errors for all six sensors in all three axes. In addition "g sensitivity" errors associated with the gyros are also modeled and calibrated to correct these performance errors associated with acceleration inputs in all three gyro axes. All of the calibration data is then loaded into an internal memory EEPROM enabling a look up table for thermal modeling correction of the outputs during use. The LandMark TM 60 IMU SDK software design enables updates to the IMU interface. As these software enhancements and upgrades become available, Gladiator will make these available to our IMU customers. For more information visit our Gladiator s website at LandMark TM 60 IMU User s Guide Page 10 Rev. 5/23/2017

11 10 LandMark TM 60 IMU PRODUCT DESCRIPTION The LandMark TM 60 IMU is our premium performance model featuring both our lowest noise MEMS gyros and accelerometers that also offer outstanding bias in run and bias over temperature. This high performance MEMS Inertial Measurement Unit (IMU) provides internally temperature compensated RS422/RS485 output of delta velocity and delta theta. Designed for commercial stabilization and aircraft applications this IMU is ideal for commercial applications requiring high inertial performance approaching small RLG or open loop FOG Class, yet available at much lower cost. Other key advantages include low power consumption, small size, light weight and no inherent wear out modes for long life. The signature features of the LandMark TM 60 IMU are the exceptionally low noise and bias performance. Ultra Low Noise and Low Bias High Performance MEMS Digital IMU Fully Temperature Compensated Bias and Scale Factor Compensated Misalignment and g Sensitivity Input Power +7V to +36V (single sided) RS422/RS485 Data Rate up to 2.5k Hz (user selectable) Sensor Bandwidth 250Hz Bandwidth Filtering Capability External Sync 5 khz or 1 PPS Internal Vibration Isolation 6 grms Shock Resistant 500g s 6 Internal Temperature Sensors Self Test No Wear out Modes for Long Life Figure 1 LandMark TM 60 IMU vs 2 Euro Coin The IMU s ultra low noise and low bias MEMS gyros & accelerometers enable precision measurement including excellent in run bias and bias over temperature. The IMU s performance is optimized with fully temperature compensated bias and scale factor and compensated misalignment and g sensitivity. The unit is environmentally sealed in a rugged enclosure and Mil Spec connector in order to withstand environmental vibration and shock typically associated with commercial aircraft requirements. The LandMark TM 60 IMU is well suited for demanding commercial applications including rail track telemetry, navigation, flight control, precision imaging, platform and antenna stabilization, flight testing as well as laboratory use. Other standard custom ranges are available. LandMark TM 60 IMU User s Guide Page 11 Rev. 5/23/2017

12 10.1 Outline Drawing and 3D Solid Models Please go to the applicable product of interest on our website at and a user can download the 3D Solid Model, 2D outline drawing and other product information D Solid Model Please go to the applicable product of interest on our website at and a user can download the 3D Solid Model, 2D outline drawing and other product information. Figure 2 IMU 3D Model (STEP) LandMark TM 60 IMU User s Guide Page 12 Rev. 5/23/2017

13 Outline Drawing Figure 3 LandMark TM 60 Outline Drawing LandMark TM 60 IMU User s Guide Page 13 Rev. 5/23/2017

14 Outline Exploded View & Axis Orientation (3.2mm) 0.125" 2.634" (66.9mm) 2.290" (58.17mm) 1.975" (50mm) (7.3mm) 0.288" 0.063" (1.6mm) 1.770" (45 mm) ø 0.176" (4.47mm) 0.853" (21.7 mm) " (32.77mm) 1.325" (33.7 mm) Figure 4 IMU Axis Orientation (1.78mm) 0.070" Figure 5 LandMark TM 60 IMU Exploded Outline Drawing [metric in mm] 10.2 Center of Gravity Some applications need to know where the navigation (NAV) point of the accelerometers is located. The navigation (NAV) point at which all three accelerometers sensing axes pass through is located along the centerline of the package at a distance from the base plate of inches (9.87mm). From this point there are three size effect distances from this NAV point as follows: X Accel offset = inches (along the x axis direction) (15.6mm) LandMark TM 60 IMU User s Guide Page 14 Rev. 5/23/2017

15 Y Accel offset = inches (along the y axis direction) (18.3 mm) Z Accel offset = inches (along the z axis direction down from the NAV point) (4.23 mm) Note that the Z Accel NAV point can also be expressed as inches (5.64mm) up from the base plate. Some applications need to know the CG or center of gravity of the package which is just the mass center. The CG is also along the center line of the package at the midpoint along the z axis. This is inches or 15.9 mm above the base plate. LandMark TM 60 IMU User s Guide Page 15 Rev. 5/23/2017

16 10.3 IMU Block Diagram Figure 6 LandMark TM 60 IMU Block Diagram LandMark TM 60 IMU User s Guide Page 16 Rev. 5/23/2017

17 10.4 LandMark TM 60 IMU Part Naming Convention & Part Numbers LMRK60 IMU LMRK 60 IMU Product Make LMRK=Landmark Product Model 60 Product Type Inertial Measurement Unit Gyro Rate Range 490 /sec Accelerometer linear range 10g s Specific Unit Configuration 100 Figure 7 Part Naming Convention LandMark TM 60 IMU LMRK60IMU or 10 LMRK60IMU or 10 Figure 8 LandMark TM 60 IMU Part Number Configurations LandMark TM 60 IMU User s Guide Page 17 Rev. 5/23/2017

18 10.5 LandMark TM 60 IMU Pin Assignments The LandMark TM 60 IMU has a 9 pin MILSPEC connector interface which provides the electrical interface to the host application. The signal pin out is as follows: Figure 9 LandMark TM 60 IMU Pin Assignments and Outputs Note: If the input pins have long wires with no termination, they can pick up noise in a high EMI environment and upset the proper operation of the IMU. Pin 6 is particularly vulnerable to noise pickup and can cause data drops. For an IMU, Pin 4 is not used and should be grounded. Pin 9 is selftest and is OK if connected to a logic level signal source, otherwise connect to Pin LandMark TM 60 IMU Performance Specification See applicable current revision data sheet available on our website at LandMark TM 60 IMU User s Guide Page 18 Rev. 5/23/2017

19 Note: Other standard gyro ranges may be available and standard accelerometer ranges of 16g, 30g, 50g and 70g. Note that any selection of these higher ranges will likely result in export categorization of the product as ECCN7A003 and require a U.S. Department of Commerce Export License for some foreign destinations and/or end use applications. Please see applicable datasheet for other product models and serial number effectivity. LandMark TM 60 IMU User s Guide Page 19 Rev. 5/23/2017

20 11 LandMark TM 60 IMU MESSAGE PROTOCOL (V70) 11.1 Serial communication settings: 11.2 IMU message packet format: Parameter Value Bits/second: or Data bits: 8 Parity: E Stop bits: 1 Note: Glamr Setting Figure 10 Serial Communication Settings At power up, the IMU enters operational mode using the last commanded mode setting. Description Number of bytes Value LSB weight Start of message 1 0x2A N/A Message counter 1 Mod 256 counter N/A Gyro X axis 2 Signed 16-bit integer 0.01 deg/sec Note 6 Gyro Y axis 2 Signed 16-bit integer 0.01 deg/sec Note 6 Gyro Z axis 2 Signed 16-bit integer 0.01 deg/sec Note 6 Accel X axis 2 Signed 16-bit integer See Accel LSB Note 7 Accel Y axis 2 Signed 16-bit integer See Accel LSB Note 7 Accel Z axis 2 Signed 16-bit integer See Accel LSB Note 7 Temperature 2 Signed 16-bit integer 0.01 deg C Test/Status indicator 1 Normal=0x00 (note 4) N/A Checksum 1 Two s complement sum N/A Total size 18 Figure 11 IMU Message Packet Format Important Messaging Protocol Notes: Note 1 Checksum The checksum is computed by taking the two s complement of the sum of the first 17 bytes of the message. Thus, performing a byte wide sum of all 18 bytes in the message always equals zero Note 2 Little endian Format All 16 bit data are transferred in little endian format. Thus, the LSB is received first Note 3 Transport time per Message Packet Total transport time per message packet: (18 bytes *11 bits/byte)/115.2k bits/sec = 1.72ms or (18 bytes *11 bits/byte)/921.6k bits/sec = 0.215ms. LandMark TM 60 IMU User s Guide Page 20 Rev. 5/23/2017

