BWT 901

USER MANUAL BWT901
Bluetooth 2.0 Inclinometer Sensor
BWT901 | manual v0707 | http://wiki.wit-motion.com/english

-1-
Tutorial Link
Google Drive
Link to instructions DEMO:

WITMOTION Youtube Channel
BWT901 Playlist
If you have technical problems or cannot find the information that you need in the
provided documents, please contact our support team. Our engineering team is
committed to providing the required support necessary to ensure that you are
successful with the operation of our AHRS sensors.
Contact
Technical Support Contact Info
Application
● AGV Truck
● Platform Stability
● Auto Safety System
● 3D Virtual Reality
● Industrial Control
● Robot
● Car Navigation
● UAV
● Truck-mounted Satellite Antenna Equipment

-2-
Contents
Tutorial Link................................................................................................................... - 2 -
Contact............................................................................................................................ - 2 -
Application...................................................................................................................... - 2 -
Contents.......................................................................................................................... - 3 -
1 Introduction............................................................................................................... - 5 -
1.1 Warning Statement...................................................................................... - 6 -
1.2 LED Status....................................................................................................... - 6 -
2 Use Instructions with PC...................................................................................... - 7 -
2.1 Connection Method...................................................................................... - 7 -
2.1.1 Serial Connection............................................................................. - 7 -
2.1.2 USB-HID Connection....................................................................... - 9 -
2.1.3 PC’s Bluetooth Connection......................................................... - 10 -
2.2 Software Introduction.............................................................................. - 11 -
2.2.1 Main Menu.........................................................................................- 11 -
2.2.2 Menu of Configuration..................................................................- 12 -
2.3 Calibration..................................................................................................... - 16 -
2.3.1 Accelerometer Calibration.......................................................... - 16 -
2.3.2 Magnetic Field Calibration.......................................................... - 18 -
2.3.3 Gyroscope Automatic Calibration............................................ - 21 -
2.3.4 Reset Z-axis Angle........................................................................ - 21 -
2.3.5 Reset Height to 0........................................................................... - 21 -
2.4 Configuration............................................................................................... - 22 -
2.4.1 Return Content............................................................................... - 22 -
2.4.2 Output Rate...................................................................................... - 23 -
2.4.3 Baud Rate..........................................................................................- 23 -
2.4.4 Data Recording............................................................................... - 24 -

-3-
2.4.5 Data Playback.................................................................................. - 26 -
2.4.6 Standby and Wake Up................................................................. - 28 -
2.4.7 Placement Direction...................................................................... - 28 -
2.4.8 Bandwidth......................................................................................... - 29 -
2.4.9 6-axis/ 9-axis Algorithm............................................................. - 31 -
3 Use Instructions with Android Phone............................................................- 32 -
3.1 APP Installation........................................................................................... - 32 -
3.2 Connection.................................................................................................... - 33 -
3.2.1 APP Pairing........................................................................................- 33 -
3.2.2 Phone’s Bluetooth Pairing........................................................... - 35 -
3.3 Calibration..................................................................................................... - 37 -
3.3.1 Acceleration Calibration...............................................................- 37 -
3.3.2 Magnetic Field Calibration.......................................................... - 38 -
4 Multiple Connection..............................................................................................- 39 -
4.1 Download Link............................................................................................. - 39 -
4.2 Connection Instructions.......................................................................... - 39 -
5 MCU Connection.................................................................................................... - 40 -
5.1 Arduino........................................................................................................... - 40 -
5.2 STM32............................................................................................................. - 40 -
5.3 Raspberry pi................................................................................................. - 40 -
5.4 C#.................................................................................................................... - 40 -
5.5 C++................................................................................................................. - 41 -
5.6 Matlab............................................................................................................. - 41 -

