Vector Nav Sensor Class. More...

Classes
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.

Public Member Functions inherited from NAV::Imu
	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.

Public Member Functions inherited from NAV::Node
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.

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.

Public Member Functions inherited from NAV::UartSensor
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.

Static Public Member Functions inherited from NAV::Node
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.

uint64_t timeSinceStartup
	Time since startup when the GNSS time was received.

}	_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.

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.

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
Public Types inherited from NAV::Node
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...

Public Types inherited from NAV::UartSensor
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...

Public Attributes inherited from NAV::Node
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)

Protected Member Functions inherited from NAV::Imu
	Imu (std::string name)
	Constructor.

Protected Member Functions inherited from NAV::UartSensor
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.

Static Protected Member Functions inherited from NAV::UartSensor
static int	baudrate2Selection (Baudrate baud)
	Returns the guiSelection for the given baudrate.

Protected Attributes inherited from NAV::Imu
ImuPos	_imuPos
	Position and rotation information for conversion from platform to body frame.

Protected Attributes inherited from NAV::Node
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.

Protected Attributes inherited from NAV::UartSensor
int	_selectedBaudrate
	Baudrate for the sensor.

std::string	_sensorPort

Detailed Description

Vector Nav Sensor Class.

Member Enumeration Documentation

◆ BinaryRegisterMerge

enum class NAV::VectorNavSensor::BinaryRegisterMerge : uint8_t

strongprivate

Possible Merge combinations between the binary output registers.

Enumerator
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.

◆ VectorNavModel

enum class NAV::VectorNavSensor::VectorNavModel : uint8_t

strongprivate

VectorNav Model enumeration.

Enumerator
VN100_VN110	VN-100/SMD (Miniature, lightweight and high-performance IMU & AHRS) VN-110/E (Rugged and Miniature Tactical-Grade IMU and AHRS)
VN310	VN-310/E (Tactical-Grade GNSS/INS with Integrated GNSS-Compass)

Member Function Documentation

◆ asciiOrBinaryAsyncMessageReceived()

static void NAV::VectorNavSensor::asciiOrBinaryAsyncMessageReceived	(	void *	userData,
		vn::protocol::uart::Packet &	p,
		size_t	index )

staticprivate

Callback handler for notifications of new asynchronous data packets received.

Parameters

[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

◆ coupleImuFilterRates()

static void NAV::VectorNavSensor::coupleImuFilterRates	(	NAV::VectorNavSensor *	sensor,
		vn::sensors::BinaryOutputRegister &	bor,
		uint32_t &	binaryField )

staticprivate

Updates the ImuFilter's rate when pressing the checkbox button.

Parameters

sensor	VectorNav sensor (VN100, VN310E, etc.)
bor	Binary Output Register
binaryField	Binary Field

◆ deinitialize()

void NAV::VectorNavSensor::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

◆ guiConfig()

void NAV::VectorNavSensor::guiConfig ( )

overridevirtual

ImGui config window which is shown on double click.

Attention: Don't forget to set _hasConfig to true in the constructor of the node

Reimplemented from NAV::Imu.

◆ initialize()

bool NAV::VectorNavSensor::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

◆ mergeVectorNavBinaryObservations()

static void NAV::VectorNavSensor::mergeVectorNavBinaryObservations	(	const std::shared_ptr< VectorNavBinaryOutput > &	target,
		const std::shared_ptr< VectorNavBinaryOutput > &	source )

staticprivate

Merges the content of the two observations into one.

Parameters

[in,out]	target	The observation used to store the merged information
[in]	source	The observation where information is taken from

◆ resetNode()

bool NAV::VectorNavSensor::resetNode ( )

overridevirtual

Resets the node. It is guaranteed that the node is initialized when this is called.

Reimplemented from NAV::Node.

◆ restore()

void NAV::VectorNavSensor::restore ( const json & j )

overridevirtual

Restores the node from a json object.

Parameters

[in] j Json object with the node state

Reimplemented from NAV::Imu.

◆ save()

json NAV::VectorNavSensor::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Imu.

◆ type()

std::string NAV::VectorNavSensor::type ( ) const

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Member Data Documentation

◆ _asyncDataOutputFrequency

uint32_t NAV::VectorNavSensor::_asyncDataOutputFrequency

private

Async Data Output Frequency Register.

Note: See User manual VN-310 - 8.2.8 (p 94) / VN-100 - 5.2.8 (p 66)

◆ _asyncDataOutputType

vn::protocol::uart::AsciiAsync NAV::VectorNavSensor::_asyncDataOutputType

private

Async Data Output Type Register.

Note: See User manual VN-310 - 8.2.7 (p 92f) / VN-100 - 5.2.7 (p 65)

◆ _binaryGroupAttitude

const std::array<BinaryGroupData, 9> NAV::VectorNavSensor::_binaryGroupAttitude

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.

