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0.4.1
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Vector Nav Sensor Class. More...
Data Structures | |
struct | BinaryGroupData |
Needed data to display a binary group in the GUI. More... | |
struct | TimeSync |
Information needed to sync Master/Slave sensors. More... | |
Public Member Functions | |
void | guiConfig () override |
ImGui config window which is shown on double click. | |
VectorNavSensor & | operator= (const VectorNavSensor &)=delete |
Copy assignment operator. | |
VectorNavSensor & | operator= (VectorNavSensor &&)=delete |
Move assignment operator. | |
bool | resetNode () override |
Resets the node. It is guaranteed that the node is initialized when this is called. | |
void | restore (const json &j) override |
Restores the node from a json object. | |
json | save () const override |
Saves the node into a json object. | |
std::string | type () const override |
String representation of the Class Type. | |
VectorNavSensor () | |
Default constructor. | |
VectorNavSensor (const VectorNavSensor &)=delete | |
Copy constructor. | |
VectorNavSensor (VectorNavSensor &&)=delete | |
Move constructor. | |
~VectorNavSensor () override | |
Destructor. | |
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Imu (const Imu &)=delete | |
Copy constructor. | |
Imu (Imu &&)=delete | |
Move constructor. | |
const ImuPos & | imuPosition () const |
Position and rotation information for conversion from platform to body frame. | |
Imu & | operator= (const Imu &)=delete |
Copy assignment operator. | |
Imu & | operator= (Imu &&)=delete |
Move assignment operator. | |
~Imu () override=default | |
Destructor. | |
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virtual void | afterCreateLink (OutputPin &startPin, InputPin &endPin) |
Called when a new link was established. | |
virtual void | afterDeleteLink (OutputPin &startPin, InputPin &endPin) |
Called when a link was deleted. | |
bool | doDeinitialize (bool wait=false) |
Asks the node worker to deinitialize the node. | |
bool | doDisable (bool wait=false) |
Asks the node worker to disable the node. | |
bool | doEnable () |
Enable the node. | |
bool | doInitialize (bool wait=false) |
Asks the node worker to initialize the node. | |
bool | doReinitialize (bool wait=false) |
Asks the node worker to reinitialize the node. | |
virtual void | flush () |
Function called by the flow executer after finishing to flush out remaining data. | |
template<typename T> | |
std::optional< InputPin::IncomingLink::ValueWrapper< T > > | getInputValue (size_t portIndex) const |
Get Input Value connected on the pin. Only const data types. | |
Mode | getMode () const |
Get the current mode of the node. | |
const ImVec2 & | getSize () const |
Get the size of the node. | |
State | getState () const |
Get the current state of the node. | |
bool | hasInputPinWithSameTime (const InsTime &insTime) const |
Checks wether there is an input pin with the same time. | |
InputPin & | inputPinFromId (ax::NodeEditor::PinId pinId) |
Returns the pin with the given id. | |
size_t | inputPinIndexFromId (ax::NodeEditor::PinId pinId) const |
Returns the index of the pin. | |
void | invokeCallbacks (size_t portIndex, const std::shared_ptr< const NodeData > &data) |
Calls all registered callbacks on the specified output port. | |
bool | isDisabled () const |
Checks if the node is disabled. | |
bool | isInitialized () const |
Checks if the node is initialized. | |
bool | isOnlyRealtime () const |
Checks if the node is only working in real time (sensors, network interfaces, ...) | |
bool | isTransient () const |
Checks if the node is changing its state currently. | |
std::string | nameId () const |
Node name and id. | |
Node (const Node &)=delete | |
Copy constructor. | |
Node (Node &&)=delete | |
Move constructor. | |