21 Note 4 IMU Status Byte Decoding Individual bits in the test/status byte represent the following: IMU status byte decode when message counter set to 2 246, bit 6 = 0: Bit Name Value 0 Cal/Test mode indicator 1=Test mode, 0=Cal or Norm 1 Sync 1=external sync, 0=internal sync 2 Interface error 1=internal interface fail message count even = I2C device message count odd = SPI device 3 Flash checksum error 1=Flash coefficient checksum fail 4 Software error 1=internal software fail 5 Software timing error 1=software missed real-time 6 Status byte select 0 (bits 2-5, bit 7 are status) 7 Self-test 1=self-test active Figure 12 Status byte decode when bit 6 is set to IMU status byte decode when message counter set to 2 246, bit 6 = 1: Bit Name Value 0 Gyro Range indicator 0= Norm, 1=Wide 1 Accel range bit 0 000b=default, 001b=3g, 2 Accel range bit 1 010b=2g,011b=6g, 100b=10g, 101b=16g, 3 Accel range bit 2 110=32g, 111b=65g 4 Gyro range LSB Norm- 11b=250 /s 5 Gyro range MSB Wide- 01b=490 /s) 6 Status byte select 1 (bits 2-5, bit 7 are settings) 7 Digital board rev 9 1=rev9 (or greater), 0=rev 8 Figure 13 Status byte decode when bit 6 is set to 1 (every other message) IMU status byte decode when message counter set to 0 or 1 Message Count Bit 7 Name Value (Bits 6:0) 0 0 IMU SW major revision number 0 to IMU SW product code 0 to 127 LandMark TM 60 IMU User s Guide Page 21 Rev. 5/23/2017

22 1 0 IMU SW minor revision number 0 to IMU SW release level number 0 to 127 Figure 14 IMU Status byte decode when message count set to 0 or AHRS status byte decode when message counter set to 247 Message Count Name Value 247 Bandpass filter number 0 = unknown 1-99 = valid 100 = maximum > 100 = TBD Figure 15 Status byte decode when message count set to AHRS status byte decode when message counter set to 248 through 251. Message Name Value Count 248 Board Number Byte 0 0 to Board Number Byte 1 0 to Board Number Byte 2 0 to Board Number Byte 3 0 to 255 Figure 16 Status byte decode when message count set to 248 through The board number is a 32 bit value that encodes 5 characters in a 6 bit format as follows: Bit 31 Bit 30:25 Bit 24:18 Bit 17:12 Bit 11:6 Bit 5:0 0 Char 5 Char 4 Char 3 Char 2 Char 1 Figure 17 Board Number is a 32 bit Value The encoding of a character is as follows: Value 0 space character Value 1 through 10 0 character through 9 character Value A character through Z character Value Undefined Status byte decode for serial number when message counter set to 252 through 255. LandMark TM 60 IMU User s Guide Page 22 Rev. 5/23/2017

23 IMU status byte decode when message counter set to 252 through 255. Message Count Name 8 Bit Value 32 bit Value 252 Serial Number Byte 0 0 to 255 Bits Serial Number Byte 1 0 to 255 Bits Serial Number Byte 2 0 to 255 Bits Serial Number Byte 3 0 to 255 Bits 0-7 Figure 18 Status byte decode when message count set to 252 through 255 After appending the 4 transmitted 8 bit words to a 32 bit binary, convert this to decimal. The 32 bit value stores 6 character values in a modulo 37 (% 37) format as follows: Character Value 6 = (32 bit value) / 37 the whole number remainder (% 37) Character Value 5 = (32 bit value / 37) % 37 This is the next character to the left of the one you just decoded. Repeat this again and again till you finish all 6 characters. Character Value 4 = (32 bit value / 37 / 37) % 37 Character Value 3 = (32 bit value / 37 / 37 / 37) % 37 Character Value 2 = (32 bit value / 37 / 37 / 37 / 37 ) % 37 Character Value 1 = (32 bit value / 37 / 37 / 37 / 37 / 37) % 37 The encoding of a character value allows for an alphanumeric serial number is as follows: Value 0 space character Value 1 through 10 0 character through 9 character Value 11 through 36 A character through Z character Here is an example of the serial number encoding: Frame Status 32 Bit Number = 0x0CBCE12F = (decimal) 252 0x0C char 6 = % 37 = xBC char 5 = ( / 37) % 37 = % 37 = xE1 char 4 = ( / 37) % 37 = % 37 = x2F char 3 = ( / 37) % 37 = 4219 % 37 = 1 char 2 = (4219 / 37) % 37 = 114 % 37 = 3 char 1 = (114 / 37) % 37 = 3 % 37 = 3 Then, using the encoding, we get SN = Note 5 Accel LSB and Accel Over Range The Accel LSB scaling depends on the g range of the Accels in the selected IMU device. Please note that some accelerometers may have inherent over range versus the range reflected on the datasheet. An example is the 16g part number. This accelerometer is designed to have over range up to 20+ g s. As the LSB is set to an equal to or less than Accel Range, the user would want to use the next higher up Accel LandMark TM 60 IMU User s Guide Page 23 Rev. 5/23/2017

24 range LSB in order to use the inherent over range of the applicable Accel. In this example they would instead use the 30g Accel Range and the associated LSB of g Note 6 Gyro LSB Scale Factor The Gyro LSB scale factor depends on the rate range of the Gyros: Status Bits [5:4:0] Gyro Range Value LSB Scale Factor 000 Default (no value listed) 0.01 /s /s /s 111 N/A N/A Figure 19 Gyro LSB Scale Factor Note 7 Accelerometer LSB Scale Factor The Accel LSB scale factor depends on the g range of the Accels: Status Bits [3:2:1] Accel Range Value LSB Scale Factor 000 Default (no value listed) g 001 3g g 010 2g g 011 6g g g g g g g g g g Figure 20 Accel LSB Scale Factor Important User Interface Comments The IMU messaging protocol is quite important and can be somewhat confusing for the user. Please note that the proper sequence of the output data is: gyro X gyro Y gyro Z Accel X Accel Y Accel Z IMU Temp LandMark TM 60 IMU User s Guide Page 24 Rev. 5/23/2017

25 Also, the IMU s LSB should be 0.01 deg/sec for gyros and for 10g Accels and for 2g Accels as well as 0.01 degrees for temperature. So you divide the data by 100 for the gyros and temperature and divide by 2,000 for 10g or 10,000 for 2g accelerometers to get the corrected data without using the Software Development Kit. The GLAMR software interface does the 10g or 2g accelerometer correction for the user internally. If you are not using the Software Development Kit then you will need to do this divide function to get corrected data Sample Data Format Please see below a sample IMU data format output in Excel. The actual output includes both the header information and data (see rows with MSGCOUNT) that contain actual output data. Also included is the multiplier information, averages and units of measure for additional clarity for the user as described above. The IMU Software Development Kit also includes the actual excel file below, so that the user can quickly identify the formulas to use in their system integration directly from the sample data file. Figure 21 Screenshot of LandMark TM 60 IMU Sample Data Please note that when the customer uses the GLAMR interface it automatically rescales the accelerometer, so there is no divide by function required for the accelerometers. This is displayed in the screenshot above as well as the sample excel file included in the LandMark TM 60 IMU Software Development Kit (SDK). However, if the user is not using GLAMR and inputting directly into their system then they should use the LSB s noted above (LSB 0.01 deg/sec for gyros and for 10g Accels and for 2g Accels as well as 0.01 degrees for temperature). LandMark TM 60 IMU User s Guide Page 25 Rev. 5/23/2017

26 CAN Output Messages The following table summarizes the output data stream messages from the device for each of its various modes. The transmit sequence follows from top to bottom in the table, with the start of message byte transmitted first and the checksum transmitted last in all cases. At power up, the device reads the operation mode (i.e. Full, Spec, etc.) from its Flash storage and begins to transmit data in that mode. The CAN output is shown below. Figure 22 IMU CAN Output Refer to section entitled CAN BUS DBC File for how to generate the associated CAN database file associated with the unit Sync Input (5 khz) The optional input to the IMU is a sync square wave to pin 6. This allows the data stream to be synchronized to an external clock. For example, if the user wants to supply and synch an external GPS to the IMU the GPS typically generates a 5 khz square ware and this is sent to the IMU when the GPS signal is valid. However, any external 5 khz clock of logic level can be used to synchronize the data Specification: Clock 5 khz ± 5% square wave (40 60 duty cycle not critical) Data sample starts on the rising edge only LandMark TM 60 IMU User s Guide Page 26 Rev. 5/23/2017