◆ _binaryGroupGNSS

const std::array<BinaryGroupData, 16> NAV::VectorNavSensor::_binaryGroupGNSS

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).

Note: If data is asynchronously sent from group 4/7 at a rate equal to the GNSS update rate, then packets will be sent out when updated by the GNSS receiver. For all other rates, the output will be based on the divisor selected and the internal IMU sampling rate.

◆ _binaryGroupINS

const std::array<BinaryGroupData, 11> NAV::VectorNavSensor::_binaryGroupINS

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.

◆ _binaryGroupTime

const std::array<BinaryGroupData, 10> NAV::VectorNavSensor::_binaryGroupTime

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.

◆ _binaryOutputRegister

std::array<vn::sensors::BinaryOutputRegister, 3> NAV::VectorNavSensor::_binaryOutputRegister

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.

Note: See User manual VN-310 - 8.2.11-13 (p 100ff) / VN-100 - 5.2.11-13 (p 73ff)

◆ _communicationProtocolControlRegister

vn::sensors::CommunicationProtocolControlRegister NAV::VectorNavSensor::_communicationProtocolControlRegister

private

Communication Protocol Control.

Contains parameters that controls the communication protocol used by the sensor.

Note: See User manual VN-310 - 8.2.10 (p 97ff) / VN-100 - 5.2.10 (p 69ff)

◆ _deltaThetaAndDeltaVelocityConfigurationRegister

vn::sensors::DeltaThetaAndDeltaVelocityConfigurationRegister NAV::VectorNavSensor::_deltaThetaAndDeltaVelocityConfigurationRegister

private

Delta Theta and Delta Velocity Configuration.

This register contains configuration options for the internal coning/sculling calculations.

Note: See User manual VN-310 - 9.2.6 (p 116) / VN-100 - 6.2.6 (p 87)

◆ _filterStartupGyroBias

vn::math::vec3f NAV::VectorNavSensor::_filterStartupGyroBias

private

Filter Startup Gyro Bias.

The filter gyro bias estimate used at startup.

Note: See User manual VN-100 - 7.3.4 (p 107)

◆ _gpsAntennaOffset

vn::math::vec3f NAV::VectorNavSensor::_gpsAntennaOffset

private

GNSS Antenna A Offset.

Configures the position offset of GNSS antenna A from the VN-310E in the vehicle reference frame.

Note: See User manual VN-310 - 10.2.2 (p 125)

◆ _gpsCompassBaselineRegister

vn::sensors::GpsCompassBaselineRegister NAV::VectorNavSensor::_gpsCompassBaselineRegister

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.

Note: See User manual VN-310 - 10.2.3 (p 126f)

◆ _gpsConfigurationRegister

vn::sensors::GpsConfigurationRegister NAV::VectorNavSensor::_gpsConfigurationRegister

private

GNSS Configuration.

Note: See User manual VN-310 - 10.2.1 (p 124)

◆ _imuFilteringConfigurationRegister

vn::sensors::ImuFilteringConfigurationRegister NAV::VectorNavSensor::_imuFilteringConfigurationRegister

private

IMU Filtering Configuration.

Controls the level of filtering performed on the raw IMU measurements.

Note: See User manual VN-310 - 9.2.5 (p 115) / VN-100 - 6.2.5 (p 86)

◆ _insBasicConfigurationRegisterVn300

vn::sensors::InsBasicConfigurationRegisterVn300 NAV::VectorNavSensor::_insBasicConfigurationRegisterVn300

private

INS Basic Configuration.

Note: See User manual VN-310 - 12.3.1 (p 166)

◆ _magneticAndGravityReferenceVectorsRegister

vn::sensors::MagneticAndGravityReferenceVectorsRegister NAV::VectorNavSensor::_magneticAndGravityReferenceVectorsRegister

private

Magnetic and Gravity Reference Vectors.

Magnetic and gravity reference vectors.

Note: See User manual VN-310 - 14.1.1 (p 175) / VN-100 - 9.1.1 (p 115)

◆ _magnetometerCalibrationControlRegister

vn::sensors::MagnetometerCalibrationControlRegister NAV::VectorNavSensor::_magnetometerCalibrationControlRegister

private

Magnetometer Calibration Control.

Controls the magnetometer real-time calibration algorithm.

Note: See User manual VN-310 - 13.1.1 (p 169) / VN-100 - 8.1.1 (p 110)

◆ _possibleAsyncDataOutputFrequency

std::array NAV::VectorNavSensor::_possibleAsyncDataOutputFrequency

staticconstexprprivate

Possible values for the Async Data Output Frequency Register.

Note: See User manual VN-310 - 8.2.8 (p 94) / VN-100 - 5.2.8 (p 66)

◆ _referenceFrameRotationMatrix

vn::math::mat3f NAV::VectorNavSensor::_referenceFrameRotationMatrix

private

Reference Frame Rotation.