Node (std::string name) | |
Constructor. | |
void | notifyOutputValueChanged (size_t pinIdx, const InsTime &insTime, const std::scoped_lock< std::mutex > &&guard) |
Notifies connected nodes about the change. | |
virtual bool | onCreateLink (OutputPin &startPin, InputPin &endPin) |
Called when a new link is to be established. | |
virtual void | onDeleteLink (OutputPin &startPin, InputPin &endPin) |
Called when a link is to be deleted. | |
Node & | operator= (const Node &)=delete |
Copy assignment operator. | |
Node & | operator= (Node &&)=delete |
Move assignment operator. | |
OutputPin & | outputPinFromId (ax::NodeEditor::PinId pinId) |
Returns the pin with the given id. | |
size_t | outputPinIndexFromId (ax::NodeEditor::PinId pinId) const |
Returns the index of the pin. | |
void | releaseInputValue (size_t portIndex) |
Unblocks the connected node. Has to be called when the input value should be released and getInputValue was not called. | |
std::scoped_lock< std::mutex > | requestOutputValueLock (size_t pinIdx) |
Blocks the thread till the output values was read by all connected nodes. | |
virtual void | restoreAtferLink (const json &j) |
Restores link related properties of the node from a json object. | |
void | wakeWorker () |
Wakes the worker thread. | |
virtual | ~Node () |
Destructor. | |
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UartSensor & | operator= (const UartSensor &)=delete |
Copy assignment operator. | |
UartSensor & | operator= (UartSensor &&)=delete |
Move assignment operator. | |
UartSensor (const UartSensor &)=delete | |
Copy constructor. | |
UartSensor (UartSensor &&)=delete | |
Move constructor. | |
~UartSensor ()=default | |
Destructor. | |
Static Public Member Functions | |
static std::string | category () |
String representation of the Class Category. | |
static std::string | typeStatic () |
String representation of the Class Type. | |
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static std::string | toString (State state) |
Converts the state into a printable text. | |
Private Types | |
enum class | BinaryRegisterMerge : uint8_t { None , Output1_Output2 , Output1_Output3 , Output2_Output3 } |
Possible Merge combinations between the binary output registers. More... | |
enum class | VectorNavModel : uint8_t { VN100_VN110 , VN310 } |
VectorNav Model enumeration. More... | |
Private Member Functions | |
void | deinitialize () override |
Deinitialize the node. | |
bool | initialize () override |
Initialize the node. | |
Static Private Member Functions | |
static void | asciiOrBinaryAsyncMessageReceived (void *userData, vn::protocol::uart::Packet &p, size_t index) |
Callback handler for notifications of new asynchronous data packets received. | |
static void | coupleImuFilterRates (NAV::VectorNavSensor *sensor, vn::sensors::BinaryOutputRegister &bor, uint32_t &binaryField) |
Updates the ImuFilter's rate when pressing the checkbox button. | |
static void | mergeVectorNavBinaryObservations (const std::shared_ptr< VectorNavBinaryOutput > &target, const std::shared_ptr< VectorNavBinaryOutput > &source) |
Merges the content of the two observations into one. | |
Private Attributes | ||
ScrollingBuffer< std::string > | _asciiOutputBuffer | |
Buffer to store Ascii Output Messages. | ||
int | _asciiOutputBufferSize | |
Max size of the Ascii Output. | ||
uint32_t | _asyncDataOutputFrequency | |
Async Data Output Frequency Register. | ||
int | _asyncDataOutputFrequencySelected | |
Selected Frequency of the Async Ascii Output in the GUI. | ||
vn::protocol::uart::AsciiAsync | _asyncDataOutputType | |
Async Data Output Type Register. | ||
std::array< vn::sensors::BinaryOutputRegister, 3 > | _binaryOutputRegister | |
Binary Output Register 1 - 3. | ||
BinaryRegisterMerge | _binaryOutputRegisterMerge | |