-4-
1 Introduction
The BWT901 is a multi-sensor device detecting acceleration, angular velocity,

angle as well as magnetic filed. The small outline makes it perfectly suitable
for industrial retrofit applications such as condition monitoring and predictive
maintenance. Configuring the device enables the customer to address a
broad variety of use cases by interpreting the sensor data by smart
algorithms.
BWT901’s scientific name is AHRS IMU sensor. A sensor measures 3-axis

angle, angular velocity, acceleration, magnetic field. Its strength lies in the
algorithm which can calculate three-axis angle accurately.
BWT901 is an CE standard accelerometer. It is employed where the highest

measurement accuracy is required. BWT901 offers several advantages over
competing sensor:
• Heated for best data availability: new WITMOTION patented zero-bias

automatic detection calibration algorithm outperforms traditional
accelerometer sensor
• High precision Roll Pitch Yaw (X Y Z axis) Acceleration + Angular Velocity +

Angle + Magnetic Field output
• Low cost of ownership: remote diagnostics and lifetime technical support by

WITMOTION service team
• Developed tutorial: providing manual, datasheet, Demo video, free software

for Windows computer, APP for Android smartphones , and sample code for
MCU integration including 51 serial, STM32, Arduino, Matlab, Raspberry Pi,
communication protocol for project development
• WITMOTION sensors have been praised by thousands of engineers as a

recommended attitude measurement solution

-5-
1.1 Warning Statement
 Putting more than 5 Volt across the sensor wiring of
the main power supply can lead to permanent damage
to the sensor.
 VCC cannot connect with GND directly, otherwise it
will lead to the burning of the circuit board.
 For proper instrument grounding: use WITMOTION
with its original factory-made cable or accessories.
 Do not change the baud rate because
WITMOTION BLUETOOTH sensor’s baud rate is
fixed.
 For secondary developing project or integration:
use WITMOTION with its compiled sample code
1.2 LED Status
LED Status Remark
Red Flashing Working

Flashing Pairing process
Blue
Keeping still Successful pairing

-6-
2 Use Instructions with PC
2.1 Connection Method

PC software is only compatible with Windows system.
BWT901 Playlist
2.1.1 Serial Connection
Step 1. Connect the sensor with a serial converter

PIN Connection:
VCC - 5V
TX - RX
RX - TX
GND - GND
(When connecting with computer, VCC-5V is recommended.)

-7-
Recommended tools:
3-in-1 converter 6-in-1 converter TTL serial cable
Step 2. Unzip the software and install the driver CH340 or CP2102
(Depending on which accessory for usage.)
Link to tutorial of 3-in-1 serial converter/ TTL serial cable (CH340 driver)
Link to tutorial of 6-in-1 serial converter (CP2102 driver)
Step 3. Plugin the converter to computer and confirm the “com port” in device
manager
Step 4. Open the software(Minimu.exe)

Data will appear after auto-search finishes
Notice: If not successful, please operate manually

Choose the com port and baud rate 115200, data will be shown on the software.

-8-
2.1.2 USB-HID Connection
Step 1. Plugin the USB-HID adapter to computer
Step 2. Power on the sensor after red light of HID adapter flashes
Step 3. Wait till the sensor's blue LED light keeps on--means pairing succeeded
Step 4. Open the software, Minimu.exe
Step 5. Data will appear once the auto-search finishes

-9-
2.1.3 PC’s Bluetooth Connection
Step 1. Turn on computer's Bluetooth
Step 2. Power on the sensor
Step 3. Search HC-06 device and input pairing password, 1234
Step 4. Confirm the “outgoing com port” on “More Bluetooth Options” page
Step 5. Open software (Minimu.exe) and choose the correct com port
Step 6. Data will appear once the automatic search finishes

- 10 -
2.2 Software Introduction
Link to download software
2.2.1 Main Menu
Main Menu of Software

Button Function
File Launch recorded HEX file (Bin format)
Tools Hide or display tools box on left side
Record Record function
3D 3D DEMO
Config Configuration setting
Language English or Chinese
Help Bluetooth Set Binding device or unbind
Firmware update Option for firmware update
About Minimu Info about Minimu.exe
Factory test For manufacturer internal test only
Auto-search Auto searching the sensor
Port Com port selection
Baud Baud rate selection
Type Fixed setting as Normal for BWT901
Open Open com port
Close Close com port
- 11 -
2.2.2 Menu of Configuration
Menu of Configuration
Button Function
Read Config Reading the current configuration
Lock Lock the sensor
Unlock Unlock the sensor
Calibrate Time Calibration time of chip
Save Config Save configuration