27 3.3V logic is suggested ( 0.3V< 0 < 0.8V and 2.0V < 1 < 5.3V) Input has diode protection for levels below 0.7V or above 5.5V to 10.5V to protect the CPU, but may cause performance problems Sync Input (1pps Option) By applying a 1 pps logic level input (either +3.3V or +5V is OK), the output serial message count will be set to zero on the rising edge of the input pulse. The minimum pulse width needs to be 20 usec. The 1 pps input is applied to pin 6 (Sync In), with respect to Pin 8 (Signal Ground). The software will automatically detect the 1 pps and switch to the mode using the internal clock for the data stream with the message count being reset to zero on the rising edge. This means that the message count will nominally be 0 to 99, but could be up to 3 counts short or long, depending on the actual speed of the internal clock which could vary up to ±3% maximum, but is typically 1%. Note that the detection of the 1 pps edge will be transmitted on the next 100Hz packet of data, so the timing can vary from 1.5 msec to 11.5 msec ±0.05msec delay for a 100Hz data transmission rate from the start of the sync data package. For 200Hz output data rate the delay will vary from 1.5 msec to 6.5 msec ±0.05 msec and the message count will roll over from 0 to 199 typically. For 1 khz the next data set or the following set will be reset Status Bit The IMU will operate on an internal 5 khz clock until an external clock is detected. Then the IMU will automatically switch over and set status bit 1 true. Note, as the internal and external clocks are asynchronous, the first transition may occur on any sample 1 through 5 of that period. The status bit will be set true for that period even if there is only one sample. However, the next 200Hz data package will all be samples on the external clock. The time between the 5 th (last sample) and the start of the 200Hz data transmission is 1.5 ± 0.05 msec. If the start of the external sync is delayed to between 2.5 msec and 3.5 msec from the start of the 200Hz data package transmission, then all 5 of the next 1 khz samples will be on the external clock. If the delay is close to 3.5 msec, then the internal to external clock shift will have minimum impact on the data as this is the first sample clock. The IMU will revert to the internal clock if the external clock is removed and data will continue to be sent. In most cases the timing of the external sync application is not critical and the data can be used as is. LandMark TM 60 IMU User s Guide Page 27 Rev. 5/23/2017

28 Timing Figure khz Timing Diagram Bit Values for External Sync Input Bit Name Value 0 Cal/Test mode indicator 1=Test mode, 0=Cal mode (Factory) 1 Sync transition 1=external/internal sync change 2 interface error 1=fail 3 Flash checksum error 1=Flash coefficient checksum fail 4 Software error 1=internal software fail 5 Output processing error 1=software missed real-time 6 AD processing error 1=software missed real-time 7 Self-test 1=self-test active 11.5 Bandwidth vs. Noise Figure 24 Bit Values for External Sync Input Note that our standard LandMark TM 60 IMU is optimized for high bandwidth, so the gyros are set at 250Hz. True bandwidth which includes the data sampling effects has the 3dB point is approximately the sample frequency divided by 2. These are the settings for the standard unit when shipped and the noise may not be optimized for an end user s specific application. The high bandwidth is ideal for dynamic applications where the high bandwidth would be required to close control loops in flight control in a UAV for example. However, in UAV navigation a lower bandwidth would be possible and the unit would output an improvement in peak to peak noise. Laboratory uses, automotive monitoring or stabilization applications would likely prefer improved (lower) noise and could tolerate reduced bandwidth. LandMark TM 60 IMU User s Guide Page 28 Rev. 5/23/2017

29 With the LandMark TM 60 IMU Software Development Kit offers the end user the capability to set bandwidth filtering in permanent memory that enables the end user to set lower bandwidth levels than the sensor bandwidth to benefit from the reduced peak to peak noise of the sensors in the IMU. Figure 25 Gyro Bandwidth vs. Peak to Peak Noise 100Hz LandMark TM 60 IMU User s Guide Page 29 Rev. 5/23/2017

30 Figure 26 Gyro Bandwidth vs. Peak to Peak Noise 1 khz 12 LandMark TM IMU USER INTERFACE SOFTWARE CODE Listed below is sample C Code to assist user s in interfacing their system with any LandMark TM IMU. Please contact the factory should you need additional assistance or other custom software to interface the Gladiator Technologies products with your system Host receiving IMU output Following is sample code illustrating a method to receive data from an IMU device. // // // Copyright Gladiator Technologies // // // // #include <string.h> // memcpy, memset, memmove #define IMU_OUTPUT 1 typedef char typedef short Int8; Int16; LandMark TM 60 IMU User s Guide Page 30 Rev. 5/23/2017

31 typedef long Int32; typedef unsigned char Uint8; typedef unsigned short Uint16; typedef unsigned long Uint32; typedef struct { Uint32 numserbufoverflow; Uint32 numlostsync; Uint32 numchecksummismatch; Uint32 nummsgcountmismatch; } sterror; typedef struct { Uint32 numbuffrepositions; Uint32 numvalidmsgs; } ststat; typedef struct { Uint8 usync; Uint8 ucount; Int16 igyrx; Int16 igyry; Int16 igyrz; Int16 iaccx; Int16 iaccy; Int16 iaccz; Int16 itemp; Uint8 ustatus; Uint8 uchecksum; } stimumsg; // scaled deg/sec // scaled deg/sec // scaled deg/sec // scaled g // scaled g // scaled g // 0.01 deg C #define stmsg #define MSG_SYNC_BYTE stimumsg (0x2a) #define MSG_SIZE_BYTES (sizeof(stmsg)) // scale factors to convert raw IMU integer data to proper units #define GYRO_TO_DEG_S (0.01f) // Gyro X,Y,Z #define GYRO_TO_RAD_S ( e-4f) // 0.01 * PI / #define ACCL_TO_G (0.001f) // Accel X,Y,Z #define ACCL_TO_M_S2 (9.81e-3f) // * 9.81 #define TEMP_TO_DEG_C (0.01f) // from IMU channels #define SERIAL_BUF_SIZE (1024) #define MSG_BUF_SIZE (128) // Data Uint8 mserialbuf[ SERIAL_BUF_SIZE ]; stmsg mmsgdata[ MSG_BUF_SIZE ]; Uint32 mwid; Uint32 mrid; LandMark TM 60 IMU User s Guide Page 31 Rev. 5/23/2017

32 Uint32 sterror ststat Uint8 int mmsgid; merror; mstat; mexpmsgcount; minsync; // information that comes back through status byte (see decodestatusbyte() method) int mstatusproductcode; // varies with product type int mstatusrevisionlevel; // varies with production level int mstatusrevisionmajor; // major version int mstatusrevisionminor; // minor version int mstatusfilternumber; // bandpass filter char mstatusboardnumber[4]; // packed board number char mstatusserialnumber[4]; // packed serial number int int mstatusaccelscale; mstatusgyroscale; void Init( void ); void InsertBytes( Uint8* pszbuff, Uint32 numbytes ); void decodemessage( void ); void addmessage( stmsg* pmsg ); void decodestatusbyte (Uint8 seqnum,uint8 status); // Init() : call once at startup // void Init( void ) { memset( (void*)&mserialbuf[0], 0, sizeof(mserialbuf) ); memset( (void*)&mmsgdata[0], 0, sizeof(mmsgdata) ); memset( (void*)&merror, 0, sizeof(merror) ); memset( (void*)&mstat, 0, sizeof(mstat) ); mwid = 0; mrid = 0; minsync = 0; mexpmsgcount = 0; mmsgid = 0; mstatusproductcode = -1; mstatusrevisionlevel = -1; mstatusrevisionmajor = -1; mstatusrevisionminor = -1; mstatusfilternumber = -1; memset( (void*)&mstatusboardnumber, 0, sizeof(mstatusboardnumber) ); memset( (void*)&mstatusserialnumber, 0, sizeof(mstatusserialnumber) ); mstatusaccelscale = -1; mstatusgyroscale = -1; // setup serial port based on baud rate ( or ) and e,8,2 LandMark TM 60 IMU User s Guide Page 32 Rev. 5/23/2017

