Witmotion IMU Library
1.3.1~dev_4684448
Open source UART communication library for sensor devices manufactured by WitMotion Shenzhen Co.,Ltd
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Core library allowing the external programs to read the data and control the parameters from the TTL/UART-compatible Inertial Measurement Units (IMU), manufactured by WitMotion Shenzhen Co.,Ltd.
The library implements the C++ API to program applications accessing Witmotion sensor devices supporting unified communication protocol. The class structure is defined to stay able to implement also any other protocol for the different hardware communication interface. In the current state, the library uses Qt backend for UART/TTL serial interface through Qt5 Serial Port internal API. Thus the Qt library installation of version 5.1 or newer is the only system requirement for the library.
The project strives to provide the following tools for every supported Witmotion device:
In its current state the library supports any Witmotion device using the unified Witmotion communication protocol. The following table enumerates devices which are currently tested and fully supported.
Device/Part ID | Description | Testing status |
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WT31N | 3-Axis Accelerometer/Gyroscope (linear accelerations + 2-axis Euler angles gravity tracking) | Tested on baud rates 9600 and 115200 baud, polling frequencies up to 100 Hz |
JY901B | 9-Axis Combined IMU/Magnetometer/Altimeter (linear accelerations, angular velocities, Euler angles, magnetic field, barometry, altitude) | Tested on baud rates from 2400 to 115200 baud, polling frequencies up to 150 Hz |
WT901 | 9-Axis Combined Open Circuit IMU/Magnetometer (linear accelerations, angular velocities, Euler angles, magnetic field) | Tested on baud rates from 2400 to 115200 baud, polling frequencies up to ~180 Hz |
The library is still a project under active development, so any user contribution is encouraged. Please do not hesitate to create pull requests here. Here below is the list of currently incompleted tasks presented with the corresponding Github issues.