- 12 -
Menu of System
Button Function
Reset Reset to factory setting
Sleep Sleep function
Alarm Alarm function
Algorithm 6-axis algorithm or 9-axis
Installation Direction Vertical or horizontal installation
Instruction Start-up Instructions sending to start-up the sensor
Menu of Calibrate
Button Function
Acceleration Accelerometer calibration
Magnetic Field Magnetometer calibration
Reset Height Reset height data to 0
(only for sensor built-in barometer,
including WT901B, WTGAHRS2, WTHARS1,
HWT901B)
Reset Z-axis Angle Reset Z-axis angle to 0 degree, not available
for BWT901 in 9-axis algorithm
Angle Reference Setting current angle as 0 degree
Gyro Auto Calibrate Auto-calibration of gyroscope
Menu of Range
Button Function
Acceleration Acceleration measurement range
Gyro Gyroscope measurement range
Band Width Bandwidth range
GPS Time Zone GPS positioning of time zone

- 13 -
Menu of Communication
Button Function
Baud Rate Baud rate selection, not available for
Bluetooth sensor series
Output Rate Return rate selection
Device Address Not available for Bluetooth sensor series
Menu of Content
Button Function
Time Time data output
Acceleration Acceleration data output
Velocity Angular velocity data output
Angle Angle data output
Magnetism Magnetic field data output
Port Port data output, not available for Bluetooth
sensor series
Pressure Pressure output, only available with the
sensor built-in barometer like HWT901B,
WTGAHRS2, WT901B, etc
Location Latitude&Longitude data output, only for
GPS IMU series, such as WTGAHRS1,
WTGAHRS2
PDOP Ground velocity data output, only for GPS
IMU series, such as WTGAHRS1,
WTGAHRS2
Quaternion Quaternion data output
Positioning Accuracy Option for GPS positioning accuracy output,
including Satellite quantity, PDOP, HDOP,
VDOP data, only for GPS IMU series, such as
WTGAHRS1, WTGAHRS2
GPS Original Only output GPS raw data, only for GPS IMU
series, such as WTGAHRS1, WTGAHRS2
Menu of Port
D0 Model Not available for Bluetooth sensor series
Pulse width Not available for Bluetooth sensor series
- 14 -
Cycle Not available for Bluetooth sensor series

- 15 -
2.3 Calibration
Preparation:
Make sure the sensor is “Online”.
Calibration on PC software：
It is required to calibrate for the first time usage.
2.3.1 Accelerometer Calibration
Purpose:
The accelerometer calibration is used to remove the zero bias of the
accelerometer. Before calibration, there will be different degrees of bias error.
After calibration, the measurement will be accurate.
Methods:
Step 1. Keep the module horizontally stationary
Step 2. Click the accelerometer calibration
Step 3. Click the “Start calibration”and wait for 3 seconds
Step 4. Click “Complete Calibration”

- 16 -
Step 5. Judge the result--confirm if there is 1g on Z-axis acceleration
1. After 1 ~ 2 seconds, the three axial acceleration value of the module is

about 0, 0,1, the X and Y axis Angle is around 0°. After calibration, the x-y
axis Angle is accurate.
Note: When putting the module horizontal, there is 1g of gravitational

acceleration on the Z-axis.

- 17 -
2.3.2 Magnetic Field Calibration
Purpose:
Magnetic calibration is used to remove the zero bias of the magnetic field
sensor. Usually, the magnetic field sensor will have a large zero error when it is
manufactured. If it is not calibrated, it will bring a large measurement error,
which will affect the accuracy of the measurement of the z-axis Angle of the
heading Angle.
Preparation:
Sensors should be 20CM away from magnetic and iron and other materials
Methods:
Step 1. Open the Config menu
Step 2. Click the magnetic field calibration button. click the “Start calibration”

- 18 -
Step 3. Slowly rotate the module 360° around X, Y, Z, 3-axis accordingly

- 19 -
Step 4. After rotation, click “End calibration”
Successful result:
Most of data dots will be within the ellipse.
If not successful, please stay away from the objective that can create magnetic
field interference.

