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Back to PhidgetSpatialMBS class.

PhidgetSpatialMBS.Constructor

Type Topic Plugin Version macOS Windows Linux iOS Targets
method Phidgets MBS Phidgets Plugin 22.1 ✅ Yes ✅ Yes ✅ Yes ❌ No Desktop, Console & Web
The constructor.

PhidgetSpatialMBS.getEulerAngles(byref pitch as double, byref roll as double, byref heading as double)   New in 25.0

Type Topic Plugin Version macOS Windows Linux iOS Targets
method Phidgets MBS Phidgets Plugin 25.0 ✅ Yes ✅ Yes ✅ Yes ❌ No Desktop, Console & Web
Gets the latest device orientation in the form of Euler angles.

Pitch, roll, and yaw.

PhidgetSpatialMBS.getQuaternion(byref x as double, byref y as double, byref z as double, byref w as double)   New in 25.0

Type Topic Plugin Version macOS Windows Linux iOS Targets
method Phidgets MBS Phidgets Plugin 25.0 ✅ Yes ✅ Yes ✅ Yes ❌ No Desktop, Console & Web
Gets the latest AHRS/IMU quaternion sent from the device.

PhidgetSpatialMBS.MaxAcceleration as Double()   New in 25.0

Type Topic Plugin Version macOS Windows Linux iOS Targets
method Phidgets MBS Phidgets Plugin 25.0 ✅ Yes ✅ Yes ✅ Yes ❌ No Desktop, Console & Web
The maximum acceleration the sensor will measure.

Returns an array with 3 double values.

PhidgetSpatialMBS.MaxAngularRate as Double()   New in 25.0

Type Topic Plugin Version macOS Windows Linux iOS Targets
method Phidgets MBS Phidgets Plugin 25.0 ✅ Yes ✅ Yes ✅ Yes ❌ No Desktop, Console & Web
The maximum angular rate the sensor will measure.

Returns an array with 3 double values.

PhidgetSpatialMBS.MaxMagneticField as Double()   New in 25.0

Type Topic Plugin Version macOS Windows Linux iOS Targets
method Phidgets MBS Phidgets Plugin 25.0 ✅ Yes ✅ Yes ✅ Yes ❌ No Desktop, Console & Web
The maximum field strength the sensor will measure.

Returns an array with 3 double values.

PhidgetSpatialMBS.MinAcceleration as Double()   New in 25.0

Type Topic Plugin Version macOS Windows Linux iOS Targets
method Phidgets MBS Phidgets Plugin 25.0 ✅ Yes ✅ Yes ✅ Yes ❌ No Desktop, Console & Web
The minimum acceleration the sensor will measure.

PhidgetSpatialMBS.MinAngularRate as Double()   New in 25.0

Type Topic Plugin Version macOS Windows Linux iOS Targets
method Phidgets MBS Phidgets Plugin 25.0 ✅ Yes ✅ Yes ✅ Yes ❌ No Desktop, Console & Web
The minimum angular rate the sensor will measure.

PhidgetSpatialMBS.MinMagneticField as Double()   New in 25.0

Type Topic Plugin Version macOS Windows Linux iOS Targets
method Phidgets MBS Phidgets Plugin 25.0 ✅ Yes ✅ Yes ✅ Yes ❌ No Desktop, Console & Web
The minimum field strength the sensor will measure.

Returns an array with 3 double values.

PhidgetSpatialMBS.resetMagnetometerCorrectionParameters

Type Topic Plugin Version macOS Windows Linux iOS Targets
method Phidgets MBS Phidgets Plugin 22.1 ✅ Yes ✅ Yes ✅ Yes ❌ No Desktop, Console & Web
Resets the MagnetometerCorrectionParameters to their default values.

Due to physical location, hard and soft iron offsets, and even bias errors, your device should be calibrated. We have created a calibration program that will provide you with the MagnetometerCorrectionParameters for your specific situation. See your device's User Guide for more information.

