WitMotion BWT901CL: Nine axis Bluetooth attitude angle sensor

Supported hardware devices

Link to manufacturer’s website: http://www.wit-motion.com/english.php?m=text&a=index&classify_id=46395

Supported platforms

BlueTooth Installation

Other WitMotion devices may be used with this configuration but this section is meant for setting up the BlueTooth version on Windows 10
- Make sure Bluetooth is enabled (Settings-Devices-Bluetooth On)
- Click Add Bluetooth or other device
- Click Bluetooth, make sure accelerometer 1 is turned on and flashing blue
- Enter PIN to pair (1234)
- Should be labelled as HC-06 (Or Unknown Device)
- In Bluetooth settings, click on more Bluetooth options
- Click on COM Ports and take note of the outgoing COM Port number
- Use this COM Port number for Serial Port number in the config file

Device configuration settings

Type: WitMotionTracker (Required)
AcquisitionRate: (Optional, default: 20)
LocalTimeOffsetSec: (Optional, default: 0)
ToolReferenceFrame: (Optional, default: Tracker)
SerialPort: Used COM port number for serial communication
BaudRate: Baud rate for serial communication.
DataSources: Exactly one DataSource child element is required. (Required)
- DataSource: (Required)
- PortName: = OrientationSensor (Required)
- BufferSize: (Optional, default: 150)
- AveragedItemsForFiltering: (Optional, default: 20)

Example configuration file PlusDeviceSet_Server_WitMotionTracker.xml

<PlusConfiguration version="2.1">
  <DataCollection StartupDelaySec="1.0">
    <DeviceSet
      Name="PlusServer: WitMotion motion module"
      Description="Collecting orientation data from a WitMotion JY901 motion module and broadcasting through OpenIGTLink"
    />
    <Device
      Id="TrackerDevice"
      Type="WitMotionTracker"
      SerialPort="9"
      BaudRate="115200"
      ToolReferenceFrame="Tracker" >
      <DataSources>
        <DataSource Type="Tool" Id="Accel" PortName="OrientationSensor" />
      </DataSources>
      <OutputChannels>
        <OutputChannel Id="TrackerChannel">
          <DataSource Id="Accel"/>
        </OutputChannel>
      </OutputChannels>
    </Device>
    <Device
      Id="CaptureDevice"
      Type="VirtualCapture"
      BaseFilename="RecordingTest.igs.mha"
      EnableCapturingOnStart="FALSE" >
      <InputChannels>
        <InputChannel Id="TrackerChannel" />
      </InputChannels>
    </Device>
  </DataCollection>

  <PlusOpenIGTLinkServer
    MaxNumberOfIgtlMessagesToSend="1"
    MaxTimeSpentWithProcessingMs="50"
    ListeningPort="18944"
    OutputChannelId="TrackerChannel"
    >
    <DefaultClientInfo>
      <MessageTypes>
        <Message Type="TRANSFORM" />
      </MessageTypes>
      <TransformNames>
        <Transform Name="AccelToTracker" />
      </TransformNames>
    </DefaultClientInfo>
  </PlusOpenIGTLinkServer>
</PlusConfiguration>