- 20 -
2.3.3 Gyroscope Automatic Calibration
The gyroscope calibration is to calibrate the angular velocity, and the sensor
will calibrate automatically.
It is recommended that the automatic calibration of gyroscopes can be

inactivated only if the module rotates at a constant speed.
2.3.4 Reset Z-axis Angle
Note：If you want to avoid magnetic interference, you can change the algorithm
to Axis 6,then you can use reset function of “ Reset Z-axis angle”.
The z-axis angle is an absolute angle, and it takes the northeast sky as the
coordinate system can not be relative to 0 degree.
Z axis to 0 is to make the initial angle of the z axis angle is relative 0 degree.
When the module is used before and z - axis drift is large, the z - axis can be
calibrated, When the module is powered on, the Z axis will automatically return
to 0.
Calibration methods as follow:

Step 1: Keep the module static.
Step 2: Open the “Config” and then click the “Reset Z-axis Angle” option, you
will see the angle of the Z-axis backs to 0 degree in the module data bar.
2.3.5 Reset Height to 0
Only available for the module built-in barometer like WT901B, HWT901B,
WTGAHRS1, WTGAHRS2.

- 21 -
2.4 Configuration
2.4.1 Return Content
Setting method: The content of the data return can be set according to user
needs, click the configuration option bar, and check the data content to be
output.
Taking BWT901 as an example, the default output of the module is acceleration,

angular velocity, angle, and magnetic field.
Notice: If choosing the GPS Original, there will be no other data output.

- 22 -
2.4.2 Output Rate
The default return rate of the module is 10Hz, the highest return rate supports
200Hz.
10Hz refers to 10 packets returned every second. There contain 33bytes in a
data packet in default.
Reminder: If there being many types of return data and low baud rate of
communication, the module will automatically reduce the frequency and output
at a maximum allowable output rate. The default baud rate is 115200.
2.4.3 Baud Rate
Not available for Bluetooth sensor series.

- 23 -
2.4.4 Data Recording
Method are as follows:

Step 1: Click “Record” and “Begin”
Step 2: Click “Stop”

- 24 -
Step 3: Extract the data as “txt” file
Notice: If there is repeated “TIME” of data, that’s caused by low-resolution of

the Windows system’s time. The changes in other data is correct.
It is highly recommended that data can be pasted to an Excel file. In this way,
all data will be shown in order.

- 25 -
2.4.5 Data Playback
New function: When creating recorded file each time, there will a BIN file
created in the folder of record file in path of installed software meanwhile.
Recorded data playback method:
Step 1: Disconnect the sensor
Step 2: Click “File” Button and then click “Load”
Step 3: Choose the original path of software installation and load the Bin file

- 26 -
Step 4: Click “Run” and the Binary file will be playback
When playback, the rate can be editable.

- 27 -
2.4.6 Standby and Wake Up
Not available for Bluetooth sensor series.
2.4.7 Placement Direction
The default installation direction of the module is horizontal. When the module
needs to be installed vertically, the vertical installation can be set.
Step 1: Rotate the module 90 degrees around the X-axis
Step 2: Place the sensor 90 degrees vertically
Step 3: Click “Vertical” as install directions on “Config” menu

- 28 -
2.4.8 Bandwidth
Default bandwidth is 20Hz.
Function:
1. The higher rate of bandwidth setting will lead to the higher fluctuation in data
waveform. Conversely, the lower rate of bandwidth, data will become more
fluent.
For example:
Bandwidth as 20Hz, Output rate as 10Hz. The waveform is very steady.

- 29 -
Bandwidth as 256Hz, Output rate as 10Hz. The waveform will show more
fluctuation.
2. The higher rate of bandwidth will solve the data-repeating problem.
For example, if the bandwidth setting is 20Hz, retrieval rate as 100Hz, there will
be 5 repeating data.
If you prefer there is no repeating data, it is required to increase the bandwidth
more than 100Hz.

