Document Outline

• 1 Copyright & Warranty Information
• 2 Introduction
• 3 Specifications
  • 3.1 Characteristics & Requirements
  • 3.2 Mechanical Drawings
• 4 Set-Up
  • 4.1 Electrical Connections
  • 4.2 Installation Location
    • 4.2.1 Operate within the TRAX’s dynamic range
    • 4.2.2 Locate away from changing magnetic fields
    • 4.2.3 Mount in a physically stable location
  • 4.3 Mechanical Mounting
    • 4.3.1 Pitch and Roll Convention
    • 4.3.2 Mounting Orientation
• 5 User Calibration
  • 5.1 Magnetic Calibration
    • Hard-Iron Effects
    • Soft-Iron Effects
    • Temperature Effects
    • Other Considerations
    • 5.1.1 Full-Range Calibration
    • 5.1.2 2D Calibration
    • 5.1.3 Limited-Tilt Calibration
    • 5.1.4 Hard-Iron-Only Calibration
  • 5.2 Accelerometer Calibration
    • 5.2.1 Accel-Only Calibration
    • 5.2.2 Mag-and-Accel Calibration
• 6 Operation with TRAX Studio
  • 6.1 Installation
  • 6.2 TRAX Studio Header and Connecting to TRAX Studio
  • 6.3 TRAX Studio Footer and Saving/Applying Settings
    • Save
    • Apply
    • Read
    • Default
  • 6.4 Configuration Tab
    • 6.4.1 General Settings
      • Baud Rate
      • Mounting
      • Output Units
      • North Reference
      • Declination
      • Filter Taps
      • Flush Filter
    • 6.4.2 Acquisition Settings
      • Acquisition Mode
      • Sample Delay
      • Polling Delay
  • 6.5 Calibration and the Calibration Tab
    • 6.5.1 Calibration Settings
      • Calibration Type
      • Number of Points
      • Mag Coefficient Set & Accel Coefficient Set
      • Automatic Sampling
      • H/P/R Output During Cal
      • Audible Feedback
    • 6.5.2 Performing a Calibration
    • 6.5.3 Calibration Results
      • Mag Cal
      • Accel Cal
      • Distribution Error
      • Tilt Error
      • Tilt Range
      • Mag Factory Reset & Accel Factory Reset
  • 6.6 Test Tab
    • Start/Stop Testing
    • Show 3D Model
    • Output Format & North Reference
    • Background & Foreground Color
    • Functional Mode
    • Truth Method
    • Reference Field Reset
  • 6.7 Log Data Tab
  • 6.8 Graph Tab
  • 6.9 System Log Tab
• 7 Operation with PNI Binary Protocol
  • 7.1 Datagram Structure
  • 7.2 Parameter Formats
    • 7.2.1 Endianness
    • 7.2.2 Floating Point
      • 64-Bit Floating Point (Float64)
      • 32-Bit Floating Point (Float32)
    • 7.2.3 Signed Integer
      • Signed 32-Bit Integer (SInt32)
      • Signed 16-Bit Integer (SInt16)
      • Signed 8-Bit Integer (SInt8)
    • 7.2.4 Unsigned Integer
      • Unsigned 32-Bit Integer (UInt32)
      • Unsigned 16-Bit Integer (UInt16)
      • Unsigned 8-Bit Integer (UInt8)
    • 7.2.5 Boolean
  • 7.3 Commands Overview
  • 7.4 Set-Up Commands
    • 7.4.1 Module Information
      • kGetModInfo (frame ID 1d, 0X01)
      • kGetModInfoResp (frame ID 2d, 0X02)
    • 7.4.2 Module Configuration
      • kSetConfig (frame ID 6d, 0X06)
        • kDeclination (Config. ID 1d)
        • kTrueNorth (Config. ID 2d)
        • kBigEndian (Config. ID 6d)
        • kMountingRef (Config. ID 10d)
        • kUserCalNumPoints (Config. ID 12d)
        • kUserCalAutoSampling (Config. ID 13d)