Merge binary output registers together. This has to be done because VectorNav sensors have a buffer overflow when packages get too big. | ||
size_t | _binaryOutputRegisterMergeIndex | |
Index of the binary output for the merge observation stored. | ||
std::shared_ptr< VectorNavBinaryOutput > | _binaryOutputRegisterMergeObservation | |
First observation received, which should be merged together. | ||
std::array< size_t, 3 > | _binaryOutputSelectedFrequency | |
Selected Frequency of the Binary Outputs in the GUI. | ||
vn::sensors::CommunicationProtocolControlRegister | _communicationProtocolControlRegister | |
Communication Protocol Control. | ||
std::string | _connectedSensorPort | |
Connected sensor port. | ||
bool | _coupleImuRateOutput | |
Couple the ImuFilter's rate (window size of moving-average filter) to the output rate (rateDivisor) | ||
vn::sensors::DeltaThetaAndDeltaVelocityConfigurationRegister | _deltaThetaAndDeltaVelocityConfigurationRegister | |
Delta Theta and Delta Velocity Configuration. | ||
std::pair< std::vector< uint16_t >, std::vector< std::string > > | _dividerFrequency | |
First: List of RateDividers, Second: List of Matching Frequencies. | ||
vn::math::vec3f | _filterStartupGyroBias | |
Filter Startup Gyro Bias. | ||
struct { | ||
InsTime lastGnssTime | ||
Last GNSS time received. More... | ||
uint64_t timeSinceStartup | ||
Time since startup when the GNSS time was received. More... | ||
} | _gnssTimeCounter | |
Last received GNSS time. | ||
vn::math::vec3f | _gpsAntennaOffset | |
GNSS Antenna A Offset. | ||
vn::sensors::GpsCompassBaselineRegister | _gpsCompassBaselineRegister | |
GNSS Compass Baseline. | ||
vn::sensors::GpsConfigurationRegister | _gpsConfigurationRegister | |
GNSS Configuration. | ||
vn::sensors::ImuFilteringConfigurationRegister | _imuFilteringConfigurationRegister | |
IMU Filtering Configuration. | ||
vn::sensors::InsBasicConfigurationRegisterVn300 | _insBasicConfigurationRegisterVn300 | |
INS Basic Configuration. | ||
std::array< InsTime, 3 > | _lastMessageTime | |
Stores the time of the last received message. | ||
std::array< uint64_t, 3 > | _lastMessageTimeSinceStartup | |
Stores the time of the last received message. | ||
int64_t | _lastSyncInCnt | |
Last received syncInCnt. | ||
int64_t | _lastSyncOutCnt | |
Last received syncOutCnt. | ||
vn::sensors::MagneticAndGravityReferenceVectorsRegister | _magneticAndGravityReferenceVectorsRegister | |
Magnetic and Gravity Reference Vectors. | ||
vn::sensors::MagnetometerCalibrationControlRegister | _magnetometerCalibrationControlRegister | |
Magnetometer Calibration Control. | ||
vn::math::mat3f | _referenceFrameRotationMatrix | |
Reference Frame Rotation. | ||
vn::sensors::ReferenceVectorConfigurationRegister | _referenceVectorConfigurationRegister | |
Reference Vector Configuration. | ||
VectorNavModel | _sensorModel | |
The sensor model which is selected in the GUI. | ||
vn::sensors::StartupFilterBiasEstimateRegister | _startupFilterBiasEstimateRegister | |
Startup Filter Bias Estimate. | ||
int64_t | _syncCntOffset | |
Offset between syncIn and syncOut. | ||
vn::sensors::SynchronizationControlRegister | _synchronizationControlRegister | |
Synchronization Control. | ||
bool | _syncInPin | |
Show the SyncIn Pin. | ||
TimeSync | _timeSyncOut | |
Time synchronization for master sensors. | ||
vn::sensors::VelocityCompensationControlRegister | _velocityCompensationControlRegister | |
Velocity Compensation Control. | ||
vn::sensors::VpeAccelerometerBasicTuningRegister | _vpeAccelerometerBasicTuningRegister | |
VPE Accelerometer Basic Tuning. | ||
vn::sensors::VpeBasicControlRegister | _vpeBasicControlRegister | |
VPE Basic Control. | ||
vn::sensors::VpeGyroBasicTuningRegister | _vpeGyroBasicTuningRegister | |
VPE Gyro Basic Tuning. | ||
vn::sensors::VpeMagnetometerBasicTuningRegister | _vpeMagnetometerBasicTuningRegister | |
VPE Magnetometer Basic Tuning. | ||
