| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | /// @file VectorNavBinaryOutput.hpp | ||
| 10 | /// @brief Binary Outputs from VectorNav Sensors | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2021-07-01 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include <cmath> | ||
| 17 | #include <memory> | ||
| 18 | |||
| 19 | #include "Navigation/GNSS/Core/SatelliteSystem.hpp" | ||
| 20 | #include "NodeData/NodeData.hpp" | ||
| 21 | #include "NodeData/IMU/ImuPos.hpp" | ||
| 22 | #include "util/Eigen.hpp" | ||
| 23 | #include "Navigation/GNSS/Core/SatelliteIdentifier.hpp" | ||
| 24 | |||
| 25 | #include "util/Vendor/VectorNav/BinaryOutputs/TimeOutputs.hpp" | ||
| 26 | #include "util/Vendor/VectorNav/BinaryOutputs/ImuOutputs.hpp" | ||
| 27 | #include "util/Vendor/VectorNav/BinaryOutputs/GnssOutputs.hpp" | ||
| 28 | #include "util/Vendor/VectorNav/BinaryOutputs/AttitudeOutputs.hpp" | ||
| 29 | #include "util/Vendor/VectorNav/BinaryOutputs/InsOutputs.hpp" | ||
| 30 | #include "util/Vendor/VectorNav/VectorNavTypes.hpp" | ||
| 31 | #include <fmt/core.h> | ||
| 32 | #include <sys/types.h> | ||
| 33 | #include <vn/types.h> | ||
| 34 | |||
| 35 | namespace NAV | ||
| 36 | { | ||
| 37 | /// IMU Observation storage class | ||
| 38 | class VectorNavBinaryOutput : public NodeData | ||
| 39 | { | ||
| 40 | public: | ||
| 41 | /// @brief Constructor | ||
| 42 | /// @param[in] imuPos Reference to the position and rotation info of the Imu | ||
| 43 | 28715 | explicit VectorNavBinaryOutput(const ImuPos& imuPos) | |
| 44 | 28715 | : imuPos(imuPos) {} | |
| 45 | |||
| 46 | /// @brief Returns the type of the data class | ||
| 47 | /// @return The data type | ||
| 48 | 582721 | [[nodiscard]] static std::string type() | |
| 49 | { | ||
| 50 |
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1165442 | return "VectorNavBinaryOutput"; |
| 51 | } | ||
| 52 | |||
| 53 | /// @brief Returns the type of the data class | ||
| 54 | /// @return The data type | ||
| 55 | ✗ | [[nodiscard]] std::string getType() const override { return type(); } | |
| 56 | |||
| 57 | /// @brief Returns the parent types of the data class | ||
| 58 | /// @return The parent data types | ||
| 59 | 112 | [[nodiscard]] static std::vector<std::string> parentTypes() | |
| 60 | { | ||
| 61 |
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336 | return { NodeData::type() }; |
| 62 | 112 | } | |
| 63 | |||
| 64 | /// @brief Returns a vector of data descriptors | ||
| 65 | 38 | [[nodiscard]] static std::vector<std::string> GetStaticDataDescriptors() | |
| 66 | { | ||
| 67 | 38 | return {}; | |
| 68 | } | ||
| 69 | |||
| 70 | /// @brief Get the amount of descriptors | ||
| 71 | 30 | [[nodiscard]] static constexpr size_t GetStaticDescriptorCount() { return 0; } | |
| 72 | |||
| 73 | /// @brief Returns a vector of data descriptors | ||
| 74 | 32 | [[nodiscard]] std::vector<std::string> staticDataDescriptors() const override { return GetStaticDataDescriptors(); } | |
| 75 | |||
| 76 | /// @brief Get the amount of descriptors | ||
| 77 | 30 | [[nodiscard]] size_t staticDescriptorCount() const override { return GetStaticDescriptorCount(); } | |
| 78 | |||
| 79 | /// @brief Get the value at the index | ||
| 80 | /// @param idx Index corresponding to data descriptor order | ||
| 81 | /// @return Value if in the observation | ||
| 82 | ✗ | [[nodiscard]] std::optional<double> getValueAt(size_t idx) const override | |
| 83 | { | ||
| 84 | ✗ | INS_ASSERT(idx < GetStaticDescriptorCount()); | |