        • kBaudRate (Config. ID 14d)
        • kMilOut (Config. ID 15d)
        • kHPRDuringCal (Config. ID 16d)
        • kMagCoeffSet (Config. ID 18d)
        • kAccelCoeffSet (Config. ID 19d)
      • kSetConfigDone (frame ID 19d, 0X13)
      • kGetConfig (frame ID 7d, 0X07)
      • kGetConfigResp (frame ID 8d, 0X08)
      • kSetMagTruthMethod (frame ID 119d, 0X77)
      • kGetMagTruthMethod (frame ID 120d, 0X78)
      • kGetMagTruthMethodResp (frame ID 121d, 0X79)
    • 7.4.3 Saving Settings
      • kSave (frame ID 9d, 0X09)
      • kSaveDone (frame ID 16 d, 0X10)
  • 7.5 Measurement Commands
    • 7.5.1 Setting the Reference Magnetic Field Criteria
      • kSetResetRef (frame ID 110d)
    • 7.5.2 Data Acquisition Parameters
      • kSetAcqParams (frame ID 24 d)
        • AcquisitionMode:
        • FlushFilter:
        • PNIReserved:
        • SampleDelay:
      • kSetAcqParamsDone (frame ID 26 d)
      • kGetAcqParams (frame ID 25 d)
      • kGetAcqParamsResp (frame ID 27 d)
    • 7.5.3 Data Components
      • kSetDataComponents (frame ID 3d)
        • kHeading, kPitch, kRoll (Component IDs 5d, 24d, 25d)
        • kHeadingStatus (Component IDs 79d)
        • Quaternion (Component ID 77d)
        • kTemperature (Component ID 7d)
        • kDistortion (Component ID 8d)
        • kCalStatus (Component ID 9d)
        • kAccelX, kAccelY & kAccelZ (Component IDs 21d, 22d, 23d)
        • kMagX, kMagY & kMagZ (Component IDs 27d, 28d, 29d)
        • kGyroX, kGyroY, kGyroZ (Component IDs 74d, 75d, 76d)
    • 7.5.4 Making a Measurement
      • kGetData (frame ID 4d)
      • kStartContinuousMode (frame ID 21 d)
      • kStopContinuousMode (frame ID 22 d)
      • kGetDataResp (frame ID 5d)
  • 7.6 Calibration Commands
    • 7.6.1 User Calibration Commands
      • kStartCal (frame ID 10d)
        • Full-Range Calibration
        • 2D Calibration
        • Hard-Iron-Only Calibration
        • Limited-Tilt Calibration
        • Accel-Only Calibration
        • Accelerometer and Magnetic Calibration (110d = 6Eh)
      • kTakeUserCalSample (frame ID 31 d)
      • kUserCalSampleCount (frame ID 17 d)
      • kStopCal (frame ID 11d)
    • 7.6.2 Performing a User calibration
    • 7.6.3 Calibration Score
      • kUserCalScore (frame ID 18 d)
        • MagCalScore:
        • Bytes 5-8:
        • AccelCalScore:
        • DistributionError:
        • TiltError:
        • TiltRange:
    • 7.6.4 Factory Calibration
      • kFactoryMagCoeff (frame ID 29 d)
      • kFactoryMagCoeffDone (frame ID 30 d)
      • kFactoryAccelCoeff (frame ID 36 d)
      • kFactoryAccelCoeffDone (frame ID 37 d)
  • 7.7 Compass Mode Commands
    • 7.7.1 Switching Functional Mode
      • kSetFunctionalMode (frame ID 79 d)
      • kGetFunctionalMode (frame ID 80 d)
      • kGetFunctionalModeResp (frame ID 81 d)
    • 7.7.2 FIR Filters
      • kSetFIRFilters (frame ID 12d)
      • kSetFIRFiltersDone (frame ID 20 d)
      • kGetFIRFilters (frame ID 13d)
      • kGetFIRFiltersResp (frame ID 14d)
    • 7.7.3 Power Down/Up
      • kPowerDown (frame ID 15d)
      • kPowerDownDone (frame ID 28d)
      • kPowerUpDone (frame ID 23d)