Software Instructions

PC software Download
https://drive.google.com/drive/u/1/folders/1dnwmnH7mi4zBpNqDywLzrzsV7BfeKaD9

PC software DEMO Video

https://www.youtube.com/c/WITMOTION

Connect the sensor

Install Driver
https://drive.google.com/drive/u/1/folders/1R8Wmzrl8vKhVd9u7JXWcg6Ala5MACEu0

CH340 Driver（3 in 1）：

CP2102 Driver (6 in 1）:

 Connect the wiring sensor

After installing the driver, you can check the COM port in the device manager

*Note: If it is a bluetooth sensor, you can skip this step and search bluetooth sensors directly.

Open the WitMotion.exe software in the [PC Software Folder],click the serial port selection menu,
and select the COM number you check before in the device manager.
After opening the WitMotion.exe software, on the serial port selection menu, select the device
model of the product and the COM number seen in the device manager. Then perform one of
the following operations to allow the PC software to connect to the sensor.

1. Click the baud rate menu to select the default baud rate (please check the product
specification for the default baud rate of the product). After the selection is complete, click "Add
Device" to display the data on the PC software.

2. Click "Search ", the connection with the sensor will be automatically sought in the search
prompt box, and the data will display on the PC software after the sensor device is found.

Select Sensor Model

Click the drop-down box of the sensor model, and the models of all the sensors supported by
the PC software will be displayed below. We need to select the corresponding sensor model
and then connect the PC software and the sensor.
Introduction to the main interface of the PC software:

Record: In the main menu record function options, there are functions such as record data,
view record file storage directory, play file playback, and Witmotion protocol playback.
Tools: In the tool function options of the main menu, there are functions such as calculator, ISP
upgrade tool, and firmware upgrade.

View: In the main menu view function options, there are three page display styles to choose
from, simplified style, default style, and dark style.

Help: In the help function options of the main menu, there are functions such as developer,
PC software data source, environment setting, and checking and upgrading.

Language: In the main menu language function options, there are two languages, Chinese and
English, which can be selected.

Configuration: In the configuration function options of the main menu, there are various
setting function options for the sensor, and the configuration of the sensor can be adjusted
to meet the requirements of use.
Connecting Bluetooth Sensor

Select Sensor Model

Click the drop-down box of the sensor model, and the models of all the sensors supported by
the PC software will be displayed below. We need to select the corresponding sensor model
and then connect the PC software and the sensor.
Search Device
Click "Search Device", a search prompt box will appear in the center of the PC software, the
search prompt box will automatically seek the connection with the sensor, and data will appear
on the PC software after the sensor device is
found.
Data Review
Data grid, graph, map, 3D , version number

As the data presentation effect of the main interface, the data grid integrates all the data
presentation of the sensor, and can present the data of the sensor more comprehensively
and intuitively.
The curve graph has three presentation effects, it is acceleration curve, angular velocity curve,

and angle curve.

In the data presentation options, there is also a map function, which can view the specific

location of the sensor.

Note: The map display function is available for GPS IMU of WitMotion.
WTGAHRS1, WTGAHRS2, WTGAHRS3, and so on.

In the presentation effect of 3D, the 3D model will change the display direction with the
change of the three-axis angle; on the right side of the 3D display area, there are four 3D
models that can be replaced, and you can click the +- button to enlarge and reduce the 3D
model.

Note: There must be data output of angle X, Y, Z to display 3D

To view the version number of the sensor, please click the configuration button first, and
the version number of the sensor will be displayed in the lower left corner of the sensor
configuration window.

Note: The sensor need to be online to read the version number.

 Configuration

Read sensor configuration

Click this tab to read the sensor configuration. When the configuration is opened, the module
configuration is read by default. When you need to change the configuration, please click this
tab after the change to check whether the configuration is successful.

Note: The sensor to be online to read the configuration.

Click the lock, and the following pop-up window will pop up, after which all settings on the
configuration interface cannot be successfully set:
 System settings

Reset

There are two ways to reset, short-circuit method and command method

Short-circuit method operation method:

short-circuit the D2 pin and VCC pin of the module with a wire, then power on the module,
the module LED light will be on for about 2 seconds, and the LED light will be off, completing
the reset operation.

Note: Only module type sensors with exposed VCC and D2 pins can use the short circuit

method.

Instruction operation method:

When the sensor is online, click the "Configuration" , and click "Reset " in the sensor

configuration interface. (This method needs to use the PC software to connect the sensor, and

the configuration interface shows that it is online. If it shows that the offline command will not

take effect, please try to use the short-circuit method to reset).