33 } // InsertBytes() : Call each time serial port has received some number of // bytes (perhaps MSG_SIZE_BYTES bytes); however, this // function will work properly regardless of what numbytes // is set to, it will just loop through decoding all // messages to catch up. Local buffering of any partial // messages is maintained. // // pszbuff : ptr to newly received bytes from serial port (read only) // numbytes : number of bytes received // void InsertBytes( Uint8* pszbuff, Uint32 numbytes ) { // check to ensure no buffer overflow if ( ( mwid + numbytes ) <= SERIAL_BUF_SIZE ) { memcpy( (void*)&mserialbuf[ mwid ], (const void*)pszbuff, numbytes ); mwid += numbytes; // check if we have enough bytes for at least one msg while( ( mwid - mrid ) >= MSG_SIZE_BYTES ) { decodemessage(); } // serial buffer management if ( mrid == mwid ) { // if everything in the buffer has been processed, then do a // quick buff reset mrid = mwid = 0; } else if ( mrid > (SERIAL_BUF_SIZE >> 1) ) { // re-position if we get more than half way into the serial buffer mwid = mwid - mrid; memmove((void*)&mserialbuf[0],(const void*)&mserialbuf[mrid],mwid); mrid = 0; mstat.numbuffrepositions++; } } else { merror.numserbufoverflow++; mrid = mwid = 0; } } // InsertBytes LandMark TM 60 IMU User s Guide Page 33 Rev. 5/23/2017

34 // decodestatusbyte: Called from decodemessage(). // Decodes meaning of status byte send with every message // to report configuration parameters to host // void decodestatusbyte( Uint8 ucount, Uint8 statusbyte ) { if (ucount == 0) { if ((statusbyte & 0x80) == 0) mstatusrevisionmajor = (int) statusbyte; else mstatusproductcode = (int) (statusbyte & 0x7F); } else if (ucount == 1) { if ((statusbyte & 0x80) == 0) mstatusrevisionminor = (int) statusbyte; else mstatusrevisionlevel = (int) (statusbyte & 0x7F); } else if (ucount == 247) { mstatusfilternumber = statusbyte; } else if (ucount >= 248 && ucount <= 251) { mstatusboardnumber[ucount - 248] = statusbyte; } else if (ucount >= 252 && ucount <= 255) { mstatusserialnumber[ucount - 252] = statusbyte; } else { if (statusbyte & 0x40)!= 0) // RANGE_SELECT } { if ((statusbyte & 0x01)!= 0) // Test mode on if ((statusbyte & 0x02)!= 0) // External sync mode on if ((statusbyte & 0x04)!= 0) // Internal interface failure if ((statusbyte & 0x08)!= 0) // Flash configuration failure if ((statusbyte & 0x10)!= 0) // Internal software error if ((statusbyte & 0x20)!= 0) // realtime processing failure if ((statusbyte & 0x80)!= 0) // Self Test mode on } else { mstatusaccelscale = (statusbyte & 0x0E); mstatusgyroscale = (statusbyte & 0x31); } } // decodestatusbyte LandMark TM 60 IMU User s Guide Page 34 Rev. 5/23/2017

35 // decodemessage() : Called from InsertBytes(). // Decodes bytes waiting in the local serial msg buffer // and places any properly formed messages in a circular // msg buffer. // void decodemessage( void ) { Uint8 cksum; Uint32 i; stmsg* pmsg; // check for sync word if ( mserialbuf[ mrid ] == MSG_SYNC_BYTE ) { // now validate the checksum cksum = 0; for( i=0; i < MSG_SIZE_BYTES; i++ ) { cksum += mserialbuf[ mrid+i ]; } // the result of summing all bytes in the message should be zero // (i.e. the checksum is set to be the two's complement of the sum // of the prior bytes). if ( cksum == 0 ) { pmsg = ( stmsg* )&mserialbuf[ mrid ]; // check the messagecount (should be sequential) if ( pmsg->ucount!= mexpmsgcount ) { // msg out-of-sequence if ( minsync ) { // note: getting one mismatch at startup is to be expected merror.nummsgcountmismatch++; } mexpmsgcount = pmsg->ucount + 1; // re-sync msg count } else { // advance expected mexpmsgcount++; } minsync = 1; // extract sequence number and status byte and send to decoder decodestatusbyte(mserialbuf[ mrid+1 ], mserialbuf[ mrid+msg_size_bytes-2 ] ); // process message received addmessage( pmsg ); // advance beyond the msg mrid += MSG_SIZE_BYTES; LandMark TM 60 IMU User s Guide Page 35 Rev. 5/23/2017

36 mstat.numvalidmsgs++; } else { if ( minsync ) { // checksum failed: should sum to 0 merror.numchecksummismatch++; } minsync = 0; // checksum didn't match, advance one byte and try again mrid += 1; } } else { if ( minsync ) { // went out-of-sync merror.numlostsync++; } minsync = 0; // sync word didn't match, advance one byte and try again mrid += 1; } } // decodemessage LandMark TM 60 IMU User s Guide Page 36 Rev. 5/23/2017

37 // addmessage() : Called from decodemessage. // Places any properly formed messages in a circular // msg buffer. Users may want to replace this function // call with something appropriate to their own // application, processing the message as desired, or // recording data (e.g. replace printf with fprintf). // void addmessage( stmsg* pmsg ) { #if defined ( IMU_OUTPUT ) // float fscale = GYRO_TO_DEG_S; // 325 degree range // if (mstatusgyroscale == -1) fscale = 0.0f; // range not known yet // if (mstatusgyroscale == 0x30) fscale *= f; // 250 degree range // if (mstatusgyroscale == 0x11) fscale *= 0.015f; // 490 degree range // printf( "GyrX = %f deg/sec\n", ( float )pmsg->igyrx * fscale ); // printf( "GyrY = %f deg/sec\n", ( float )pmsg->igyry * fscale ); // printf( "GyrZ = %f deg/sec\n", ( float )pmsg->igyrz * fscale ); // fscale = ACCL_TO_G; // 3G range // if (mstatusaccelscale == -1) fscale = 0.0f; // range not known yet // if (mstatusaccelscale == 0x00) fscale *= 10.0f; // 10G, 1.0mg LSB // if (mstatusaccelscale == 0x08) fscale *= 5.0f; // 10G, 0.5mg LSB // if (mstatusaccelscale == 0x0A) fscale *= 5.0f; // 16G, 0.5mg LSB // if (mstatusaccelscale == 0x0C) fscale *= 10.0f; // 32G, 1.0mg LSB // if (mstatusaccelscale == 0x0E) fscale *= 20.0f; // 65G, 2.0mg LSB // printf( "AccX = %f g\n", ( float )pmsg->iaccx * fscale ); // printf( "AccY = %f g\n", ( float )pmsg->iaccy * fscale ); // printf( "AccZ = %f g\n", ( float )pmsg->iaccz * fscale ); // printf( "Temp = %f deg C\n", ( float )pmsg->itemp * TEMP_TO_DEG_C ); #endif // copy into circular msg buffer memcpy( (void*)&mmsgdata[ mmsgid ], (const void*)pmsg, MSG_SIZE_BYTES ); mmsgid++; if ( mmsgid >= MSG_BUF_SIZE ) { mmsgid = 0; } } // addmessage LandMark TM 60 IMU User s Guide Page 37 Rev. 5/23/2017

38 Using the GLAMR software included in the Software Development Kit (SDK), you can use Show RX (decoded) msg bytes to verify you have received the message. You can find the message at the bottom of the window, as shown below. Figure 27 Show RX Message LandMark TM 60 IMU User s Guide Page 38 Rev. 5/23/2017

39 You can use Show RX (raw insert) msg bytes to view the RX raw message. You can find the message at the bottom of the window, as shown below. To view whole message, you will have to scroll through the message box. Figure 28 Show RX Raw Message LandMark TM 60 IMU User s Guide Page 39 Rev. 5/23/2017

