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Summary of Contents for WiT WT61P
- Page 1 USER MANUAL WT61P Inclinometer Sensor WT61P | manual v0707 | http://wiki.wit-motion.com/english - 1 -...
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Page 2: Contact
Technical Support Contact Info Application ● AGV Truck ● Platform Stability ● Auto Safety System ● 3D Virtual Reality ● Industrial Control ● Robot ● Car Navigation ● UAV ● Truck-mounted Satellite Antenna Equipment WT61P | manual v0707 | http://wiki.wit-motion.com/english - 2 -... -
Page 3: Table Of Contents
2.4.4 Data Recording ................- 22 - 2.4.5 Data Playback .................. - 24 - 2.4.6 Standby and Wake Up ..............- 26 - 2.4.7 Placement Direction ..............- 27 - 2.4.8 Bandwidth ..................- 28 - WT61P | manual v0707 | http://wiki.wit-motion.com/english - 3 -... - Page 4 4.2 STM32 ......................- 39 - 4.3 Raspberry pi ....................- 39 - 4.4 C# ........................- 39 - 4.5 C++ ......................... - 40 - 4.6 Matlab ......................- 40 - WT61P | manual v0707 | http://wiki.wit-motion.com/english - 4 -...
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Page 5: Introduction
Its strength lies in the algorithm which can calculate dual-axis angle accurately. WT61P is an CE standard accelerometer. It is employed where the highest measurement accuracy is required. WT61P offers several advantages over competing sensor: •... -
Page 6: Warning Statement
For proper instrument grounding: use WITMOTION with its original factory-made cable or accessories. For secondary developing project or integration: use WITMOTION with its compiled sample code. WT61P | manual v0707 | http://wiki.wit-motion.com/english - 6 -... -
Page 7: Use Instructions With Pc
WT61P Playlist 2.1.1 Serial Connection Step 1. Connect the sensor with a serial converter PIN Connection: VCC - TX - RX - GND - GND (When connecting with computer, VCC-5V is recommended.) WT61P | manual v0707 | http://wiki.wit-motion.com/english - 7 -... - Page 8 Step 3. Open the software(Minimu.exe) Data will appear after auto-search finishes Notice: If not successful, please operate manually Choose the com port and baud rate 9600, data will be shown on the software. WT61P | manual v0707 | http://wiki.wit-motion.com/english - 8 -...
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Page 9: Software Introduction
Binding device or unbind Firmware update Option for firmware update About Minimu Info about Minimu.exe Factory test For manufacturer internal test only Auto-search Auto searching the sensor Port Com port selection WT61P | manual v0707 | http://wiki.wit-motion.com/english - 9 -... - Page 10 Baud Baud rate selection Type Fixed setting as Normal for WT61P Open Open com port Close Close com port WT61P | manual v0707 | http://wiki.wit-motion.com/english - 10 -...
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Page 11: Menu Of Configuration
Menu of Configuration Menu of Configuration Button Function Read Config Reading the current configuration Lock Lock the sensor Unlock Unlock the sensor Calibrate Time Calibration time of chip Save Config Save configuration WT61P | manual v0707 | http://wiki.wit-motion.com/english - 11 -... - Page 12 (only for sensor built-in barometer, including WT901B, WTGAHRS2, WTGAHRS1, HWT901B) Reset Z-axis Angle Reset Z-axis angle to 0 degree, only available for WT61P in 6-axis algorithm Angle Reference Setting current angle as 0 degree Gyro Auto Calibrate Auto-calibration of gyroscope...
- Page 13 VDOP data, only available when the sensor connecting with GPS module, such as WTGAHRS1, WTGAHRS2 GPS IMU GPS Original Only output GPS raw data, only available when the sensor connecting with GPS WT61P | manual v0707 | http://wiki.wit-motion.com/english - 13 -...
- Page 14 Menu of Port D0 Model Extended port D0 D1 Model Extended port D1 D2 Model Extended port D2 D3 Model Extended port D3 Pulse width Pulse width of PWM Cycle Cycle of PWM WT61P | manual v0707 | http://wiki.wit-motion.com/english - 14 -...
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Page 15: Calibration
After calibration, the measurement will be accurate. Methods: Step 1. Keep the module horizontally stationary Step 2. Click the accelerometer calibration Step 3. Click the “Start calibration”and wait for 3 seconds WT61P | manual v0707 | http://wiki.wit-motion.com/english - 15 -... - Page 16 0, 0,1, the X and Y axis Angle is around 0°. After calibration, the x-y axis Angle is accurate. Note: When putting the module horizontal, there is 1g of gravitational acceleration on the Z-axis. WT61P | manual v0707 | http://wiki.wit-motion.com/english - 16 -...