Sleep and hibernation

Sleep: The module suspends work and enters the standby state. Power consumption can
be reduced after sleep.

hibernation: The module enters the working state from the standby state.

How to use: The module is in the working state by default. Click the "Sleep" option in the
configuration bar of the PC to enter the hibernation state. The lower left corner will prompt
that the sleep setting is successful, and then click the "Sleep" option to release the module
from hibernation.
Alarm setting

Through the PC software alarm setting, the following pins can be set as the alarm status
output port. Take the following settings as an example, in normal state, the output of the four
ports is low level (0V), and when the X, Y axis angle value is greater than 10° or less than -
10°, the corresponding port will output a high level (3.3V).

Name Function

D2 Output the alarm status of X﹢

D3 Alarm status of output X-

SCL Output the alarm status of Y﹢

SDA Alarm status of output Y-

 Nine-axis algorithm and six-axis algorithm

Six-axis sensors such as WT61P use a 6-axis algorithm, and the Z-axis angle is mainly
calculated based on the angular velocity integral.

Nine-axis sensors such as WT901 use a 9-axis algorithm, and the Z-axis angle is mainly
calculated based on the magnetic field, and there will be no drift. When the WT901 is used
in the environment with magnetic field interference, it can try to use the 6-axis algorithm to
detect the angle.

How to use the 9-axis algorithm to 6-axis algorithm: Change the algorithm to "six-axis" in the
configuration column of the PC software, and then perform the addition calibration and Z-axis
zero calibration. After the calibration is completed, it can be used normally.

Note: Only 9-axis sensors such as WT901 can convert the algorithm, and the system
defaults to 9-axis algorithm. Six-axis sensors such as WT61P cannot perform
conversion algorithms.

Note: Z-axis return to 0 is only valid for 6-axis algorithm. Switching nine-
axis sensors such as WT901 to 6-axis algorithm can realize Z-axis return to
0.

The Z-axis angle of the nine-axis sensor such as WT901 under the 9-axis
algorithm is an absolute angle, which takes the northeast sky as the coordinate
system and cannot be returned to 0 relatively.
Installation direction

The default installation direction of the module is horizontal installation. When the module
needs to be placed vertically, vertical installation can be used.

Vertical installation method: When installing vertically, rotate the module 90° around the X
axis and place it vertically upward, and select “Vertical” in the “Installation Direction” option
in the configuration column of the host computer. After the setting is completed, it needs to
be calibrated before it can be used.

The module is installed horizontally by default. When the module needs to be installed
vertically, the vertical installation setting can be used.

Vertical installation:
Command start

This function is used to prevent the data sent by the module after being connected to the
computer conflict with the mouse, causing the mouse to fail. After checking this function, the
function will take effect the next time the module is used, or the module can be powered on
again.
Sensor calibration

Calibration time

After clicking the "Calibrate Time", in the data tab of PC software---the on-chip time will be
synchronized with the current computer time. For example, the default time before calibration
is 2000-0-0, and the time after calibration is 2022-5-18 14:12:38.
Note: Before calibrating the time, be sure to check the Time tab to let the sensor
output time data, as follows:

Before calibration time:

After calibration time：

Acceleration calibration

Acceleration Calibration: Used to remove the zero offset of the accelerometer. The sensor
will have different degrees of zero offset error when it leaves the factory, and the
measurement will be accurate only after manual calibration.

Addition calibration method:

First, keep the module horizontally still, and click the acceleration in the calibration bar under
the sensor configuration window. After 1 to 2 seconds, the acceleration values of the three
axes of the module will be around 0 0 1, and the angles of the X and Y axes will be around 0°.
The XY axis angle is more accurate after calibration.
 Note: When the Z axis is horizontally stationary, there is a gravitational acceleration of 1
G.

Magnetic Field Calibration

Ellipsoidal magnetic field Calibration

Video reference link for Magnetic Field Calibration：

https://drive.google.com/drive/u/1/folders/1-vOhfTr1wSDVk-wQN-MLoF0_Oc3s-TCL
Magnetic field calibration: used to remove the zero offset of the magnetic field sensor.
Usually, the magnetic field sensor has a large zero point error during manufacture. If it is not
calibrated, it will bring a large measurement error, which will affect the accuracy of the
heading angle Z-axis angle measurement.

Note: Only nine-axis products have the function of magnetic field, while six-axis
products do not.

Note:

1. The earth's magnetic field is weak and easily disturbed, especially metal materials
such as iron, cobalt and nickel, or magnets, which will cause local
magnetic field distortion. Calibration needs to be far away from these sources of interference.