vn::sensors::VnSensor | _vs | |
VnSensor Object. | ||
Static Private Attributes | |
static const std::array< BinaryGroupData, 9 > | _binaryGroupAttitude |
Binary group 5 provides all estimated outputs which are dependent upon the estimated attitude solution. | |
static const std::array< BinaryGroupData, 16 > | _binaryGroupGNSS |
Binary group 4 provides all outputs which are dependent upon the measurements collected from the primary onboard, Binary group 7 from the secondary onboard GNSS, or external GNSS (if enabled). | |
static const std::array< BinaryGroupData, 11 > | _binaryGroupIMU |
Binary group 3 provides all outputs which are dependent upon the measurements collected from the onboard IMU, or an external IMU (if enabled). | |
static const std::array< BinaryGroupData, 11 > | _binaryGroupINS |
Binary group 6 provides all estimated outputs which are dependent upon the onboard INS state solution. | |
static const std::array< BinaryGroupData, 10 > | _binaryGroupTime |
Binary group 1 contains a wide assortment of commonly used data required for most applications. | |
static constexpr std::array | _possibleAsyncDataOutputFrequency |
Possible values for the Async Data Output Frequency Register. | |
static constexpr double | IMU_DEFAULT_FREQUENCY |
Internal Frequency of the Sensor. | |
static constexpr size_t | OUTPUT_PORT_INDEX_ASCII_OUTPUT |
Flow (StringObs) | |
Friends | |
class | NAV::VectorNavFile |
Additional Inherited Members | |
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enum class | Mode : uint8_t { REAL_TIME , POST_PROCESSING } |
Different Modes the Node can work in. More... | |
enum class | State : uint8_t { Disabled , Deinitialized , DoInitialize , Initializing , Initialized , DoDeinitialize , Deinitializing , DoShutdown , Shutdown } |
Possible states of the node. More... | |
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enum | Baudrate : uint32_t { BAUDRATE_FASTEST , BAUDRATE_9600 , BAUDRATE_19200 , BAUDRATE_38400 , BAUDRATE_57600 , BAUDRATE_115200 , BAUDRATE_128000 , BAUDRATE_230400 , BAUDRATE_460800 , BAUDRATE_921600 } |
Available Baudrates. More... | |
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bool | callbacksEnabled |
Enables the callbacks. | |
ax::NodeEditor::NodeId | id |
Unique Id of the Node. | |
std::vector< InputPin > | inputPins |
List of input pins. | |
Kind | kind |
Kind of the Node. | |
std::string | name |
Name of the Node. | |
std::vector< OutputPin > | outputPins |
List of output pins. | |
std::multimap< InsTime, std::pair< OutputPin *, size_t > > | pollEvents |
Map with callback events (sorted by time) | |
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Imu (std::string name) | |
Constructor. | |
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void | restore (const json &j) |
Restores the node from a json object. | |
json | save () const |
Saves the node into a json object. | |
Baudrate | sensorBaudrate () const |
Returns the Baudrate for the element Selected by the GUI. | |
UartSensor ()=default | |
Default constructor. | |
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static int | baudrate2Selection (Baudrate baud) |
Returns the guiSelection for the given baudrate. | |
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ImuPos | _imuPos |
Position and rotation information for conversion from platform to body frame. | |
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ImVec2 | _guiConfigDefaultWindowSize |
bool | _hasConfig |
Flag if the config window should be shown. | |
bool | _lockConfigDuringRun |
Lock the config when executing post-processing. | |
bool | _onlyRealTime |
Whether the node can run in post-processing or only real-time. | |
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int | _selectedBaudrate |
Baudrate for the sensor. | |
std::string | _sensorPort |
Vector Nav Sensor Class.