PhidgetSpatialMBS.saveMagnetometerCorrectionParameters

Type Topic Plugin Version macOS Windows Linux iOS Targets
method Phidgets MBS Phidgets Plugin 22.1 ✅ Yes ✅ Yes ✅ Yes ❌ No Desktop, Console & Web
Saves the MagnetometerCorrectionParameters.

Due to physical location, hard and soft iron offsets, and even bias errors, your device should be calibrated. We have created a calibration program that will provide you with the MagnetometerCorrectionParameters for your specific situation. See your device's User Guide for more information.

PhidgetSpatialMBS.setAHRSParameters(angularVelocityThreshold as double, AngularVelocityDeltaThreshold as double, accelerationThreshold as double, magTime as double, accelTime as double, biasTime as double)

Type Topic Plugin Version macOS Windows Linux iOS Targets
method Phidgets MBS Phidgets Plugin 22.1 ✅ Yes ✅ Yes ✅ Yes ❌ No Desktop, Console & Web
Calibrate your device for the environment it will be used in.

Setting these parameters will allow you to tune the AHRS algorithm on the device to your specific application.

angularVelocityThreshold: The maximum angular velocity reading where the device is assumed to be "at rest"
AngularVelocityDeltaThreshold: The acceptable amount of change in angular velocity between measurements before movement is assumed.
accelerationThreshold: The maximum acceleration applied to the device (minus gravity) where it is assumed to be "at rest". This is also the maximum acceleration allowable before the device stops correcting to the acceleration vector.
magTime: The time it will take to correct the heading 95% of the way to aligning with the compass (in seconds),up to 15 degrees of error. Beyond 15 degrees, this is the time it will take for the bearing to move 45 degrees towards the compass reading. Remember you can zero the algorithm at any time to instantly realign the spatial with acceleration and magnetic field vectors regardless of magnitude.
accelTime: The time it will take to correct the pitch and roll 95% of the way to aligning with the accelerometer (in seconds).
biasTime: The time it will take to have the gyro biases settle to within 95% of the measured steady state (in seconds).

PhidgetSpatialMBS.setMagnetometerCorrectionParameters(magneticField as double, offset0 as double, offset1 as double, offset2 as double, gain0 as double, gain1 as double, gain2 as double, T0 as double, T1 as double, T2 as double, T3 as double, T4 as double, T5 as double)

Type Topic Plugin Version macOS Windows Linux iOS Targets
method Phidgets MBS Phidgets Plugin 22.1 ✅ Yes ✅ Yes ✅ Yes ❌ No Desktop, Console & Web
Calibrate your device for the environment it will be used in.

Due to physical location, hard and soft iron offsets, and even bias errors, your device should be calibrated. We have created a calibration program that will provide you with the MagnetometerCorrectionParameters for your specific situation. See your device's User Guide for more information.

magneticField: Ambient magnetic field value.
offset0: Provided by calibration program.
offset1: Provided by calibration program.
offset2: Provided by calibration program.
gain0: Provided by calibration program.
gain1: Provided by calibration program.
gain2: Provided by calibration program.
T0: Provided by calibration program.
T1: Provided by calibration program.
T2: Provided by calibration program.
T3: Provided by calibration program.
T4: Provided by calibration program.
T5: Provided by calibration program.

PhidgetSpatialMBS.zeroAlgorithm

Type Topic Plugin Version macOS Windows Linux iOS Targets
method Phidgets MBS Phidgets Plugin 22.1 ✅ Yes ✅ Yes ✅ Yes ❌ No Desktop, Console & Web
Zeros the AHRS algorithm.

PhidgetSpatialMBS.zeroGyro

Type Topic Plugin Version macOS Windows Linux iOS Targets
method Phidgets MBS Phidgets Plugin 22.1 ✅ Yes ✅ Yes ✅ Yes ❌ No Desktop, Console & Web
Re-zeros the gyroscope in 1-2 seconds.

The device must be stationary when zeroing.
The angular rate will be reported as 0.0°/s while zeroing.
Zeroing the gyroscope is a method of compensating for the drift that is inherent to all gyroscopes. See your device's User Guide for more information on dealing with drift.

The items on this page are in the following plugins: MBS Phidgets Plugin.


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