40 12.2 Host sending commands to IMU // // // Copyright Gladiator Technologies // // // // #include <string.h> // memcpy, memset, memmove typedef char Int8; typedef short Int16; typedef long Int32; typedef unsigned char Uint8; typedef unsigned short Uint16; typedef unsigned long Uint32; typedef union { float f; Uint32 u; } udat; // Note that the structure below (sttxmsg) has a checksum as the 4th byte, but // this sum actually includes not only the 3 byte previous, but the 4 bytes // following (udata). It is located where it is so that the float value will // be 4-byte aligned with the structure. The checksum still works the same, // i.e. when all 8 bytes are summed, the result should be zero. typedef struct { Uint8 sync; Uint8 cmd1; Uint8 cmd2; Uint8 cksum; udat dat; // generally a float value, but in a few cases is a Uint32 } sttxmsg; #define TX_BYTES_PER_MSG (sizeof(sttxmsg)) typedef union { Uint8 u[tx_bytes_per_msg]; // byte access sttxmsg m; // message field access } utxmsg; LandMark TM 60 IMU User s Guide Page 40 Rev. 5/23/2017

41 #define TX_BYTE_PAUSE #define TX_BYTE_SYNC // CMD1 field #define TX_BYTE_OUTPUT_200 #define TX_BYTE_LOAD_COEF #define TX_BYTE_COEF_STORE #define TX_BYTE_OUTPUT_100 #define TX_BYTE_RUN_NOW (0xd4) (0x2b) (0x02) (0x05) (0x06) (0x0A) (0x0D) // CMD2 field: these values relate to the cmd2 field in SendMessage, // when the cmd1 field is set to TX_BYTE_LOAD_COEF. #define COEF_FILTER_K (0x02) #define COEF_OP_MODE (0x13) // DAT field: these values relate to the data field in SendMessage #define MODE_IMU_MASK (0x ) #define MODE_IMU_921K_BAUD (0x ) #define MODE_IMU_100HZ (0x04 MODE_IMU_MASK) #define MODE_IMU_200HZ (0x01 MODE_IMU_MASK) #define MODE_IMU_500HZ (0x0C MODE_IMU_MASK) #define MODE_IMU_1000HZ (0x0E MODE_IMU_MASK MODE_IMU_921K_BAUD) #define MODE_IMU_2500HZ (0x11 MODE_IMU_MASK MODE_IMU_921K_BAUD) // The following message is a response message from the IMU following // a successful parameter load sequence. It is a 22 byte message // that starts with the typical sync character and ends with a // valid checksum, but in between has a character string embedded. const Uint8 msgsuccess[ 22 ] = { 0x2b, // msg start character // the following is a null-terminated character string:"dwnload Success" 0x44, 0x77, 0x6e, 0x6c, 0x6f, 0x61, 0x64, 0x20, 0x53, 0x75, 0x63, 0x63, 0x65, 0x73, 0x73, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13 }; // checksum is last LandMark TM 60 IMU User s Guide Page 41 Rev. 5/23/2017

42 // replace with actual call to write bytes out to serial port // connected to IMU device void _PortWrite( const char* pdat, int inum ) { // stub routine...replace } // replace with actual call to delay or sleep routine void _Sleep( int imilliseconds ) { // stub routine...replace } // pauseoutput() : Call prior to sending a message to the IMU device. // Since the IMU uses half-duplex communication, the IMU device // needs shut off its output stream in order to properly receive // an incoming command message. When the IMU receives a pause // command, it will stop its output for several seconds. The // command is repeated 10 times with a 1 millisecond spacing to // ensure it is received while the IMU is in-between message // output. // // NOTE: In 500Hz mode, there is no time for the IMU device to listen. // In this case, you have to rely on sending the pauseoutput() at // power up before IMU starts consuming the bus (about 0.3 second) // void pauseoutput() { char cmdbuf[8]; int i; for (i=0; i < sizeof(cmdbuf); i++ ) { cmdbuf[i] = (char)tx_byte_pause; } // repeat several times to ensure success for( i=0; i < 10; i++ ) { // fill up message buffer on unit _PortWrite( ( const char* )&cmdbuf[0], sizeof(cmdbuf) ); _PortWrite( ( const char* )&cmdbuf[0], sizeof(cmdbuf) ); _Sleep( 1 ); // 1 millisecond delay } // send additional few bytes to cause overflow and force into listen mode _PortWrite( ( const char* )&cmdbuf[0], 1 ); _PortWrite( ( const char* )&cmdbuf[0], 1 ); // wait for IMU to capture all of this before processing with future messages _Sleep( 5 ); } // pauseoutput // sendmessage() : Sends a message/command to the IMU device. Assigns LandMark TM 60 IMU User s Guide Page 42 Rev. 5/23/2017

43 // the fields within a properly formatted message and then computes // a checksum and sends the message. Note that the IMU output is // paused prior to sending a message. // // cmd1 : command value to IMU. // cmd2 : second command value (N/A for some messages). // fdata : data value to send (N/A for some messages). If the data // value intended to be sent is actually a Uint32 value, then // it needs to be passed through this as if it were a float, // e.g. sendmessage( c1, c2, *(float*)&udata ). // void sendmessage( int cmd1, int cmd2, float fdata ) { utxmsg msg; int i; Uint8 cksum; memset( &msg, 0, sizeof(msg) ); pauseoutput(); msg.m.sync = ( Uint8 )TX_BYTE_SYNC; msg.m.cmd1 = ( Uint8 )cmd1; msg.m.cmd2 = ( Uint8 )cmd2; msg.m.dat.f = fdata; cksum = 0; for( i=0; i < TX_BYTES_PER_MSG; i++ ) { cksum += msg.u[i]; } msg.m.cksum = ~cksum + 1; _PortWrite( ( const char* )&msg, TX_BYTES_PER_MSG ); } // sendmessage LandMark TM 60 IMU User s Guide Page 43 Rev. 5/23/2017

44 // // LoadFilterK () : Send updated filter K value and then send // the store command. // // fval : the new filter K value. // 1.00f corresponds to 75Hz filter // K=0.91f corresponds to 50Hz filter // K=0.80f corresponds to 40Hz filter // K=0.73f corresponds to 35Hz filter // K=0.66f corresponds to 30Hz filter // K=0.58f corresponds to 25Hz filter // K=0.49f corresponds to 20Hz filter // K=0.27f corresponds to 10Hz filter // void LoadFilterK( float fval ) { int numparamsupdated; sendmessage( TX_BYTE_LOAD_COEF, COEF_FILTER_K, fval ); _Sleep( 10 ); // delay for 10 milliseconds numparamsupdated = 1; sendmessage( TX_BYTE_COEF_STORE, numparamsupdated, 0.0f ); // IMU device should now respond with "Dwnload Success" if the // coefficient update and store to Flash was successful. // The new K value will now be used by the IMU device. } // LoadFilterK LandMark TM 60 IMU User s Guide Page 44 Rev. 5/23/2017

45 // SetImuMode() : Send new output mode command and then send the // the store command. Note that updating the operational // mode is different than updating other parameters, as // the update is not effected immediately (it will be upon // next power-cycle). See notes below for method to // enter new modes without power-cycle. // // mode : either MODE_IMU_100HZ, MODE_IMU_200HZ or MODE_IMU_500HZ // void SetImuMode( Uint32 mode, Uint32 baud ) { Uint32 udat; float fdat; int numparamsupdated; udat = mode; // desired mode if (baud == ) udat = udat MODE_IMU_921K_BAUD; fdat = *( float* )&udat; // force into float argument sendmessage( TX_BYTE_LOAD_COEF, COEF_OP_MODE, fdat ); _Sleep( 10 ); numparamsupdated = 1; sendmessage( TX_BYTE_COEF_STORE, numparamsupdated, 0.0f ); // IMU device should now respond with "Dwnload Success" if the // coefficient update and store to Flash was successful. // However, the new mode will not take effect until a power-cycle // of the IMU device. Alternatively, if it is desired to enter // the new mode without a power-cycle, then after receiving the // download complete, follow with a command to enter the new mode // directly, e.g. one of the following : // sendmessage( TX_BYTE_OUTPUT_200, 1, 0.0f ); // sendmessage( TX_BYTE_RUN_NOW, 0, 0.0f ); // or // sendmessage( TX_BYTE_OUTPUT_100, 1, 0.0f ); // sendmessage( TX_BYTE_RUN_NOW, 0, 0.0f ); } // SetImuMode LandMark TM 60 IMU User s Guide Page 45 Rev. 5/23/2017