Definition at line 43 of file VectorNavSensor.hpp.
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strongprivate |
Possible Merge combinations between the binary output registers.
Enumerator | |
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None | Do not merge any outputs. |
Output1_Output2 | Merge Output 1 and 2. |
Output1_Output3 | Merge Output 1 and 3. |
Output2_Output3 | Merge Output 2 and 3. |
Definition at line 224 of file VectorNavSensor.hpp.
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strongprivate |
VectorNav Model enumeration.
Definition at line 110 of file VectorNavSensor.hpp.
NAV::VectorNavSensor::VectorNavSensor | ( | ) |
Default constructor.
Definition at line 1653 of file VectorNavSensor.cpp.
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override |
Destructor.
Definition at line 1691 of file VectorNavSensor.cpp.
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delete |
Copy constructor.
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delete |
Move constructor.
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staticprivate |
Callback handler for notifications of new asynchronous data packets received.
[in,out] | userData | Pointer to the data we supplied when we called registerAsyncPacketReceivedHandler |
[in] | p | Encapsulation of the data packet. At this state, it has already been validated and identified as an asynchronous data message |
[in] | index | Advanced usage item and can be safely ignored for now |
Definition at line 6642 of file VectorNavSensor.cpp.
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staticnodiscard |
String representation of the Class Category.
Definition at line 1706 of file VectorNavSensor.cpp.
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staticprivate |
Updates the ImuFilter's rate when pressing the checkbox button.
sensor | VectorNav sensor (VN100, VN310E, etc.) |
bor | Binary Output Register |
binaryField | Binary Field |
Definition at line 629 of file VectorNavSensor.cpp.
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overrideprivatevirtual |
Deinitialize the node.
Reimplemented from NAV::Node.
Definition at line 6442 of file VectorNavSensor.cpp.
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overridevirtual |
ImGui config window which is shown on double click.
Reimplemented from NAV::Imu.
Definition at line 1711 of file VectorNavSensor.cpp.
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overrideprivatevirtual |
Initialize the node.
Reimplemented from NAV::Node.
Definition at line 5812 of file VectorNavSensor.cpp.
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staticprivate |
Merges the content of the two observations into one.
[in,out] | target | The observation used to store the merged information |
[in] | source | The observation where information is taken from |
Definition at line 6503 of file VectorNavSensor.cpp.
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delete |
Copy assignment operator.
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delete |
Move assignment operator.
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overridevirtual |
Resets the node. It is guaranteed that the node is initialized when this is called.
Reimplemented from NAV::Node.
Definition at line 5795 of file VectorNavSensor.cpp.
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overridevirtual |
Restores the node from a json object.
[in] | j | Json object with the node state |
Reimplemented from NAV::Imu.
Definition at line 5596 of file VectorNavSensor.cpp.
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nodiscardoverridevirtual |
Saves the node into a json object.
Reimplemented from NAV::Imu.
Definition at line 5514 of file VectorNavSensor.cpp.
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nodiscardoverridevirtual |
String representation of the Class Type.
Implements NAV::Node.
Definition at line 1701 of file VectorNavSensor.cpp.
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staticnodiscard |
String representation of the Class Type.
Definition at line 1696 of file VectorNavSensor.cpp.
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friend |
Definition at line 541 of file VectorNavSensor.hpp.
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private |
Buffer to store Ascii Output Messages.
Definition at line 169 of file VectorNavSensor.hpp.
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Max size of the Ascii Output.
Definition at line 166 of file VectorNavSensor.hpp.
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Async Data Output Frequency Register.
Definition at line 161 of file VectorNavSensor.hpp.
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Selected Frequency of the Async Ascii Output in the GUI.
Definition at line 163 of file VectorNavSensor.hpp.