- 30 -
2.4.9 6-axis/ 9-axis Algorithm
6-axis algorithm: Z-axis angle is mainly calculated based on angular velocity

integral. There will be calculated error on Z-axis angle.
9-axis algorithm: Z-axis angle is mainly calculated and analyzed based on the
magnetic field. Z-axis angle will have few drift.
The default algorithm of BWT901 is 9-axis. If there is magnetic field

interference around installed environment, it is recommended to switch to
6-axis algorithm to detect the angle.
Method:
Step 1: Switch to the "6-axis" algorithm on “Config” menu
Step 2: Proceed the “Accelerometer calibration” and “Reset Z-axis angle”

calibration.
After the calibration is completed, it can be used normally.

- 31 -
3 Use Instructions with Android Phone
For APP configuration introduction, please referring to the Chapter 2.2
3.1 APP Installation
Install the APK file, give permission of Location and Storage
Link to download Android APP
About Android APP:

1. Note: Paired devices can be searched without turning on positioning.
According to Google's requirements, if APP installed on a higher version of
Android (6.0) mobile phone, pairing with a Bluetooth device, Location must be
allowed when using Bluetooth at the same time.
2. It is recommended to use method shown in the Chapter 3.3.1

If Bluetooth device cannot be shown on search result, it is recommended to try
another method in the Chapter 3.3.2

- 32 -
3.2 Connection
3.2.1 APP Pairing
Step 1. Install the APK file, give permission of Location and Storage
Step 2. Open APP and choose “9-axis series”
Step 3. Turn on the sensor and search “HC-06”, input password “1234”.

- 33 -
Step 4. When pairing is done, the blue LED light of sensor will remain still.
After a few seconds, the data will show automatically.

- 34 -
3.2.2 Phone’s Bluetooth Pairing
Step 1. Install the APK file, give permission of Location and Storage
Step 2. Turn on the Bluetooth in the setting menu of smartphone
Step 3. Search the Bluetooth sensor
(First pairing the device will be recognize as mac address and
will be shown as HC-06 after successful pairing.)
Step 4. Click the “MAC address” device and input the password “1234”

- 35 -
Step 5. Open the WITMOTION APP, and choose “9-axis Series”
Step 6. Click “Scan” and select the paired Bluetooth device “HC-06”
(No need to input password)
Step 7. The Blue LED light of sensor will keep on. Connection with APP is
successful.

- 36 -
3.3 Calibration
BWT901 Playlist
3.3.1 Acceleration Calibration
Step 1. Keep the module horizontally stationary
Step 2. Click the “Calibration” menu
Step 3. Click the “Acceleration Calibration” and wait for 3 seconds
Step 5. Judge the result--confirm if there is 1g on Z-axis acceleration

- 37 -
3.3.2 Magnetic Field Calibration
Step 1. Click "Calibration" menu
Step 2. Click the "Magnetic calibration" button
Step 3. Slowly rotate the module 360° around X, Y, Z, 3-axis accordingly
Step 4. After rotation, click “Finish”
Check the result: The Z-axis angle will have fewer drift than before.
Notice: If not successful, please stay away from the objective that can create
magnetic field interference.

- 38 -
4 Multiple Connection
For software introduction, please referring to the Chapter 2.2.
4.1 Download Link

For multi-connection, please download the multi-connection HID software.
Download link
4.2 Connection Instructions

DEMO Link
Instruction:
Step 1. Open the multiple-connection PC software
Step 2: Plugin the USB-HID adapter in the beginning
Step 3. Turn on the sensor after the red light of USB-HID adapter begins
flashing
Step 4. Wait till sensor's blue LED light keeps on. Pairing succeeds
Step 5. For multiple-connection, repeat Step 2-4
Step 6. Click the HID device accordingly and the data will show
Notice:
1. The multiple-connection will require the USB-HID 2.0 adapter.
The USB-HID adapter is driver-free design.
2. Each BWT901 Bluetooth 2.0 sensor can only pair with 1 USB-HID adapter.
3. The multiple-connection can reach up to 8pcs.

