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
	PIN	Description
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
	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.

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.