46 For example, you can use Show TX msg to AHRS to verify you have sent the message. You can find the message at the bottom of the window, as shown below. To view whole message, you will have to scroll through the message box. Figure 29 Show TX Message LandMark TM 60 IMU User s Guide Page 46 Rev. 5/23/2017

47 12.3 Troubleshooting Code Issues The first action the factory typically suggests when trouble shooting an issue is hook up the IMU to the SDK with external power supplied to the banana jacks on the SDK. If the IMU is outputting satisfactorily with the SDK to your PC, then the user can likely assume we just need to resolve the software interfacing, cabling etc. to get the IMU to work in your system IMU Codes and Possible Actions to Take: if ((statusbyte & 0x01)!= 0) // test mode Caused by physical switch input or broken cable. Change switch position or replace cable. if ((statusbyte & 0x02)!= 0) // External sync mode on For IMU, assume this can be ignored. if ((statusbyte & 0x04)!= 0) // Internal interface failure Unit failure, contact factory for assistance (possible return for repair). if ((statusbyte & 0x08)!= 0) // Flash configuration failure Unit failure, contact factory for assistance (possible return for repair). if ((statusbyte & 0x10)!= 0) // Internal software error Unit failure, contact factory for assistance (possible return for repair). if ((statusbyte & 0x20)!= 0) // realtime processing failure Loss of real time update for at least one sample period, automatic recovery performed. If repeated failures, contact factory for assistance (possible return for repair). if ((statusbyte & 0x80)!= 0) // Self Test mode on Caused by physical switch input or broken cable. Change switch position or replace cable. Should you be unable to satisfactorily resolve any issues please contact the factory for support via telecom, web share or Remote Desktop session to diagnose any issues or help with integration. LandMark TM 60 IMU User s Guide Page 47 Rev. 5/23/2017

48 13 SAMPLE TEST DATA & TEST METHODS 13.1 Gladiator ATP Explanation Rate Spin Test: Data is captured at 100Hz data rate. The unit is mounted on an orthogonal test fixture and spun at about ½ of the full scale rate range. None of the accelerometer data is used as only the rate scale factors and gyro misalignments are measured. The data comes across as a raw number with an LSB of 0.01 deg/sec. This means that all the data has to be divided by 100 to get into degrees per second units. The spin rate in the data below was 72 /sec. Each column is the data taken for the axis name at the top of the column during the test at the left. The final values printed in green fall within the passing Figure 30 Rate Spin Test values for the unit (note that all passed). LandMark TM 60 IMU User s Guide Page 48 Rev. 5/23/2017

49 Accelerometer Tumble Test: Data is captured at 100Hz data rate. The unit is mounted on an orthogonal test fixture and placed in ±1g and ± 0gs in this test. During this test the gyro and accelerometer biases are measured as well as the gyro g sensitivity and the accelerometer misalignments are measured. The data comes across as a raw number with an LSB of 1 milli g. Figure 31 Accelerometer Tumble Test Data LandMark TM 60 IMU User s Guide Page 49 Rev. 5/23/2017

50 13.2 Angle Random Walk The unit is mounted on an orthogonal fixture and is turned on with no input. Data is captured at 200Hz data rate. The white noise due to angular rate is measured. ARW is typically expressed in our datasheets in degrees per second per square root hertz ( /sec/ Hz), which is standard for most MEMS gyros. However, our performances are now commiserate with higher performing small open loop FOGs and small RLG s, so we also denote ARW in degrees per square root hour [º/ h]. This is a 490 /s gyro. Figure 32 Angle Random Walk (ARW) LandMark TM 60 IMU User s Guide Page 50 Rev. 5/23/2017

51 13.3 Velocity Random Walk The unit is mounted on an orthogonal fixture and is turned on with no input. Data is captured at 200Hz data rate. The velocity error build up with time, that is due to white noise in acceleration, is measured. VRW is typically expressed in our datasheets in milli g per square root hertz (mg/ Hz), which is standard for most MEMS accelerometers. However, our performances are now approaching higher performing quartz based servo accelerometers, so we also denote VRW in meters per second per square root hour [(m/s)/ h]. This for a 15g range accelerometer. Figure 33 Velocity Random walk LandMark TM 60 IMU User s Guide Page 51 Rev. 5/23/2017

52 13.4 Bias In Run The unit is placed on an orthogonal test fixture. Data is captured at 100Hz data rate. Then the bias of the accelerometers and gyros are measured at 1 Hz average. After a 5 minute warm up period, the data is taken for 5 minutes at ambient temperature. The test conditions should be similar to what a user should likely have during initial setup approximately within 5 minutes after turn on. Figure 34 X Gyro Bias In Run LandMark TM 60 IMU User s Guide Page 52 Rev. 5/23/2017

53 Figure 35 Y Gyro Bias In Run Figure 36 Z Gyro Bias In Run LandMark TM 60 IMU User s Guide Page 53 Rev. 5/23/2017

54 Figure 37 X accelerometer Bias In Run Figure 38 Y Accelerometer Bias In Run LandMark TM 60 IMU User s Guide Page 54 Rev. 5/23/2017

55 Figure 39 Z accelerometer In Run Bias 13.5 Bias and Scale Factor Over Temperature Data is captured at 100Hz data rate. The temperature calibration process measures temperature at a minimum of 5 set points from 40 C to +85 C at a slew rate of approximately 1 2 /minute. A 9 point correction table is generated that identifies temperature based offsets for each of the gyro and accelerometer data sets. Depending upon the variable, up to a 3 rd order thermal model is used to create a correction model. The black line is the model fit to the blue diamond data points. LandMark TM 60 IMU User s Guide Page 55 Rev. 5/23/2017

56 Gyro Bias Over Temperature Figure 40 X Gyro Bias Over Temperature Figure 41 Y Gyro Bias Over Temperature LandMark TM 60 IMU User s Guide Page 56 Rev. 5/23/2017

57 Figure 42 Z Gyro Bias Over Temperature LandMark TM 60 IMU User s Guide Page 57 Rev. 5/23/2017

58 Gyro Scale Factor Over Temperature Figure 43 X Gyro Scale Factor Over Temperature Figure 44 Y Gyro Scale Factor Over Temperature LandMark TM 60 IMU User s Guide Page 58 Rev. 5/23/2017

59 Figure 45 Z Gyro Scale Factor Over Temperature Accelerometer Bias Over Temperature Figure 46 X Accelerometer Bias Over Temperature LandMark TM 60 IMU User s Guide Page 59 Rev. 5/23/2017

60 Figure 47 Y Accelerometer Bias Over Temperature Figure 48 Z Accelerometer Bias Over Temperature LandMark TM 60 IMU User s Guide Page 60 Rev. 5/23/2017

61 Accelerometer Scale Factor Over Temperature Figure 49 X Scale Factor Over Temperature Figure 50 Y Scale Factor Over Temperature LandMark TM 60 IMU User s Guide Page 61 Rev. 5/23/2017

62 Figure 51 Z Accelerometer Scale Factor Over Temperature LandMark TM 60 IMU User s Guide Page 62 Rev. 5/23/2017

63 13.6 Bias Turn On (from a Cold Start) The LandMark TM 60 IMU is NOT specified for this condition. This data is supplied for customer reference only. Data is captured at 100Hz data rate for 25 minutes and we chart 1Hz average data for the first five minutes. Test conditions assume a unit has been powered off for a minimum of at least five minutes and then data is taken at ambient temperature from initial power on to determine sample turn on transient performance. It should be noted that most of the turn on transient occurs during the initial two minutes after power on and after that it essential performs near the specified Bias In Run performance level. Figure 52 X Gyro Bias Turn On Figure 53 Y Gyro Bias Turn On LandMark TM 60 IMU User s Guide Page 63 Rev. 5/23/2017

64 Figure 54 Z Gyro Bias Turn On Figure 55 X Accelerometer Bias Turn On LandMark TM 60 IMU User s Guide Page 64 Rev. 5/23/2017

65 Figure 56 Y Accelerometer Bias Turn On Figure 57 Z Accelerometer Bias Turn On LandMark TM 60 IMU User s Guide Page 65 Rev. 5/23/2017

