WiT WT901BLECL User manual
WT901BLECL BLE5.0 | manual v0707 | http://wiki.wit-motion.com/english
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Tutorial Link
Google Drive
Link to instructions DEMO:
WITMOTION Youtube Channel
WT901BLECL Playlist
If you have technical problems or cannot find the information that you need in the
provided documents, please contact our support team. Our engineering team is
committed to providing the required support necessary to ensure that you are
successful with the operation of our AHRS sensors.
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
WT901BLECL BLE5.0 | manual v0707 | http://wiki.wit-motion.com/english
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Contents
Tutorial Link................................................................................................................... - 2 -
Contact............................................................................................................................ - 2 -
Application......................................................................................................................- 2 -
Contents.......................................................................................................................... - 3 -
1 Introduction............................................................................................................... - 5 -
1.1 Warning Statement......................................................................................- 6 -
1.2 LED Status.......................................................................................................- 6 -
2 Use Instructions with PC...................................................................................... - 7 -
2.1 PC Connection................................................................................................- 7 -
2.1.1 Serial Connection............................................................................. - 7 -
2.1.2 BLE 5.0 Adapter Connection........................................................ - 9 -
2.2 Software Introduction.............................................................................. - 10 -
2.2.1 Main Menu.........................................................................................- 10 -
2.2.2 Menu of Configuration..................................................................- 11 -
2.3 Calibration.....................................................................................................- 13 -
2.3.1 Accelerometer Calibration.......................................................... - 13 -
2.3.2 Magnetic Field Calibration.......................................................... - 15 -
2.3.3 Gyroscope Automatic Calibration............................................ - 17 -
2.3.4 Reset Z-axis Angle........................................................................ - 17 -
2.3.5 Reset Height to 0........................................................................... - 17 -
2.4 Configuration............................................................................................... - 18 -
2.4.1 Data Recording............................................................................... - 18 -
2.4.2 Data Playback..................................................................................- 20 -
2.4.3 Placement Direction......................................................................- 22 -
2.4.4 Bandwidth......................................................................................... - 23 -
2.4.5 6-axis/ 9-axis Algorithm............................................................. - 25 -
WT901BLECL BLE5.0 | manual v0707 | http://wiki.wit-motion.com/english
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3 Use Instructions with Android Phone............................................................- 26 -
3.1 APP Installation...........................................................................................- 26 -
3.2 Connection.................................................................................................... - 27 -
3.3 Calibration.....................................................................................................- 29 -
3.3.1 Acceleration Calibration...............................................................- 29 -
3.3.2 Magnetic Field Calibration.......................................................... - 30 -
WT901BLECL BLE5.0 | manual v0707 | http://wiki.wit-motion.com/english
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1 Introduction
The WT901BLECL BLE5.0 is a multi-sensor device detecting acceleration,
angular velocity, angle as well as magnetic filed. The robust housing and the
small outline makes it perfectly suitable for industrial retrofit applications
such as condition monitoring and predictive maintenance. Configuring the
device enables the customer to address a broad variety of use cases by
interpreting the sensor data by smart algorithms.
WT901BLECL BLE5.0’s scientific name is AHRS IMU sensor. A sensor
measures 3-axis angle, angular velocity, acceleration, magnetic field. Its
strength lies in the algorithm which can calculate the three-axis angle
accurately.
It is employed where the highest measurement accuracy is required.
WT901BLECL BLE5.0 offers several advantages over competing sensor:
• Heated for best data availability: new WITMOTION patented zero-bias
automatic detection calibration algorithm outperforms traditional
accelerometer sensor
• High precision Roll Pitch Yaw (X Y Z axis) Acceleration + Angular Velocity +
Angle + Magnetic Field output
• Low cost of ownership: remote diagnostics and lifetime technical support by
WITMOTION service team
• Developed tutorial: providing manual, datasheet, demo video, free software
for Windows computer, APP for Android smartphones, iOS APP for iPhone,
communication protocol for project development
• WITMOTION sensors have been praised by thousands of engineers as a
recommended attitude measurement solution
WT901BLECL BLE5.0 | manual v0707 | http://wiki.wit-motion.com/english
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1.1 Warning Statement
Putting more than 5 Volt across the sensor wiring of
the main power supply can lead to permanent damage
to the sensor.
VCC cannot connect with GND directly, otherwise it
will lead to the burning of the circuit board.
For proper instrument grounding: use WITMOTION
with its original factory-made cable or accessories.
Do not access the I2C interface.
Do not change the baud rate because WitMotion
Bluetooth sensor’s baud rate is fixed.
For secondary developing project or integration:
use WITMOTION with its compiled sample code.
1.2 LED Status
LED
Status
Remark
Red
Keeping on
Charging (powered by a universal
Micro-USB data cable)
Blue
Flash once and then
disappear
Standby
Flashing
Pairing succeeds
WT901BLECL BLE5.0 | manual v0707 | http://wiki.wit-motion.com/english
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2 Use Instructions with PC
2.1 PC Connection
PC software is only compatible with Windows system.
Link to download software
Instructions Video link
2.1.1 Serial Connection
Step 1. Connect the sensor with a data cable
Step 2. Install the driver- CH340
Download Link
Step 3. Confirm the com port in device manager
Step 4. 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 115200, data will be shown on the software.
