Please provide the following info (check/uncheck the boxes after creating this topic):
DRIVE OS Linux 5.2.6
DRIVE OS Linux 5.2.6 and DriveWorks 4.0
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
Target Operating System
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
SDK Manager Version
Host Machine Version
native Ubuntu 18.04
We have been experimenting with the Xsens MTi-G-710 sensor for GPS and IMU data. Based on our findings I would like some clarifications regarding the following points. According to the manufacturer’s documentation (linked below), the Xsens MTi-G-710 provides sensor fusion capabilities. Additionally, there are several filter profiles to be used for the data fusion. There is specific automotive filter profile that seems appropriate to the autonomous driving application.
Based on the following forum thread, when the sensor is initialized from DRIVE AGX, several configuration parameters are set in the sensor’s firmware, such as the output frequency.
In the following image from MT manager, the sensor seems to be providing two separate streams for localization. The raw GNSS data (last row), with output frequency 4Hz (which is too low) and the second stream ‘Position and Velocity’ from fused data at 25Hz.
Based on these points, my questions are the following:
- Is a specific filter profile set during the initialization of the sensor from DRIVE AGX? What profile is it? The ‘General’ or the ‘Automotive’?
- Is it possible to specify a filter profile during initialization? Maybe via a parameter in the rig file?
- Are the fused data (position, velocity, GPS Age) accessible from SAL? From our experiments, in our application we get data in the form of ‘dwGPSFrame’ every 250ms (4Hz), which seems like the raw data and not the result of the fusion.
- Can we increase the frequency of GPS during sensor initialization? In our rig file, we set ‘frequency=100’ for the GPS sensor and it is ignored. We still get data in the rate of 4Hz.
Thanks in advance.