- 39 -
5 MCU Connection
Link to download all sample code
Link to sample code instructions demo

Notice: There is no sample code provided for Linux or Python system at
present.
5.1 Arduino
Download link
Arduino UNO3 Demo Link
5.2 STM32
Download link
5.3 Raspberry pi
Tutorial link
5.4 C#
DEMO link

- 40 -
5.5 C++
DEMO link
5.6 Matlab
Receive Sample Code
Dataplot DEMO

- 41 -

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USER MANUAL BWT901

Bluetooth 2.0 Inclinometer Sensor

BWT901 | manual v0707 | http://wiki.wit-motion.com/english

Link to instructions DEMO:

Technical Support Contact Info

● Auto Safety System

● Truck-mounted Satellite Antenna Equipment

BWT901 | manual v0707 | http://wiki.wit-motion.com/english

1.1 Warning Statement...................................................................................... - 6 -

1.2 LED Status....................................................................................................... - 6 -

2 Use Instructions with PC...................................................................................... - 7 -

2.1 Connection Method...................................................................................... - 7 -

2.1.1 Serial Connection............................................................................. - 7 -

2.1.2 USB-HID Connection....................................................................... - 9 -

2.1.3 PC’s Bluetooth Connection......................................................... - 10 -

2.2 Software Introduction.............................................................................. - 11 -

2.2.1 Main Menu.........................................................................................- 11 -

2.2.2 Menu of Configuration..................................................................- 12 -

2.3.1 Accelerometer Calibration.......................................................... - 16 -

2.3.2 Magnetic Field Calibration.......................................................... - 18 -

2.3.3 Gyroscope Automatic Calibration............................................ - 21 -

2.3.4 Reset Z-axis Angle........................................................................ - 21 -

2.3.5 Reset Height to 0........................................................................... - 21 -

2.4.1 Return Content............................................................................... - 22 -

2.4.2 Output Rate...................................................................................... - 23 -

2.4.3 Baud Rate..........................................................................................- 23 -

2.4.4 Data Recording............................................................................... - 24 -

BWT901 | manual v0707 | http://wiki.wit-motion.com/english

2.4.6 Standby and Wake Up................................................................. - 28 -

2.4.7 Placement Direction...................................................................... - 28 -

2.4.9 6-axis/ 9-axis Algorithm............................................................. - 31 -

3 Use Instructions with Android Phone............................................................- 32 -

3.1 APP Installation........................................................................................... - 32 -

3.2.1 APP Pairing........................................................................................- 33 -

3.2.2 Phone’s Bluetooth Pairing........................................................... - 35 -

3.3.1 Acceleration Calibration...............................................................- 37 -

3.3.2 Magnetic Field Calibration.......................................................... - 38 -

4.1 Download Link............................................................................................. - 39 -

4.2 Connection Instructions.......................................................................... - 39 -

5.3 Raspberry pi................................................................................................. - 40 -

BWT901 | manual v0707 | http://wiki.wit-motion.com/english

The BWT901 is a multi-sensor device detecting acceleration, angular velocity,

BWT901’s scientific name is AHRS IMU sensor. A sensor measures 3-axis

BWT901 is an CE standard accelerometer. It is employed where the highest

• Heated for best data availability: new WITMOTION patented zero-bias

• High precision Roll Pitch Yaw (X Y Z axis) Acceleration + Angular Velocity +

• Low cost of ownership: remote diagnostics and lifetime technical support by

• Developed tutorial: providing manual, datasheet, Demo video, free software

• WITMOTION sensors have been praised by thousands of engineers as a

BWT901 | manual v0707 | http://wiki.wit-motion.com/english

 Putting more than 5 Volt across the sensor wiring of

the main power supply can lead to permanent damage

 VCC cannot connect with GND directly, otherwise it

will lead to the burning of the circuit board.

 For proper instrument grounding: use WITMOTION

with its original factory-made cable or accessories.

 Do not change the baud rate because

WITMOTION BLUETOOTH sensor’s baud rate is

 For secondary developing project or integration:

use WITMOTION with its compiled sample code

1.2 LED Status

LED Status Remark