WT901BLECL BLE5.0 | manual v0707 | http://wiki.wit-motion.com/english
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2.1.2 BLE 5.0 Adapter Connection
Adapter’s CP2102 driver link
Step 1. Insert adapter into the USB port in the beginning
Step 2. Turn on the switch of the sensor after blue light of adapter flashes
Step 3. Wait till the adapter's blue LED light keeps on
Step 4. Sensor’s Blue LED light remaining flashing means pairing succeeded
Step 5. Open the software, Minimu.exe
Step 6. Data will appear once the auto-search finished
WT901BLECL BLE5.0 | manual v0707 | http://wiki.wit-motion.com/english
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2.2 Software Introduction
2.2.1 Main Menu
Main Menu of software
Button
Function
File
Launch recorded HEX file (Bin format)
Tools
Hide or display tools box on left side
Record
Record function
3D
3D DEMO
Config
Configuration setting
Help
Language
English or Chinese
Bluetooth Set
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
Baud
Baud rate selection
Type
Fixed setting as Bluetooth 5.0 for
WT901BLECL BLE5.0
Open
Open com port
Close
Close com port
WT901BLECL BLE5.0 | manual v0707 | http://wiki.wit-motion.com/english
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2.2.2 Menu of Configuration
Menu of Configuration
Button
Function
Read Config
Reading the current configuration
Calibrate Time
Calibration time of chip
Menu of System
Button
Function
Reset
Reset to factory setting
Sleep
Sleep function, not available for Bluetooth
sensor series
Algorithm
6-axis algorithm or 9-axis
Installation Direction
Vertical or horizontal installation
Instruction Start-up
Instructions sending to start-up the sensor
WT901BLECL BLE5.0 | manual v0707 | http://wiki.wit-motion.com/english
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Menu of Calibrate
Button
Function
Acceleration
Accelerometer calibration
Magnetic Field
Magnetometer calibration
Reset Height
Reset height data to 0
(only for sensor built-in barometer,
including WT901B, WTAHRS2, WTHARS1,
HWT901B)
Reset Z-axis Angle
Reset Z-axis angle to 0 degree, not available
for WT901BLECL BLE5.0 in 9-axis algorithm
Gyro Auto Calibrate
Auto-calibration of gyroscope
Menu of Range
Button
Function
Acceleration
Acceleration measurement range
(2/4/8/16g/s2)
Gyro
Gyroscope measurement range
(250/500/1000/2000 deg/s)
Band Width
Bandwidth range
(5/10/20/42/98/188/256Hz)
Menu of Communication
Button
Function
Output Rate
Return rate selection
WT901BLECL BLE5.0 | manual v0707 | http://wiki.wit-motion.com/english
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2.3 Calibration
Preparation: Ensuring the sensor is “Online”.
Calibration on PC software：
It is required to calibrate for the first time usage.
2.3.1 Accelerometer Calibration
Purpose:
The accelerometer calibration is used to remove the zero bias of the
accelerometer. Before calibration, there will be different degrees of bias error.
After calibration, the measurement will be accurate.
Methods:
Step 1. Keep the module horizontally stationary
Step 2. Click the acceleration in the “Config” and wait for 5 seconds
Step 3. Calibration done if OK shows
WT901BLECL BLE5.0 | manual v0707 | http://wiki.wit-motion.com/english
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2.3.2 Magnetic Field Calibration
Purpose:
Magnetic calibration is used to remove the zero bias of the magnetic field
sensor. Usually, the magnetic field sensor will have a large zero error when it is
manufactured. If it is not calibrated, it will bring a large measurement error,
which will affect the accuracy of the measurement of the z-axis angle of the
heading angle.
Preparation:
1. Sensors should be 20cm away from magnetic and iron and other materials
2. The value of H in magnetic field must be lower than 350.
Methods:
Step 1. Open the Config menu.
Step 2. Click the “magnetic field” and slowly rotate the sensor 360° around X,
Y, Z, 3-axis accordingly.
WT901BLECL BLE5.0 | manual v0707 | http://wiki.wit-motion.com/english
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2.3.3 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.
2.3.4 Reset Z-axis Angle
Note：If you want to avoid magnetic interference, you can change the algorithm
to 6-axis，function of resetting Z-axis angle can be used.
The z-axis angle is an absolute angle, and it takes the northeast sky as the
coordinate system can not be relative to 0 degree.
Z axis to 0 is to make the initial angle of the z axis angle is relative 0 degree.
When the module is used before and z - axis drift is large, the z - axis can be
calibrated. When the module is powered on, the Z axis will automatically return
to 0.
Calibration methods as follow: firstly keep the module static, click the “Reset
Z-axis Angle” in the “Config”, you will see the angle of the Z axis backs to 0
degree in the “Data”.
2.3.5 Reset Height to 0
Only available for the module built-in barometer like WT901B, HWT901B,
WTGAHRS1, WTGAHRS2.
WT901BLECL BLE5.0 | manual v0707 | http://wiki.wit-motion.com/english
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2.4 Configuration
2.4.1 Data Recording
There is no memory chip in the sensor module, and the data can be recorded
and saved on the computer.
Method is as follows: Click “Record”and “Start”will save the data as a TXT
file. The saved file is in the directory of the upper computer program Data.tsv:
the beginning of the file has the value corresponding to the data.
WT901BLECL BLE5.0 | manual v0707 | http://wiki.wit-motion.com/english
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2.4.2 Data Playback
New function: When creating recorded file each time, there will a BIN file
created in the folder of record file in path of installed software meanwhile.
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
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