66 13.7 Bias Turn On to Turn On (TOTO) Repeatability The LandMark TM 60 IMU is NOT specified for this condition. This data is supplied for customer reference only. Data is captured at 200Hz data rate. Test conditions assume a unit has been powered off for a minimum of at least five minutes and then data is taken from initial power on and averaged over two minutes to determine initial offset bias and repeated for five cycles to determine sample turn on to turn on repeatability performance. Figure 58 Gyro Bias Turn On to Turn On (TOTO) Repeatability LandMark TM 60 IMU User s Guide Page 66 Rev. 5/23/2017

67 Figure 59 Accelerometer Bias Turn On to Turn On (TOTO) Repeatability LandMark TM 60 IMU User s Guide Page 67 Rev. 5/23/2017

68 13.8 Random and Sine Vibration Random Vibration: Data is captured at 200Hz data rate on a factory shaker. The unit is subject to random frequencies with total energy contained in the vibration profile of 5.74gRMS. The delta shift for each gyro and accelerometer is measured before and after the run. Also measured during vibe is the Vibration Rectification Coefficients (VRC) of the unit. Figure 60 Random Vibration Test Data LandMark TM 60 IMU User s Guide Page 68 Rev. 5/23/2017

69 Sine Vibration Test: Data is captured at 200Hz data rate on a factory shaker. The unit is subject to a sine sweep of various frequencies from 30Hz to 3000Hz and delta shifts are calculated before and after the run. Also measured during vibe is the Vibration Rectification Coefficients (VRC) of the unit from 200Hz to 1kHz. Figure 61 Sine Vibration Test Data LandMark TM 60 IMU User s Guide Page 69 Rev. 5/23/2017

70 Gyro Sine Vibration Response Shaker Resonance Shaker Shut Off Figure 62 X Gyro Sine Vibration Response Shaker Resonance Shaker Shut Off Figure 63 Y Gyro Sine Vibration Response LandMark TM 60 IMU User s Guide Page 70 Rev. 5/23/2017

71 Shaker Resonance Shaker Shut Off Figure 64 Z Gyro Sine Vibration Response Accelerometer Sine Vibration Response Shaker Shut Off Figure 65 X Accelerometer Sine Vibration Response LandMark TM 60 IMU User s Guide Page 71 Rev. 5/23/2017

72 Figure 66 Y Accelerometer Sine Vibration Response Figure 67 Z Accelerometer Sine Vibration Response LandMark TM 60 IMU User s Guide Page 72 Rev. 5/23/2017

73 14 LandMark TM 60 IMU Software Development Kit Gladiator Technologies works with highly qualified distributors worldwide to maximize the distribution of our quality systems and sensor products. Select your location below to contact the distributor representing your location. If there isn't a local representative listed below for your location, please contact our Headquarter office for assistance and someone from our Sales Team will assist you. The LandMark TM 60 IMU Software Development Kit (SDK) is an optional product to assist first time users of the LandMark TM 60 IMU. This kit provides the user everything they need to facilitate a rapid setup and test of the unit. The SDK (P/N LMRK50IMU DEMO 120) and includes display software with user defined options including the following components: Turn Key Solution for LandMark TM 60 IMU on User PC All Cabling, Interface Connectors and Software Included and Ready for Use Easy Integration of Direct IMU RS422/RS485 to PC s USB Port Includes PC Display Software for IMU Data Record Capability Multiple User Selected Field Options for Programming and Initializing the Unit User Defined Bandwidth Settings and Data Output Rate on IMU Battery Powered Power Supply (1.5 Hours Typical) Self Test Switch LandMark TM 60 IMU User s Guide Page 73 Rev. 5/23/2017

74 Figure 68 SDK Battery Power Supply, Cabling, Connector, USB Converter & Self Test 14.1 RS422/RS485 to USB Power Supply & Converter Cable Contained in the Software Development Kit (SDK) is a complete RS422/RS485 to USB Converter cable including battery powered power supply and self test switch (see photo below). The power supply uses a 9V battery (included with shipment). Typically when using new batteries, the battery pack will provide the user with about 1 hour of usage before needing to be replaced. CAUTION: As the battery life declines you can get a voltage drop below the minimum +6V required. If this occurs you can then start to get CHECKSUM errors in your data. It is highly recommended to replace the batteries in the SDK before each field test. An RS422/RS485 to USB converter (it requires additional drivers that are included in a CD ROM) is also included. This power supply converter cable and self test switch enables the user to quickly connect the LandMark TM 60 IMU to their PC to ease integration and testing. Connect the cables to the unit and the converter board to the PC with the USB cable. You do not need to turn on the power switch yet until the rest of the software is installed. Connector to Unit Figure 69 Unit Connector 14.2 LandMark TM 60 IMU Mating Connector The LandMark TM 60 IMU mating connector and mating pins are contained in a separate package to enable customer specific wiring options (please see items 4 and 5 in the table in Section 10). If you purchased the SDK then you also have an RS422/RS485 Converter board and USB connector mate and mating pins as well. The wiring diagram for the RS422/RS485 to USB Converter Schematic is pictured below. LandMark TM 60 IMU User s Guide Page 74 Rev. 5/23/2017

75 Figure 70 LandMark TM 60 Development Kit RS422/RS485 to USB Converter Schematic LandMark TM 60 IMU User s Guide Page 75 Rev. 5/23/2017

76 14.3 STOP! Read This First You must first install the USB drivers from the enclosed USB Driver CD ROM before using Glamr to read the unit. Look on the CD ROM under Linx SW and perform the instructions in Read Me First Installation Guide (see Figure 21 below, now in PDF format). Note: This driver is designed for windows programs only. Figure 71 Read Me First installation guide 14.4 Installing the LINX SDM USB QS S Drivers WIRELESS MADE SIMPLE Introduction The LINX SDM USB QS S module requires that device drivers be installed on the host PC before they can interact. The drivers tell the PC how to talk to the module. These drivers are for Windows 98, XP, NT, Windows 7, and Windows 8. The set for Windows are the direct drivers, which offer a set of program functions that allow a custom application to directly control the module through the USB port. Note: For Windows 10 do the following: 1. Need to install LINX driver first. This is updated for Windows 10 and you can find it here: Figure 72 SDK Installation Disk content/uploads/qs_driver_installer.zip Do NOT use the FTDI device driver that Windows 10 provides. It does not work with the LINX product even though they are using the FTDI parts. They changed the PID so it is unique. 2. When installing Glamr, there will be an error message saying Combined.OCX could not be registered. This is due to missing some DLLs. To get these dependencies, you need to install a Microsoft Redistribution package. This package (language dependent for our foreign customers) can be found at: us/download/details.aspx?id=29 LandMark TM 60 IMU User s Guide Page 76 Rev. 5/23/2017

77 Figure 73 Files on Installation Disk LandMark TM 60 IMU User s Guide Page 77 Rev. 5/23/2017

78 Installing the Direct Drivers The drivers are included and should be saved onto the hard drive of a PC or onto a flash drive. Click on the QS_Driver_Installer.msi for the Setup Wizard. Figure 74 Driver Setup Wizard Click I agree Figure 75 License Agreement Prompt LandMark TM 60 IMU User s Guide Page 78 Rev. 5/23/2017

79 Click on Next up arrival at the installation folder prompt. Figure 76 Installation Folder Prompt Click on Next at the driver package information prompt. Windows 8 Figure 77 Driver Package information Prompt Note: Plug in the USB port before you turn the device power on, to avoid Windows loads as a mouse driver. LandMark TM 60 IMU User s Guide Page 79 Rev. 5/23/2017

80 Figure 78 Driver Installation Status 14.5 GLAMR Software Installation Now install the GLAMR application off of the CD ROM. Open the GLAMR file (see screen shot figure below) in the enclosed CD ROM and install the application to the desired location on the hard drive. LandMark TM 60 IMU User s Guide Page 80 Rev. 5/23/2017

81 Figure 79 GLAMR Location on the SDK CD ROM Once you installed the GLAMR application then you need to create a shortcut on your desktop to the application. Right click on the GLAMR Software icon on your hard drive file. Select create shortcut. Drag this shortcut file and drop on your desktop, as shown below. Figure 80 GLAMR Shortcut Software Icon Open the GLAMR software and a window will appear as shown below. LandMark TM 60 IMU User s Guide Page 81 Rev. 5/23/2017

