Magnetometer

The magnetometer inputs expect to receive magnetic field measurements in 3 axes, as well as the sensor device temperature.

The S-function has 4 ports for magnetometer reading. In addition, as with IMUs, the user must take into account how the magnetometer is mounted (rotation matrix).

Hardware version	Magnetometer	Rotation Matrix
4.0	MAG0	\(R =\begin{pmatrix} -1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & -1 \end{pmatrix}\)
4.5	MAG0	\(R =\begin{pmatrix} -1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & -1 \end{pmatrix}\)
	MAG1	\(R =\begin{pmatrix} 0 & -1 & 0 \\ -1 & 0 & 0 \\ 0 & 0 & 1 \end{pmatrix}\)
4.8	MAG0	\(R =\begin{pmatrix} 0 & 0 & -1 \\ 0 & 1 & 0 \\ 1 & 0 & 0 \end{pmatrix}\)
	MAG1	\(R =\begin{pmatrix} 0 & 0 & 1 \\ -1 & 0 & 0 \\ 0 & 1 & 0 \end{pmatrix}\)
	MAG2	\(R =\begin{pmatrix} 0 & 0 & 1 \\ 1 & 0 & 0 \\ 0 & 1 & 0 \end{pmatrix}\)

Important

Please note that the number of inputs (ports) corresponds to the maximum number of inputs available on all hardware and SIL Simulator versions, as can be seen in the aforementioned table.

Magnetometer - Subsystem

The user can also simulate another magnetometer (external magnetometer) and send the information through a serial port. For more information on serial communication, refer to Serial communications section of this manual.