Allows the measurements of the VN-310E to be rotated into a different reference frame.

Note: See User manual VN-310 - 9.2.4 (p 114) / VN-100 - 6.2.4 (p 85)

◆ _referenceVectorConfigurationRegister

vn::sensors::ReferenceVectorConfigurationRegister NAV::VectorNavSensor::_referenceVectorConfigurationRegister

private

Reference Vector Configuration.

Control register for both the onboard world magnetic and gravity model corrections.

Note: See User manual VN-310 - 14.1.2 (p 176) / VN-100 - 9.1.2 (p 116)

◆ _startupFilterBiasEstimateRegister

vn::sensors::StartupFilterBiasEstimateRegister NAV::VectorNavSensor::_startupFilterBiasEstimateRegister

private

Startup Filter Bias Estimate.

Sets the initial estimate for the filter bias states.

Note: See User manual VN-310 - 12.3.2 (p 167)

◆ _synchronizationControlRegister

vn::sensors::SynchronizationControlRegister NAV::VectorNavSensor::_synchronizationControlRegister

private

Synchronization Control.

Contains parameters which allow the timing of the VN-310E to be synchronized with external devices.

Note: See User manual VN-310 - 8.2.9 (p 95f) / VN-100 - 5.2.9 (p 67f)

◆ _velocityCompensationControlRegister

vn::sensors::VelocityCompensationControlRegister NAV::VectorNavSensor::_velocityCompensationControlRegister

private

Velocity Compensation Control.

Provides control over the velocity compensation feature for the attitude filter.

Note: See User manual VN-100 - 10.2.1 (p 123)

◆ _vpeAccelerometerBasicTuningRegister

vn::sensors::VpeAccelerometerBasicTuningRegister NAV::VectorNavSensor::_vpeAccelerometerBasicTuningRegister

private

VPE Accelerometer Basic Tuning.

Provides basic control of the adaptive filtering and tuning for the accelerometer.

Note: See User manual VN-100 - 7.3.3 (p 106)

◆ _vpeBasicControlRegister

vn::sensors::VpeBasicControlRegister NAV::VectorNavSensor::_vpeBasicControlRegister

private

VPE Basic Control.

Provides control over various features relating to the onboard attitude filtering algorithm.

Note: See User manual VN-310 - 11.3.1 (p 158) / VN-100 - 7.3.1 (p 104)

◆ _vpeGyroBasicTuningRegister

vn::sensors::VpeGyroBasicTuningRegister NAV::VectorNavSensor::_vpeGyroBasicTuningRegister

private

VPE Gyro Basic Tuning.

Provides basic control of the adaptive filtering and tuning for the gyro.

Note: See User manual VN-100 - 7.3.5 (p 108)

◆ _vpeMagnetometerBasicTuningRegister

vn::sensors::VpeMagnetometerBasicTuningRegister NAV::VectorNavSensor::_vpeMagnetometerBasicTuningRegister

private

VPE Magnetometer Basic Tuning.

Provides basic control of the adaptive filtering and tuning for the magnetometer..

Note: See User manual VN-100 - 7.3.2 (p 105)

The documentation for this class was generated from the following file:

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProvider/IMU/Sensors/VectorNavSensor.hpp

Classes

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ BinaryRegisterMerge

◆ VectorNavModel

Member Function Documentation

◆ asciiOrBinaryAsyncMessageReceived()

◆ coupleImuFilterRates()

◆ deinitialize()

◆ guiConfig()

◆ initialize()

◆ mergeVectorNavBinaryObservations()

◆ resetNode()

◆ restore()

◆ save()

◆ type()

Member Data Documentation

◆ _asyncDataOutputFrequency

◆ _asyncDataOutputType

◆ _binaryGroupAttitude

◆ _binaryGroupGNSS

◆ _binaryGroupINS

◆ _binaryGroupTime

◆ _binaryOutputRegister

◆ _communicationProtocolControlRegister

◆ _deltaThetaAndDeltaVelocityConfigurationRegister

◆ _filterStartupGyroBias

◆ _gpsAntennaOffset

◆ _gpsCompassBaselineRegister

◆ _gpsConfigurationRegister

◆ _imuFilteringConfigurationRegister

◆ _insBasicConfigurationRegisterVn300

◆ _magneticAndGravityReferenceVectorsRegister

◆ _magnetometerCalibrationControlRegister

◆ _possibleAsyncDataOutputFrequency

◆ _referenceFrameRotationMatrix

◆ _referenceVectorConfigurationRegister

◆ _startupFilterBiasEstimateRegister

◆ _synchronizationControlRegister

◆ _velocityCompensationControlRegister

◆ _vpeAccelerometerBasicTuningRegister

◆ _vpeBasicControlRegister

◆ _vpeGyroBasicTuningRegister

◆ _vpeMagnetometerBasicTuningRegister