2. Common sources of interference include computer speakers, iron beam support under
the desk, steel mesh in the middle of the floor, etc.

3. When calibrating, it is best to place the sensor 50cm away from the computer, and take it
in the air for calibration. It must not be rotated directly on the desktop, because there is
usually an iron beam under the desktop.

The magnetic field calibration method is as follows:

Connect the module to the computer first, place the module away from the interference
magnetic field (50cm away), and then open the host computer software.

On the setting page, click the Magnetic Field button under the Calibration column to enter
the Magnetic Field Calibration mode, then the MagCal window pops up, click Start
Calibration in this window.

Note: The spherical fitting method is used by default, the extreme value method and
other methods are not recommended, and no calibration tutorial is provided
In order to achieve the best magnetic field calibration effect, when rotating around the three
axes below, try to rotate the circle in the vertical plane in the north-south direction.

Take out the phone first, rotate the phone freely in the horizontal plane for a few times,
and find the north-south direction.

Rotate the XZ, YZ, and XY planes 1-3 circles in the numerical plane in the north- south
direction respectively, and stop the calibration after drawing a relatively regular ellipse. After
calibration is complete, click Write Parameters.
Dual Plane Magnetic Field Calibration Method

Magnetic field calibration: used to remove the zero offset of the magnetic field sensor.
Usually, the magnetic field sensor has a large zero point error during manufacture. If it is not
calibrated, it will bring a large measurement error, which will affect the accuracy of the
heading angle Z-axis angle measurement.

Note: Only nine-axis products have the function of magnetic field, while six-axis
products do not.

Note:

4. The earth's magnetic field is weak and easily disturbed, especially metal materials
such as iron, cobalt and nickel, or magnets, which will cause local
magnetic field distortion. Calibration needs to be far away from these sources of interference.

5. Common sources of interference include computer speakers, iron beam support under
the desk, steel mesh in the middle of the floor, etc.

6. When calibrating, it is best to place the sensor 50cm away from the computer, and take it
in the air for calibration. It must not be rotated directly on the desktop, because there is
usually an iron beam under the desktop.

Reset Z axis angle to zero

Note:

The Z-axis return to 0 is only valid for the 6-axis algorithm. Switching the nine-axis
sensor such as WT901 to the 6-axis algorithm can realize the Z-axis return to 0.

The Z-axis angle of the nine-axis sensor such as WT901 under the 9-axis algorithm is an
absolute angle, which takes the northeast sky as the coordinate system and cannot be
returned to 0 relatively.

Returning the Z-axis to 0 is to make the initial state of the Z-axis angle of the module to be a
relative 0 degree angle. Before the module is used and the Z-axis
drifts greatly, the Z-axis can be calibrated to 0. When the module is powered on, the Z-axis
will automatically return to 0.

The way to reset the Z-axis of the host computer to 0 is as follows: First, the module is
placed statically, click configure to open the configuration bar, and in the “Z-axis angle
zero” option in the configuration bar, you can see that the Z-axis angle returns to 0° in the
module data bar.
Reset Height to zero

The altitude output of the module is calculated according to the air pressure, and the
operation of returning the altitude to 0 is to calculate the current air pressure value as the
zero altitude position. The operation method is to click the "Height" option in the configuration
bar. Note: Only with air pressure modules (WT901B, WT61PB, etc.) have altitude output.
 Set the reference angle

Set the current angle and attitude of the module to the horizontal plane

Note: There is a problem with the simultaneous use of angle reference and acceleration
calibration, which may cause abnormal acceleration and abnormal angle. If you need to
use it at the same time, please contact relevant technical support for assistance

Gyroscope automatic calibration

Gyro calibration is to calibrate the angular velocity, and the sensor is calibrated by default.

Only when the module is rotating at a constant speed, the automatic calibration of the
gyroscope can be removed.

The automatic gyro calibration is able to compare the angular velocity of the last time with the
angular velocity of this time. If the comparison value is less than our set value, it will be set to
a static state by our module, and the angular velocity output is 0 at this time. So why does the
module move at a constant speed while the value of the angular velocity is zero. Therefore, it
needs to be turned off when it rotates at a constant speed, and it is not necessary to turn it off
when it is not at a constant speed.

Gyro settings

This is the advanced configuration only for HWT9073.

Z-axis static threshold: It can be changed according to personal requirements. You can check
the maximum jitter value of Z-axis angular velocity in this environment through the waveform,
and then set a threshold value based on the maximum adjustment value. The Z-axis static
threshold refers to The point is that when the angular velocity does not exceed the set value,
the sensor is regarded as a static state, and the angular velocity clutter will be filtered and the
output will be 0 to avoid the cumulative drift of the heading angle.

