NAV::vendor::vectornav::InsStatus Class Reference

The INS status bitfield. More...

Public Types
enum class	Mode : uint8_t {   NotTracking ,   Aligning ,   Tracking ,   LossOfGNSS }
	Indicates the current mode of the INS filter. More...

Public Member Functions
constexpr bool	errorGnss () const
	Extract the GNSS Error from the ins status.
constexpr bool	errorIMU () const
	Extract the IMU Error from the ins status.
constexpr bool	errorMagPres () const
	Extract the Mag/Pres Error from the ins status.
constexpr bool	gpsCompass () const
	Extract the GPS Compass from the ins status.
constexpr bool	gpsFix () const
	Extract the GPS Fix from the ins status.
constexpr bool	gpsHeadingIns () const
	Extract the GPS Heading INS from the ins status.
	InsStatus ()=default
	Default constructor.
	InsStatus (uint16_t status)
constexpr Mode	mode () const
	Extract the current mode of the INS filter from the ins status.
InsStatus &	operator= (const uint16_t &status)
	Assignment operator.
constexpr uint16_t &	status ()
	Returns a reference to the status.

Private Attributes
uint16_t	_status
	The storage field.

Detailed Description

The INS status bitfield.

Bit | Name | Description 0+1 | Mode | Indicates the current mode of the INS filter. | 0 = Not tracking. GNSS Compass is initializing. Output heading is based on magnetometer measurements. | 1 = Aligning. | INS Filter is dynamically aligning. | For a stationary startup: GNSS Compass has initialized and INS Filter is | aligning from the magnetic heading to the GNSS Compass heading. | For a dynamic startup: INS Filter has initialized and is dynamically aligning to | True North heading. | In operation, if the INS Filter drops from INS Mode 2 back down to 1, the | attitude uncertainty has increased above 2 degrees. | 2 = Tracking. The INS Filter is tracking and operating within specification. | 3 = Loss of GNSS. A GNSS outage has lasted more than 45 seconds. The INS Filter will | no longer update the position and velocity outputs, but the attitude remains valid. 2 | GpsFix | Indicates whether the GNSS has a proper fix. 4 | IMU Error | High if IMU communication error is detected. 5 | Mag/Pres Error | High if Magnetometer or Pressure sensor error is detected. 6 | GNSS Error | High if GNSS communication error is detected, 8 | GpsHeadingIns | In stationary operation, if set the INS Filter has fully aligned to the GNSS Compass solution. | In dynamic operation, the GNSS Compass solution is currently aiding the INS Filter heading solution. 9 | GpsCompass | Indicates if the GNSS compass is operational and reporting a heading solution.

Definition at line 597 of file VectorNavTypes.hpp.

Member Enumeration Documentation

Mode

enum class NAV::vendor::vectornav::InsStatus::Mode : uint8_t

strong

Indicates the current mode of the INS filter.

Enumerator
NotTracking	Not tracking. GNSS Compass is initializing. Output heading is based on magnetometer measurements.
Aligning	INS Filter is dynamically aligning. For a stationary startup: GNSS Compass has initialized and INS Filter is aligning from the magnetic heading to the GNSS Compass heading. For a dynamic startup: INS Filter has initialized and is dynamically aligning to True North heading. In operation, if the INS Filter drops from INS Mode 2 back down to 1, the attitude uncertainty has increased above 2 degrees.
Tracking	Tracking. The INS Filter is tracking and operating within specification.
LossOfGNSS	Loss of GNSS. A GNSS outage has lasted more than 45 seconds. The INS Filter will no longer update the position and velocity outputs, but the attitude remains valid.

Definition at line 601 of file VectorNavTypes.hpp.

Constructor & Destructor Documentation

InsStatus() [1/2]

NAV::vendor::vectornav::InsStatus::InsStatus ( uint16_t status )

inlineexplicit

Constructor

Parameters

[in]

status

Status to set

Definition at line 629 of file VectorNavTypes.hpp.

InsStatus() [2/2]

NAV::vendor::vectornav::InsStatus::InsStatus ( )

default

Default constructor.

Member Function Documentation

errorGnss()

bool NAV::vendor::vectornav::InsStatus::errorGnss ( ) const

inlinenodiscardconstexpr

Extract the GNSS Error from the ins status.

Definition at line 669 of file VectorNavTypes.hpp.

errorIMU()

bool NAV::vendor::vectornav::InsStatus::errorIMU ( ) const

inlinenodiscardconstexpr

Extract the IMU Error from the ins status.

Definition at line 659 of file VectorNavTypes.hpp.

errorMagPres()

bool NAV::vendor::vectornav::InsStatus::errorMagPres ( ) const

inlinenodiscardconstexpr

Extract the Mag/Pres Error from the ins status.

Definition at line 664 of file VectorNavTypes.hpp.

gpsCompass()

bool NAV::vendor::vectornav::InsStatus::gpsCompass ( ) const

inlinenodiscardconstexpr

Extract the GPS Compass from the ins status.

Definition at line 679 of file VectorNavTypes.hpp.

gpsFix()

bool NAV::vendor::vectornav::InsStatus::gpsFix ( ) const

inlinenodiscardconstexpr

Extract the GPS Fix from the ins status.

Definition at line 654 of file VectorNavTypes.hpp.

gpsHeadingIns()

bool NAV::vendor::vectornav::InsStatus::gpsHeadingIns ( ) const

inlinenodiscardconstexpr

Extract the GPS Heading INS from the ins status.

Definition at line 674 of file VectorNavTypes.hpp.

mode()

Mode NAV::vendor::vectornav::InsStatus::mode ( ) const

inlinenodiscardconstexpr

Extract the current mode of the INS filter from the ins status.

Definition at line 649 of file VectorNavTypes.hpp.

operator=()

InsStatus & NAV::vendor::vectornav::InsStatus::operator= ( const uint16_t & status )

inline

Assignment operator.

Parameters

[in]

status

Status to set

Definition at line 633 of file VectorNavTypes.hpp.

status()

uint16_t & NAV::vendor::vectornav::InsStatus::status ( )

inlinenodiscardconstexpr

Returns a reference to the status.

Definition at line 643 of file VectorNavTypes.hpp.

Field Documentation

_status

uint16_t NAV::vendor::vectornav::InsStatus::_status

private

The storage field.

Definition at line 686 of file VectorNavTypes.hpp.

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

• /home/runner/work/INSTINCT/INSTINCT/src/util/Vendor/VectorNav/VectorNavTypes.hpp