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	S-Function Input		Rotation Matrix	1x PDI Builder equivalence
Hardware version	PIN	Description	Rotation Matrix	1x PDI Builder equivalence
4.0	8	Magnetometer 1	\( R = \begin{pmatrix} -1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & -1 \end{pmatrix} \)	0 - Internal 0
4.5	8	Magnetometer 1	\( R = \begin{pmatrix} -1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & -1\end{pmatrix} \)	0 - Internal 0
4.5	9	Magnetometer 2	\( R = \begin{pmatrix} 0 & -1 & 0 \\ -1 & 0 & 0 \\ 0 & 0 & 1\end{pmatrix} \)	1 - Internal 1
4.8	8	Magnetometer 1	\( R = \begin{pmatrix} 0 & 0 & -1 \\ 0 & 1 & 0 \\ 1 & 0 & 0\end{pmatrix} \)	0 - Internal 0
	9	Magnetometer 2	\( R = \begin{pmatrix} 0 & 0 & 1 \\ -1 & 0 & 0 \\ 0 & 1 & 0\end{pmatrix} \)	1 - Internal 1
	10	Magnetometer 3	\( R = \begin{pmatrix} 0 & 0 & 1 \\ 1 & 0 & 0 \\ 0 & 1 & 0\end{pmatrix} \)	2 - Internal 2

Note

There may be inputs (ports) not connected since the S-Function contains the maximum number of possible inputs for the different hardware and SIL Simulator versions, as can be seen in the aforementioned table.

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.