WitMotion_WT901B

Decodes the serial data of the WitMotion WT901B IMU (acceleration, angular rate, angles, magnetic field, pressure, temperature, quaternion).

Processing

The byte stream is split into WitMotion packets and each packet type updates the corresponding outputs.

Typical inputs: SerialPort.streamOutput → serial_input.
Typical outputs: date → DataViewer.input_0; epoch_milliseconds → DataViewer.input_1; Acc_X → DataViewer.input_2; Acc_Y → DataViewer.input_3.

Input: UInt8 serial bytes (9600 baud). Outputs: scalars and a 4-element quaternion.

Connect the output of a serial port component; see the example WitMotion_WT901B_imu_demo.

[1] WitMotion Shenzhen Co., Ltd., WT901 series serial communication protocol (data packet format used by WT901B). https://www.wit-motion.com/ — Used for: serial data packet format.

Name	Description
`date`	Date since IMU boot (20YYMMDD). Type: `UInt32`
`epoch_milliseconds`	Time in millisecond since IMU boot. Type: `UInt64`
`Acc_X`	Acceleration along X in m/s². Type: `Float64`
`Acc_Y`	Acceleration along Y in m/s². Type: `Float64`
`Acc_Z`	Acceleration along Z in m/s². Type: `Float64`
`Gyro_X`	Angular rate about X in deg/s. Type: `Float64`
`Gyro_Y`	Angular rate about Y in deg/s. Type: `Float64`
`Gyro_Z`	Angular rate about Z in deg/s. Type: `Float64`
`Angle_roll`	Roll angle in degree. Type: `Float64`
`Angle_pitch`	Pitch angle in degree. Type: `Float64`
`Angle_yaw`	Yaw angle in degree. Type: `Float64`
`Magnetic_X`	Magnetic field along X. Type: `Float64`
`Magnetic_Y`	Magnetic field along Y. Type: `Float64`
`Magnetic_Z`	Magnetic field along Z. Type: `Float64`
`Data0`	Data port channel 0 value. Type: `UnsignedInteger16`
`Data1`	Data port channel 1 value. Type: `UnsignedInteger16`
`Data2`	Data port channel 2 value. Type: `UnsignedInteger16`
`Data3`	Data port channel 3 value. Type: `UnsignedInteger16`
`air_pressure`	Air pressure in Pa. Type: `UInt32`
`temperature`	Temperature in degree Celsius. Type: `Float64`
`Quaternion`	Orientation quaternion (4 elements). Type: `Float64`

Name	Description
`serial_input`	Raw bytes from the IMU serial port. Type: `UInt8`