| 85 | ✗ | switch (idx) | |
| 86 | { | ||
| 87 | // Group 2 (Time) | ||
| 88 | ✗ | case 0: // Time::TimeStartup [ns] | |
| 89 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP)) { return static_cast<double>(timeOutputs->timeStartup); } | |
| 90 | ✗ | break; | |
| 91 | ✗ | case 1: // Time::TimeGps [ns] | |
| 92 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPS)) { return static_cast<double>(timeOutputs->timeGps); } | |
| 93 | ✗ | break; | |
| 94 | ✗ | case 2: // Time::GpsTow [ns] | |
| 95 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW)) { return static_cast<double>(timeOutputs->gpsTow); } | |
| 96 | ✗ | break; | |
| 97 | ✗ | case 3: // Time::GpsWeek | |
| 98 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK)) { return static_cast<double>(timeOutputs->gpsWeek); } | |
| 99 | ✗ | break; | |
| 100 | ✗ | case 4: // Time::TimeSyncIn [ns] | |
| 101 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESYNCIN)) { return static_cast<double>(timeOutputs->timeSyncIn); } | |
| 102 | ✗ | break; | |
| 103 | ✗ | case 5: // Time::TimeGpsPps [ns] | |
| 104 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPSPPS)) { return static_cast<double>(timeOutputs->timePPS); } | |
| 105 | ✗ | break; | |
| 106 | ✗ | case 6: // Time::TimeUTC::year | |
| 107 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.year); } | |
| 108 | ✗ | break; | |
| 109 | ✗ | case 7: // Time::TimeUTC::month | |
| 110 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.month); } | |
| 111 | ✗ | break; | |
| 112 | ✗ | case 8: // Time::TimeUTC::day | |
| 113 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.day); } | |
| 114 | ✗ | break; | |
| 115 | ✗ | case 9: // Time::TimeUTC::hour | |
| 116 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.hour); } | |
| 117 | ✗ | break; | |
| 118 | ✗ | case 10: // Time::TimeUTC::min | |
| 119 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.min); } | |
| 120 | ✗ | break; | |
| 121 | ✗ | case 11: // Time::TimeUTC::sec | |
| 122 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.sec); } | |
| 123 | ✗ | break; | |
| 124 | ✗ | case 12: // Time::TimeUTC::ms | |
| 125 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.ms); } | |
| 126 | ✗ | break; | |
| 127 | ✗ | case 13: // Time::SyncInCnt | |
| 128 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCINCNT)) { return static_cast<double>(timeOutputs->syncInCnt); } | |
| 129 | ✗ | break; | |
| 130 | ✗ | case 14: // Time::SyncOutCnt | |
| 131 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCOUTCNT)) { return static_cast<double>(timeOutputs->syncOutCnt); } | |
| 132 | ✗ | break; | |
| 133 | ✗ | case 15: // Time::TimeStatus::timeOk | |
| 134 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS)) { return static_cast<double>(timeOutputs->timeStatus.timeOk()); } | |
| 135 | ✗ | break; | |
| 136 | ✗ | case 16: // Time::TimeStatus::dateOk | |
| 137 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS)) { return static_cast<double>(timeOutputs->timeStatus.dateOk()); } | |
| 138 | ✗ | break; | |
| 139 | ✗ | case 17: // Time::TimeStatus::utcTimeValid | |
| 140 | ✗ | if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS)) { return static_cast<double>(timeOutputs->timeStatus.utcTimeValid()); } | |
| 141 | ✗ | break; | |
| 142 | // Group 3 (IMU) | ||
| 143 | ✗ | case 18: // IMU::ImuStatus | |
| 144 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_IMUSTATUS)) { return static_cast<double>(imuOutputs->imuStatus); } | |
| 145 | ✗ | break; | |
