Hello Francois,

Thank you for your reply.

I am using MTI1 series sensor only, not the evaluation board. When I am decoding the measurement data I get "Delta Q (dq) / XDI_DeltaQ /803y where y =0 , the measurement data message consist of "3F 7F FF 4A BB 4E 81 D8 B9 E7 DE C1 3B 5E 5C 0C" with the data_ID "80 30". As per the documentation is the delta quaternion data indicated by 8030. But when I check the mbed code I see the below code where there is no difference between case XDI_Quaternion and case XDI_DeltaQ. both results in the same output. I am not able to trace anywhere in the code where they indicate both are different. However as per the "FMT Low level communication Protocol documentation" both is different, FMT low level protocol document talks about mtssp protocol with some additional information. basically I am looking for deriving the quaternion values from the output of MTI1 sensor. Not sure whether I am referring the right set of documents.

# Mbed Code snippets referred from the above link provided

bool XbusMessage_getDataItem(void* item, enum XsDataIdentifier id, struct XbusMessage const* message)

{

uint8_t const* raw = getPointerToData(id, message->data, message->length);

if (raw)

{ switch (id)

{

case XDI_Quaternion:

case XDI_DeltaQ:

readFloats(item, raw, 4);

break;

default:

return false; }

return true;

}

else

{

return false;

} }

Appreciate your help. Abhijit