Z-axis stabilization time: This parameter indicates that when the Z-axis angular velocity is
less than the Z-axis stationary threshold for a period of time (Z-axis stabilization time), the
sensor is regarded as a stationary turntable, the angular velocity clutter begins to be filtered,
and the output is 0.
 Output range setting

Acceleration range setting

The new version of the software does not have this function, and the acceleration range is
adaptive

Angular velocity range setting

The new version of the software does not have this function, and the angular velocity range is
adaptive

The meaning of bandwidth:

Bandwidth refers to the maximum change speed of the measured object, the unit is Hz, that
is, the number of changes in 1 second. If the motion of the measured object changes rapidly,
a high bandwidth is required, otherwise the bandwidth can be reduced. High bandwidth can
make data response faster and more timely, but it will bring greater measurement noise. Low
bandwidth can make measurement data smoother and filter out most of the high-frequency
noise, but the problem is that the response will be somewhat Delay, suitable for the situation
where the measured object moves slowly and does not need to respond quickly to changes.

If the data output rate is higher than the bandwidth, resampling may occur, that is, the data
is exactly the same two or several times adjacent to each other.
Summarized as follows:

high bandwidth low bandwidth

data smoothness not smooth smooth

noise big small

responding speed fast slow

Instructions:

Click the "Measure Bandwidth" option in the configuration column of the PC software to set
it. The default is 20HZ, which can adapt to most measurement situations.
Output Content

Set output content

Setting method: The content of the data return can be customized according to the user's
needs, click the configuration option bar, and tick the data content that needs to be output.
Taking JY901 as an example, the default output of the module is acceleration, angular
velocity, angle, and magnetic field.
The time is the internal time of the module. The default is that the initial time of power-on is
0:0:0.0 on January 1, 2015. If the GPS module is connected, the time received by the GPS
is taken as the time of the module. Note that GPS time will be 8 hours later than Beijing time.
Air pressure data only supports JY901B and JY61PB sensors equipped with air pressure
sensors, and is invalid for JY901 without air pressure sensors.

The latitude, longitude and ground speed information is only valid when the module is
connected to the GPS module. To get the correct data, you also need to check the "latitude
and longitude", "ground speed" and "positioning accuracy" in the settings.
Note: If the GPS analog output is checked, the serial port will output the 0183GPS
protocol (if there is a GPS module), which will cause the attitude data to fail to output,
and the host computer cannot search for the device, etc. Use the command to restore
the default
Communication settings

Set serial port baud rate

Setting method: The module supports multiple baud rates, the default baud rate is 9600.
Setting the baud rate of the module needs to be based on the correct connection between the
software and the module. Select the baud rate that needs to be changed in the
communication rate drop-down box in the configuration bar (sensor configuration), the
setting is successful or the lower left corner will prompt the setting is successful, as follows as
shown in the figure.

Note: After the change, the data output by the module at the original baud rate is
incorrect.
Set CAN baud rate

Setting method: The default CAN baud rate is 250K. Setting the CAN baud rate of the module
needs to be based on the correct connection between the software and the module. Select the
CAN baud rate that needs to be changed in the communication rate drop-down box in the
configuration bar (sensor configuration), and the setting is successful or the lower left corner
will prompt that the setting is successful.

,As shown below.

Note: When modifying the CAN-side baud rate, if a CAN-USB device is used, the
corresponding CAN-side baud rate of the adapter must also be set to a consistent value.
Set return rate

Setting method: Click the PC software configuration option, and select the return rate from
0.1 to 200HZ in the configuration column.

The default return rate of the module is 10Hz, and the maximum return rate supports 200Hz.

10HZ refers to 10 data packets sent back in 1S, and 1 data packet sent back by default is 11
bytes.
Note: If there is a lot of returned content and the baud rate of the communication is
low at the same time, it may not be able to transmit so much data. At this time, the
module will automatically reduce the frequency and output at the maximum allowable
output rate. To put it simply, if the return rate is high, the baud rate should also be set
higher, generally 115200.

Note: If you need a return rate of 200HZ, you can only check three quantities, such as
"acceleration", "angular velocity", "angle".
Set IIC address

The IIC communication address of the module is 0x50 by default and can be changed by
software. To set the IIC address of the module, based on the correct connection between the
software and the module, enter a new hexadecimal IIC address in the IIC address text box
of the setting option, and then click the "Change" button at the back.
Note: After the change, the IIC address of the module will not be changed immediately,
and it will take effect only after the power is turned on again.
Set Modbus address

The Modbus communication address of the module is 0x50 by default and can be changed
by software. To set the Modbus address of the module, based on the correct connection
between the software and the module, enter a new hexadecimal Modbus address in the
Modbus address text box of the setting option, and then click the

"Change" button at the back.