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Async Data Output Type Register.
Definition at line 153 of file VectorNavSensor.hpp.
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staticprivate |
Binary group 5 provides all estimated outputs which are dependent upon the estimated attitude solution.
The attitude will be derived from either the AHRS or the INS, depending upon which filter is currently active and tracking. All of the fields in this group will only be valid if the AHRS/INS filter is currently enabled and tracking.
Definition at line 1427 of file VectorNavSensor.hpp.
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staticprivate |
Binary group 4 provides all outputs which are dependent upon the measurements collected from the primary onboard, Binary group 7 from the secondary onboard GNSS, or external GNSS (if enabled).
All data in this group is updated at the rate of the GNSS receiver (nominally 5Hz for the internal GNSS).
Definition at line 929 of file VectorNavSensor.hpp.
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staticprivate |
Binary group 3 provides all outputs which are dependent upon the measurements collected from the onboard IMU, or an external IMU (if enabled).
Definition at line 895 of file VectorNavSensor.hpp.
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staticprivate |
Binary group 6 provides all estimated outputs which are dependent upon the onboard INS state solution.
All of the fields in this group will only be valid if the INS filter is currently enabled and tracking.
Definition at line 1538 of file VectorNavSensor.hpp.
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staticprivate |
Binary group 1 contains a wide assortment of commonly used data required for most applications.
All of the outputs found in group 1 are also present in the other groups. In this sense, group 1 is a subset of commonly used outputs from the other groups. This simplifies the configuration of binary output messages for applications that only require access to the commonly used data found in group 1. For these applications you can hard code the group field to 1, and not worry about implemented support for the other binary groups. Using group 1 for commonly used outputs also has the advantage of reducing the overall packet size, since the packet length is dependent upon the number of binary groups active.
Binary group 2 provides all timing and event counter related outputs.
Some of these outputs (such as the TimeGps, TimePps, and TimeUtc), require either that the internal GNSS to be enabled, or an external GNSS must be present.
Definition at line 731 of file VectorNavSensor.hpp.
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private |
Binary Output Register 1 - 3.
This register allows the user to construct a custom binary output message that contains a collection of desired estimated states and sensor measurements.
Definition at line 245 of file VectorNavSensor.hpp.
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Merge binary output registers together. This has to be done because VectorNav sensors have a buffer overflow when packages get too big.
Definition at line 233 of file VectorNavSensor.hpp.
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Index of the binary output for the merge observation stored.
Definition at line 238 of file VectorNavSensor.hpp.
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First observation received, which should be merged together.
Definition at line 236 of file VectorNavSensor.hpp.
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Selected Frequency of the Binary Outputs in the GUI.
Definition at line 279 of file VectorNavSensor.hpp.
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Communication Protocol Control.
Contains parameters that controls the communication protocol used by the sensor.
Definition at line 213 of file VectorNavSensor.hpp.
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Connected sensor port.
Definition at line 126 of file VectorNavSensor.hpp.
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private |
Couple the ImuFilter's rate (window size of moving-average filter) to the output rate (rateDivisor)
Definition at line 201 of file VectorNavSensor.hpp.
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private |
Delta Theta and Delta Velocity Configuration.
This register contains configuration options for the internal coning/sculling calculations.
Definition at line 314 of file VectorNavSensor.hpp.
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private |
First: List of RateDividers, Second: List of Matching Frequencies.
Definition at line 132 of file VectorNavSensor.hpp.
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private |
Filter Startup Gyro Bias.
The filter gyro bias estimate used at startup.
Definition at line 401 of file VectorNavSensor.hpp.
struct { ... } NAV::VectorNavSensor::_gnssTimeCounter |
Last received GNSS time.
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private |
GNSS Antenna A Offset.
Configures the position offset of GNSS antenna A from the VN-310E in the vehicle reference frame.
Definition at line 338 of file VectorNavSensor.hpp.
