XSENS MTi-3 Click is a compact add-on board that contains a fully functional module that can be configured as an Inertial Measurement Unit, Vertical reference Unit, or even an Attitude & Heading Reference System. This board features the MTi-3, a module outputting 3D orientation, 3D rate of turn, 3D accelerations, and 3D magnetic field, depending on the product configuration from Xsens. The industry-standard communication protocol such as UART, SPI, or I2C allows for customization of the data message in terms of data, frequency, and output format. With a roll/pitch accuracy of 1.0º RMS and yaw accuracy of 2º RMS under dynamic conditions, the output of this Click board™ is an excellent choice for control and stabilization of any object and navigation of miniature aerial vehicles, mobile robots or robotics-on-the-move in general, or industrial-grade VR/AR, HMD’s and handheld devices.

XSENS MTi-3 Click is supported by a mikroSDK compliant library, which includes functions that simplify software development.

XSENS MTi-3 Click is based on the MTi-3, a self-contained Attitude Heading and Reference System (AHRS), Vertical Reference Unit (VRU), and Inertial Measurement Unit (IMU) module from Xsens. The MTi-3 module supports all features of the MTi-1 series, features a 3D accelerometer, a 3D gyroscope, a high-accuracy crystal, a low-power MCU, and it is also a full magnetometer-enhanced AHRS. It can output 3D orientation data, free acceleration, and calibrated sensors data (rate of turn, magnetic field). The MTi-3 is easily configurable for the outputs, depends on the application needs, and can be set to use one of the filter profiles available within the Xsens sensor fusion engine. In this way, the MTi-3 module limits the load and the power consumption on the user application processor.

This Click board™ is equipped with the USB type C connector. It allows the module to be powered and configured by a personal computer (PC) using FT230X, a highly integrated USB to UART bridge solution from FTDI which has been designed to operate efficiently with USB host controllers by using as little bandwidth as possible when compared to the total USB bandwidth available. This module that can also be configured easily by the free downloadable Xsens MT Software Suite as an Inertial Measurement Unit (IMU), Vertical reference Unit (VRU), or even an Attitude & Heading Reference System (AHRS), which is applying Xsens’ powerful Kalman filtering XKF3 Core.

The XSENS MTi-3 Click has 2 power supply pins. The first pin represents the main power supply of the module powered via a low dropout linear regulator AP7331 from Diodes Incorporated that receives a 5V power supply from USB to UART solution and gives 3.3V on its output that is used as the main power supply of the module. The second pin represents the digital supply voltage and is powered by 3.3V directly from the mikroBUS™ socket.

This Click board™ communicates with MCU using the UART interface as its default communication interface but also has the possibility for the user to use other interfaces such as SPI and I2C if he wants to configure the module and write the library by himself. The desired interface selection can be performed through the peripheral selection pins by positioning SMD jumpers labeled as PSEL to an appropriate position. The module reads the state of these pins at Start-Up and configures its peripheral interface. To change the selected interface, the logic levels of those pins must be set first, and then the module needs to be reset.

The selection between UART/I2C and SPI/I2C interfaces can be performed by positioning SMD jumpers labeled as COMM SEL to an appropriate position. The user can also configure the I2C peripheral address through the ADD0, ADD1, and ADD2 pins by positioning SMD jumpers labeled as ADDR SEL to an appropriate position. Note that all the jumpers must be placed to the same side, or else the Click board™ may become unresponsive.

Additional functionality routed at RST and AN pins of the mikroBUS™ socket give the user the ability to use the reset function and to receive the latest available data message. Also, this Click board™ has two pins INT and PWM pins that can be used in many ways. For example, it can be used as serial UART connections CTS and RTS in UART full-duplex mode or can be used as RX/TX control signals in UART half-duplex mode. Regardless of these functions, the INT pin can also be used as a classic interrupt function.

This Click board™ is designed to be operated only with a 3.3V logic voltage level. A proper logic voltage level conversion should be performed before the Click board™ is used with MCUs with different logic levels.

• Interface: I²C, SPI, UART, USB
• Compatibility: mikroBUS™
• Dimensions: 57.15 x 25.4mm
• Input Voltage: 3.3V
• Supply Voltage: Min. -0.3V, Typ. 3.3V, Max. 4V
• UART Baud Rate: Typ. 921.6kbps, Max. 4000kbps
• Output Rate: Min. 1Hz, Typ. 100Hz, Max. 800Hz
• Gyroscope Range: Min. -2000deg/s, Max. +2000deg/s
• Accelerometer Range: Min. -16g, Max. +16g
• Operating Temperature Range: Min. -40°C, Max. +85°C

• Schematic
• AP7331 Datasheet
• FT230X Datasheet
• XSENS MTi-3 Datasheet
• mikroSDK
• LibStock