Note: After setting the modbus address (that is, the non-default 0X50), the host computer
cannot directly search for the device, and it is necessary to manually select the COM port
number and add the device ID. There is no such problem with the multi-connected upper
computer
Set CAN frame ID

The CAN protocol has a CAN frame ID. Before adding a device, you need to set the CAN frame
ID of the sensor in the ID text box; the default CAN frame ID is 0x50, which can be changed by
software. To set the CAN frame ID of the module, you need to connect the software to the
module correctly. On the basis of , enter the new hexadecimal CAN frame ID in the device
address text box of the setting option, and then click the "Change" button at the back.
Set Bluetooth name

The name of the Bluetooth module can be modified by software. After connecting to the
Bluetooth device, modify the desired other name on the text prompt box of the device name
under the sensor configuration window, and then click Change to complete the modification.
Note: The sensor needs to be reconnected after changing the Bluetooth name.
Extension ports

Set up expansion ports

The WT901/WT61P module has 4 multi-function expansion ports, which can be set to
different functions according to needs. The set expansion port mode needs to change the
content of the drop-down box behind the port mode on the basis of the correct connection
between the software and the module.

The expansion port supports analog input mode, digital input mode, digital output mode. The
D1 port also supports analog input mode by default.

The port status data packet output by the module contains the status information of the
expansion port. In different modes, the meaning of the port status data DxStatus is as
follows:

Type Meaning

Analog input mode analog voltage

Digital input mode Port high and low level status

Digital high level output mode port output status

Digital low level output mode port output status

The relative attitude of the X and Y axes

CLR（D1）
returns to 0
The analog input mode is used to measure analog voltages on ports, such as
potentiometers or analog sensors, etc. The actual voltage is calculated according to the
following formula

U=DxStatus/1024*Uvcc

Uvcc is the power supply voltage of the chip. Since there is an LDO on the chip, if the
power supply voltage of the module is greater than 3.5V, Uvcc is 3.3V. If
the module power supply voltage is less than 3.5V, Uvcc=power supply voltage -0.2V.

The digital input mode is used to measure the high and low level status on the port, if it is
high level, DxStatus=1, if it is low level, DxStatus=0.

Digital high level output mode is used to output high level, DxStatus=1. Digital low level
output mode is used to output low level, DxStatus=0.
Standardize
Note: This is a high-precision sensor-specific function

Calibration process: first set the calibration range (default 720°) - click "Manual Calibration",
after entering the calibration, the sensor rotates horizontally for two circles (720°) - after
returning to the original position, click Finish.

Calibration range

The required rotation angle of the Z axis in the "scale factor mode" is generally set to an
integer multiple of 360°.

The default calibration range is 720° (2 circles). You can select the calibration method in the
drop-down box of the calibration range. After the setting is complete, the manual calibration
method will also be updated in real time.
Manual calibration

To set manual calibration, you need to click the manual calibration button first, the system will
prompt the calibration risk, click OK to proceed to the next step, complete the requirements
prompted by the system, and then click the calibration to end.
Calibration factor

There is an error in the measurement of the Z-axis gyroscope, and a high-precision turntable
will be used to measure this error when leaving the factory, and this parameter will be written
into the sensor. Do not modify this parameter unless necessary. This parameter can be
automatically calculated in the "scale factor mode". After entering the "scale factor mode",
rotate the sensor by the angle set by "GSCALERANGE" to calculate the calibration factor.
The calibration factor defaults to 1.00000 and can be changed by software. To set the
calibration factor of the module, based on the correct connection between the software and
the module, enter a new calibration factor in the calibration factor text box of the setting
option, and then click the "Change" button at the back.
Firmware upgrade
https://drive.google.com/drive/u/1/folders/1ueAcGYOCgM2sHgYOv6iquGsa7WzNC6u2
Record sensor data

Record data

Start recording

Click the record button to display the drop-down box, click start recording to start recording
sensor data, and when you want to end the recording, you can directly click the end
recording.
Where are the record files stored?

Click the record file directory to check the location where the record file is stored.
Data playback
Click Play file playback, in the data playback window, first select the play file to be played
back, the file path can be clicked to open the record file directory and then copy the path of
the corresponding file, you can adjust the playback rate of the data, and finally click to start
playing.