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private |
GNSS Compass Baseline.
Configures the position offset and measurement uncertainty of the second GNSS antenna relative to the first GNSS antenna in the vehicle reference frame.
Definition at line 347 of file VectorNavSensor.hpp.
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private |
GNSS Configuration.
Definition at line 327 of file VectorNavSensor.hpp.
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IMU Filtering Configuration.
Controls the level of filtering performed on the raw IMU measurements.
Definition at line 297 of file VectorNavSensor.hpp.
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INS Basic Configuration.
Definition at line 411 of file VectorNavSensor.hpp.
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Stores the time of the last received message.
Definition at line 135 of file VectorNavSensor.hpp.
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Stores the time of the last received message.
Definition at line 138 of file VectorNavSensor.hpp.
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Last received syncInCnt.
Definition at line 192 of file VectorNavSensor.hpp.
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Last received syncOutCnt.
Definition at line 195 of file VectorNavSensor.hpp.
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Magnetic and Gravity Reference Vectors.
Magnetic and gravity reference vectors.
Definition at line 449 of file VectorNavSensor.hpp.
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private |
Magnetometer Calibration Control.
Controls the magnetometer real-time calibration algorithm.
Definition at line 435 of file VectorNavSensor.hpp.
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staticconstexprprivate |
Possible values for the Async Data Output Frequency Register.
Definition at line 157 of file VectorNavSensor.hpp.
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private |
Reference Frame Rotation.
Allows the measurements of the VN-310E to be rotated into a different reference frame.
Definition at line 289 of file VectorNavSensor.hpp.
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Reference Vector Configuration.
Control register for both the onboard world magnetic and gravity model corrections.
Definition at line 458 of file VectorNavSensor.hpp.
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The sensor model which is selected in the GUI.
Definition at line 120 of file VectorNavSensor.hpp.
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private |
Startup Filter Bias Estimate.
Sets the initial estimate for the filter bias states.
Definition at line 421 of file VectorNavSensor.hpp.
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Offset between syncIn and syncOut.
Definition at line 198 of file VectorNavSensor.hpp.
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Synchronization Control.
Contains parameters which allow the timing of the VN-310E to be synchronized with external devices.
Definition at line 175 of file VectorNavSensor.hpp.
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Show the SyncIn Pin.
Definition at line 189 of file VectorNavSensor.hpp.
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Time synchronization for master sensors.
Definition at line 186 of file VectorNavSensor.hpp.
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Velocity Compensation Control.
Provides control over the velocity compensation feature for the attitude filter.
Definition at line 474 of file VectorNavSensor.hpp.
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private |
VPE Accelerometer Basic Tuning.
Provides basic control of the adaptive filtering and tuning for the accelerometer.
Definition at line 381 of file VectorNavSensor.hpp.
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VPE Basic Control.
Provides control over various features relating to the onboard attitude filtering algorithm.
Definition at line 360 of file VectorNavSensor.hpp.
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VPE Gyro Basic Tuning.
Provides basic control of the adaptive filtering and tuning for the gyro.
Definition at line 391 of file VectorNavSensor.hpp.
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VPE Magnetometer Basic Tuning.
Provides basic control of the adaptive filtering and tuning for the magnetometer..
Definition at line 371 of file VectorNavSensor.hpp.
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VnSensor Object.
Definition at line 123 of file VectorNavSensor.hpp.
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staticconstexprprivate |
Internal Frequency of the Sensor.
Definition at line 129 of file VectorNavSensor.hpp.
InsTime NAV::VectorNavSensor::lastGnssTime |
Last GNSS time received.
Definition at line 143 of file VectorNavSensor.hpp.
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staticconstexprprivate |
Flow (StringObs)
Definition at line 90 of file VectorNavSensor.hpp.
uint64_t NAV::VectorNavSensor::timeSinceStartup |
Time since startup when the GNSS time was received.
Definition at line 144 of file VectorNavSensor.hpp.