82 Figure 81 GLAMR Screen before Selecting Correct COM Port Settings The bottom of the Gladiator IMU Display may read IMU serial port (LINX SDM USB, , E82) Error opening. Only one copy of GLAMR can be open at a time therefore make sure there is not another copy open on the task bar. If there are multiple copies of GLAMR open, you will see a message at the bottom of the IMU Display window as shown. Reconnect the USB plug to the SDK. The LINX port should have a checkmark next to it. The bottom of the window should now read IMU serial port (LINX SDM USB, , E82) success, as shown below. LandMark TM 60 IMU User s Guide Page 82 Rev. 5/23/2017

83 Figure 82 Confirmed Correct LINX Port with Message "success" Turn on the power switch on the unit power supply and you should see data appear in the window as shown below. You should be able to move the IMU with your hand and see changes in rate and acceleration for each axis located within the IMU on the screen. To see rapid change the record function will capture real time data without the filter effect on the screen. LandMark TM 60 IMU User s Guide Page 83 Rev. 5/23/2017

84 Figure 83 LINX success and Unit Outputs LandMark TM 60 IMU User s Guide Page 84 Rev. 5/23/2017

85 14.6 Select Applicable Baud Rate When selecting the default 1000 Hz data rate you must select the Baud Rate of 921,600. For ALL other date rates select 115,200. Figure 84 Baud Rate Selection for 1000Hz Data Rate LandMark TM 60 IMU User s Guide Page 85 Rev. 5/23/2017

86 Figure 85 IMU Data in Full Mode at 1000Hz Data Rate The message shown in the lower left of the box as: IMU serial port (LINX SDM USB, , 8E2) success indicates that the GLAMR program is reading the port. The next message Msg out ofsequence: exp 0, act 96 indicates that the program saw a skip in the message count. This case will happen at start up and can be ignored. The last message Accel re scale set to 0.5 indicates that the program detected a 10g range Accel and rescaled the LSB to take into account a 0.5mg LSB scaling to display and record the units in g s. LandMark TM 60 IMU User s Guide Page 86 Rev. 5/23/2017

87 14.7 Select Applicable Stop Bits When using the LMRK60, the number of stop bits is 1. If you use the LINX USB RS485 interface, the converter works with either 1 or 2 stop bits. If you use a dedicated serial communication device, you must specify 1 stop bit for correct interface to unit. Figure 86 Stop Bit Selection for comm. port LandMark TM 60 IMU User s Guide Page 87 Rev. 5/23/2017

88 14.8 Self Test in GLAMR GLAMR includes a self test function. The user can initiate the self test by the momentary switch, contained within the Switch box that is included in the LandMark TM 60 IMU SDK. Press the switch button to activate self test of the sensors. The GLAMR display will now show SELF TEST is activated while also showing the data outputs. You should see a delta change in the X, Y and Z sensor outputs when you initiate self test per the data sheet. Figure 87 Power and Self Test Momentary Switch Self Test is now displayed and active Figure 88 Self Test Display When Activated ON 14.9 Setting the Mode and Data Rate The SDK software also has a data rate adjustment and data set selection. This feature is selected under Mode as shown. This allows a reduced data set in Spec mode. LandMark TM 60 IMU User s Guide Page 88 Rev. 5/23/2017

89 Mode Selection Set IMU Mode at 1000 Hz Use Set IMU Mode at 200 Hz Use Set IMU Mode at 100 Hz Use Set IMU Mode at 10 Hz Use Figure 89 Mode Selection / Data Rate Set IMU Mode 500Hz Data Rate All LMRK IMUs can be put into a 500Hz data rate mode. This is shown in the figure above. However, to reset to another mode once it is 500Hz data rate mode, requires a special procedure. To revert the unit back to any other mode requires a mode click to the desired rate. This will command the unit to wait for a power recycle as per the screen instructions. To set the unit to the new mode upon powering up. Turn on power and the new data rate will be shown under the green bars in the upper right corner xxx msgs per sec. LandMark TM 60 IMU User s Guide Page 89 Rev. 5/23/2017

90 14.10 Unit Display Options Figure 90 IMU Mode at 1000 Hz Data Rate The SDK software also can set the dimensional units of the display. This is selected under Units. Figure 91 Gyro Units of Measure Selection Options LandMark TM 60 IMU User s Guide Page 90 Rev. 5/23/2017

91 14.11 Data Record Feature Figure 92 Accelerometer Units of Measure Selection Options The SDK software also has a data record feature that captures data outputting from the IMU and puts it into.csv format. This enables the user to easily convert these data files to EXCEL or database format. The user should select with their mouse the Start Recording button to initiate data record function. When they wish to stop recording simply click the Stop Recording button. LandMark TM 60 IMU User s Guide Page 91 Rev. 5/23/2017

92 Data Record Capability Figure 93 Data Record Capability Select Start Record and designate the file name and location before the recording begins. To begin data record function click on Open: LandMark TM 60 IMU User s Guide Page 92 Rev. 5/23/2017

93 Click on open to start recording Bandwidth Filtering Capability Figure 94 Saving Data Record Files Bandwidth vs. Noise One thing to be aware is that our standard LandMark TM 60 IMU is optimized for high bandwidth, so the gyro bandwidth is set at 250Hz. True bandwidth with the 3dB point is approximately 100Hz when the 200Hz sample system is included. These are the settings for the standard unit when shipped and the noise may not be optimized for an end user s specific application. The high bandwidth is ideal for dynamic applications where the high bandwidth would be required to close control loops in flight control in a UAV for example. However, in UAV navigation a lower bandwidth would be possible and we would see an improvement in noise. Laboratory uses, automotive monitoring or stabilization applications would likely prefer improved noise and could tolerate reduced bandwidth. Effective with LandMark TM 60 IMU SDK, Gladiator Technologies offers the end user the capability to set bandwidth filtering in permanent memory that enables the end user to set lower bandwidth levels than 100Hz and benefit from the reduced noise of the sensors in the LandMark TM 60 IMU. To utilize this capability select Load from the drop down menu. LandMark TM 60 IMU User s Guide Page 93 Rev. 5/23/2017

94 Select on desired Bandwidth Figure 95 Select Desired Bandwidth Filter from Drop Down Menu Then select the desired true bandwidth of the gyros with the software filter. The user can select from Maximum (standard units are shipped with this setting) or from the other bandwidth options all the way down to 1Hz. Once this is set and the user takes and confirms data with this new setting the LandMark TM 60 IMU bandwidth filter setting will remain at the setting until the user changes it in the same manner as detailed above. LandMark TM 60 IMU User s Guide Page 94 Rev. 5/23/2017

95 14.13 CAN BUS DBC File The DBC file that describes the CAN bus interface can be auto generated by Glamr based on the current settings using the CANBUS menu item while the unit is connected and active with the device Figure 96 CAN BUS DBC File Generation LandMark TM 60 IMU User s Guide Page 95 Rev. 5/23/2017

96 Figure 97 Message Options for Trouble Shooting 15 Mounting Mounting for the LandMark TM 60 IMU accommodates both metric and U.S. mounting screws. Mount the unit to a flat surface with 4ea Number 8 screws (U.S.) or 4ea Number 4 metric stainless steel screws. Be sure that the surface that you are mounting to is as clean and as level as possible in order to eliminate potential alignment errors. LandMark TM 60 IMU User s Guide Page 96 Rev. 5/23/2017

97 16 Operation and Troubleshooting 16.1 Technical Documentation Available on Website Our website contains detailed product information for each product. Just select Products from the main navigation bar, select Systems and select your product of interest. Figure 98 Website Select Product Category LandMark TM 60 IMU User s Guide Page 97 Rev. 5/23/2017

98 Figure 99 Select Product of Interest LandMark TM 60 IMU User s Guide Page 98 Rev. 5/23/2017

99 Figure 100 Documentation Tab & Technical Data Available The Technical support webpage has user training videos; the latest software downloads as well as Remote Desktop Assistance. Figure 101 Technical Support Web Page Figure 102 Training & Setup Videos Web Page LandMark TM 60 IMU User s Guide Page 99 Rev. 5/23/2017

100 Figure 103 Remote Desktop Support Web Page Figure 104 Web Conferencing Web Page LandMark TM 60 IMU User s Guide Page 100 Rev. 5/23/2017