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Page 17: Gyroscope Automatic Calibration
The gyroscope calibration is to calibrate the angular velocity, and the sensor will calibrate automatically. It is recommended that the automatic calibration of gyroscopes can be inactivated only if the module rotates at a constant speed. WT61P | manual v0707 | http://wiki.wit-motion.com/english - 17 -... -
Page 18: Reset Z-Axis Angle
Z axis backs to 0 degree in the module data bar. 2.3.4 Reset Height to 0 Only available for the module built-in barometer like WT901B, HWT901B, WTGAHRS1, WTGAHRS2 WT61P | manual v0707 | http://wiki.wit-motion.com/english - 18 -... -
Page 19: Configuration
Taking WT61P as an example, the default output of the module is acceleration, angular velocity, angle, and magnetic field. Notice: If choosing the GPS Original, there will be no other data output. -
Page 20: Output Rate
To put it simply, if the return rate is high, the baud rate should also be set higher, generally 115200. WT61P | manual v0707 | http://wiki.wit-motion.com/english - 20 -... -
Page 21: Baud Rate
Note: After the change, the module will no longer output data at the original baud rate. The data will be output only when the baud rate that has been changed is selected on the PC software again. WT61P | manual v0707 | http://wiki.wit-motion.com/english - 21 -... -
Page 22: Data Recording
2.4.4 Data Recording Method are as follows: Step 1: Click “Record” and “Begin” Step 2: Click “Stop” WT61P | manual v0707 | http://wiki.wit-motion.com/english - 22 -... - Page 23 Windows system’s time. The changes in other data is correct. It is highly recommended that data can be pasted to a Excel file. In this way, all data will be shown in order. WT61P | manual v0707 | http://wiki.wit-motion.com/english - 23 -...
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Page 24: Data Playback
Recorded data playback method: Step 1: Disconnect the sensor Step 2: Click “File” Button and then click “Load” Step 3: Choose the original path of software installation and load the Bin file WT61P | manual v0707 | http://wiki.wit-motion.com/english - 24 -... - Page 25 Step 4: Click “Run” and the Binary file will be playback When playback, the rate can be editable. WT61P | manual v0707 | http://wiki.wit-motion.com/english - 25 -...
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Page 26: Standby And Wake Up
Wake up: The module enters the working state from the standby state. The module defaults to a working state, in the“Config”of the software, click “Sleep”option to enter the sleep state, click“Sleep”again to release sleep. WT61P | manual v0707 | http://wiki.wit-motion.com/english - 26 -... -
Page 27: Placement Direction
Step 1: Rotate the module 90 degrees around the X-axis Step 2: Place the sensor 90 degrees vertically Step 3: Click “Vertical” as install directions on “Config” menu WT61P | manual v0707 | http://wiki.wit-motion.com/english - 27 -... -
Page 28: Bandwidth
1. The higher rate of bandwidth setting will lead to the higher fluctuation in data waveform. Conversely, the lower rate of bandwidth, data will become more fluent. For example: Bandwidth as 20Hz, Output rate as 10Hz. The waveform is very steady. WT61P | manual v0707 | http://wiki.wit-motion.com/english - 28 -... - Page 29 For example, if the bandwidth setting is 20Hz, retrieval rate as 100Hz, there will be 5 repeating data. If you prefer there is no repeating data, it is required to increase the bandwidth more than 100Hz. WT61P | manual v0707 | http://wiki.wit-motion.com/english - 29 -...
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Page 30: Restore Factory Setting
Restore Factory Setting Operation method: Connect the WT61P to the computer through the USB to serial port module, click the configuration option, open the configuration bar, and click "Reset". After restoring the factory settings, power on the module again. (This method needs to know the baud rate of the module in advance, if the baud rate does not match the instruction will not take effect.) -
Page 31: Use Instructions With Android Phone
Use Instructions with Android Phone For APP configuration introduction, please referring to the Chapter 2.2 APP Installation Install the APK file, give permission of Location and Storage Link to download Android APP WT61P | manual v0707 | http://wiki.wit-motion.com/english - 31 -... -
Page 32: Hardware Preparation
Hardware Preparation Connecting with Android smartphone requires a serial cable and a Type-C converter or OTG converter according to phone’s interface. WT61P | manual v0707 | http://wiki.wit-motion.com/english - 32 -... -
Page 33: Connection
“Choose an APP for the USB device”, which means that the device has been detected. Choose “WitMotion”, “ JUST ONCE” or “ALWAYS” is optional. 2. Only CH340 driver can be detected via WitMotion APP. WT61P | manual v0707 | http://wiki.wit-motion.com/english - 33 -... - Page 34 Step 3. Open APP and choose “9-axis Series” as sensor series WT61P | manual v0707 | http://wiki.wit-motion.com/english - 34 -...
- Page 35 Step 4. Select the baud rate- 9600. After selection and wait for a few seconds, the data will show automatically. WT61P | manual v0707 | http://wiki.wit-motion.com/english - 35 -...
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Page 37: Calibration
Step 1. Keep the module horizontally stationary Step 2. Click the “Calibration” menu Step 3. Click the “Acceleration Calibration” and wait for 3 seconds Step 5. Judge the result--confirm if there is 1g on Z-axis acceleration WT61P | manual v0707 | http://wiki.wit-motion.com/english - 37 -... -
Page 38: Reset Z-Axis Angle
Step 2. Click the “Calibration” menu Step 3. Click the “Z axis return to zero” and wait for 3 seconds Step 4. Check the data of “Angle Z” to see if it is 0°. WT61P | manual v0707 | http://wiki.wit-motion.com/english - 38 -... -
Page 39: Mcu Connection
Link to sample code instructions demo Notice: There is no sample code provided for Linux or Python system at present. Arduino Download link Arduino UNO3 Demo Link STM32 Download link Raspberry pi Tutorial link DEMO link WT61P | manual v0707 | http://wiki.wit-motion.com/english - 39 -... -
Page 40: Matlab
DEMO link Matlab Receive Sample Code Dataplot DEMO WT61P | manual v0707 | http://wiki.wit-motion.com/english - 40 -...
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