////////////////////////////////////////////////////////////////////////// // doMTSettings // // Set user settings in MTi/MTx // Assumes initialized global MTComm class void AHRS::doMtSettings(xsens::Cmt3 &cmt3, CmtOutputMode &mode, CmtOutputSettings &settings, CmtDeviceId deviceIds[]) { XsensResultValue res; unsigned long mtCount = cmt3.getMtCount(); // set sensor to config sate res = cmt3.gotoConfig(); EXIT_ON_ERROR(res,"gotoConfig"); unsigned short sampleFreq; sampleFreq = cmt3.getSampleFrequency(); // set the device output mode for the device(s) for (unsigned int i = 0; i < mtCount; i++) { CmtDeviceMode deviceMode(mode, settings, sampleFreq); if ((deviceIds[i] & 0xFFF00000) != 0x00500000) { // not an MTi-G, remove all GPS related stuff deviceMode.m_outputMode &= 0xFF0F; } res = cmt3.setDeviceMode(deviceMode, true, deviceIds[i]); EXIT_ON_ERROR(res,"setDeviceMode"); } // start receiving data res = cmt3.gotoMeasurement(); EXIT_ON_ERROR(res,"gotoMeasurement"); }