Software

The 3DM-CV7 relies on the MIP communications protocol for configuration and data collection; however, there are multiple software tools which abstract MIP so users do not need to know all the low-level details of the protocol. These software tools, which are listed below, allow users to upgrade the 3DM-CV7 (see Firmware Upgrades), configure it, collect data, and, in the case of SensorConnect™, visualize its outputs.

NOTE: To learn more about the MIP communications protocol see the following sections of this user manual: MIP Protocol. For full documentation of the commands and data outputs available on the 3DM-CV7 see the MIP API.

 

SensorConnect™

SensorConnect™ is the primary user interface for 3DM-CV7 upgrades (see Firmware Upgrades), configuration, data collection, and data visualization. It also supports many of our other inertial solutions and our wireless product line. For more information, go to microstrain.com/software/sensorconnect.

NOTE: For those who have used MIP Monitor in the past (which does not support the 3DM-CV7), the SensorConnect™ page includes a link to a document called "SensorConnect for MIP Monitor Users".

 

PX4

PX4 is an open-source flight control software ecosystem designed to standardize and simplify the integration of systems into UAS and other unmanned vehicles.

The 3DM-CV7-INS and 3DM-GV7-INS are our only products currently slated for PX4 support. If support for the 3DM-CV7 in this ecosystem is desired, please submit a request to MicroStrainSupport@HBKworld.com with a technical description of the functionality desired.

 

ArduPilot

ArduPilot is an open source software suite for many different types of uncrewed vehicles for the peaceful benefit of all.

Support for the 3DM-GQ7-GNSS/INS in the ArduPilot ecosystem is currently in progress. If support for the 3DM-CV7 in this ecosystem is desired, please submit a request to MicroStrainSupport@HBKworld.com with a technical description of the functionality desired.

 

ROS™

ROS™(Robot Operating System) "is a set of software libraries and tools that help you build robot applications". ROS provides a standardized framework to easily interface with complex sensors in a common network. At a high level, ROS utilizes a publish / subscribe transport layer to send and receive data, greatly simplifying the integration of sensors into a myriad of applications. ROS is recommended for applications where ease of integration is prioritized above optimum time synchronization. Examples include waypoint navigation, obstacle avoidance, sensor fusion for SLAM applications, etc.

ROS drivers and support are available for the 3DM-CV7. Go to microstrain.com/software/ros for more information. 3DM-CV7 examples are provided for easy configuration and launch.

 

MIP SDK

MIP SDK, or the MicroStrain Inertial Protocol (MIP) SDK is our latest, full-featured, C and C++ SDK for interfacing with the 3DM-CV7. MIP SDK is recommended for embedded applications especially in resource-constrained applications, or those looking to have the lowest level interface control of our products. It is designed with lightweight dependencies to run on bare-metal microcontrollers. Head to github.com/LORD-MicroStrain/mip_sdk to get started. 3DM-CV7 examples are provided for easy configuration and launch.

MIP SDK is ideal for applications where efficient computation or time synchronization of inertial data with external systems is paramount. Examples include high-rate, low-error tolerance attitude control, time-synchronization via event system for SLAM sensor fusion, or applications where minimizing latency is a priority.

 

MSCL

MSCL, or the MicroStrain Connect Library is a fully-featured, open-source API that makes it simple to write custom software that interfaces with the 3DM-CV7. It has support for C++, Python, MATLAB and more. To get started, go to microstrain.com/software/mscl.

NOTE: MSCL may be EOL'd for Inertial Products in the future. MIP SDK is the recommended software interface for production applications.

 

Inertial Upgrader CLI

Inertial Upgrader CLI is the tool for upgrading the firmware of MicroStrain Inertial products while connected to a Linux machine, or when installed in an embedded Linux applications. This is useful when a USB or RS-232 connection to SensorConnect on Windows is not feasible. To download, head to github.com/LORD-MicroStrain/InertialUpgraderCLI