| 146 | ✗ | case 19: // IMU::UncompMag::X [Gauss] | |
| 147 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG)) { return static_cast<double>(imuOutputs->uncompMag(0)); } | |
| 148 | ✗ | break; | |
| 149 | ✗ | case 20: // IMU::UncompMag::Y [Gauss] | |
| 150 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG)) { return static_cast<double>(imuOutputs->uncompMag(1)); } | |
| 151 | ✗ | break; | |
| 152 | ✗ | case 21: // IMU::UncompMag::Z [Gauss] | |
| 153 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG)) { return static_cast<double>(imuOutputs->uncompMag(2)); } | |
| 154 | ✗ | break; | |
| 155 | ✗ | case 22: // IMU::UncompAccel::X [m/s^2] | |
| 156 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL)) { return static_cast<double>(imuOutputs->uncompAccel(0)); } | |
| 157 | ✗ | break; | |
| 158 | ✗ | case 23: // IMU::UncompAccel::Y [m/s^2] | |
| 159 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL)) { return static_cast<double>(imuOutputs->uncompAccel(1)); } | |
| 160 | ✗ | break; | |
| 161 | ✗ | case 24: // IMU::UncompAccel::Z [m/s^2] | |
| 162 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL)) { return static_cast<double>(imuOutputs->uncompAccel(2)); } | |
| 163 | ✗ | break; | |
| 164 | ✗ | case 25: // IMU::UncompGyro::X [rad/s] | |
| 165 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO)) { return static_cast<double>(imuOutputs->uncompGyro(0)); } | |
| 166 | ✗ | break; | |
| 167 | ✗ | case 26: // IMU::UncompGyro::Y [rad/s] | |
| 168 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO)) { return static_cast<double>(imuOutputs->uncompGyro(1)); } | |
| 169 | ✗ | break; | |
| 170 | ✗ | case 27: // IMU::UncompGyro::Z [rad/s] | |
| 171 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO)) { return static_cast<double>(imuOutputs->uncompGyro(2)); } | |
| 172 | ✗ | break; | |
| 173 | ✗ | case 28: // IMU::Temp [Celsius] | |
| 174 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP)) { return static_cast<double>(imuOutputs->temp); } | |
| 175 | ✗ | break; | |
| 176 | ✗ | case 29: // IMU::Pres [kPa] | |
| 177 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_PRES)) { return static_cast<double>(imuOutputs->pres); } | |
| 178 | ✗ | break; | |
| 179 | ✗ | case 30: // IMU::DeltaTime [s] | |
| 180 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)) { return static_cast<double>(imuOutputs->deltaTime); } | |
| 181 | ✗ | break; | |
| 182 | ✗ | case 31: // IMU::DeltaTheta::X [deg] | |
| 183 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)) { return static_cast<double>(imuOutputs->deltaTheta(0)); } | |
| 184 | ✗ | break; | |
| 185 | ✗ | case 32: // IMU::DeltaTheta::Y [deg] | |
| 186 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)) { return static_cast<double>(imuOutputs->deltaTheta(1)); } | |
| 187 | ✗ | break; | |
| 188 | ✗ | case 33: // IMU::DeltaTheta::Z [deg] | |
| 189 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)) { return static_cast<double>(imuOutputs->deltaTheta(2)); } | |
| 190 | ✗ | break; | |
| 191 | ✗ | case 34: // IMU::DeltaVel::X [m/s] | |
| 192 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL)) { return static_cast<double>(imuOutputs->deltaV(0)); } | |
| 193 | ✗ | break; | |
| 194 | ✗ | case 35: // IMU::DeltaVel::Y [m/s] | |
| 195 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL)) { return static_cast<double>(imuOutputs->deltaV(1)); } | |
| 196 | ✗ | break; | |
| 197 | ✗ | case 36: // IMU::DeltaVel::Z [m/s] | |
| 198 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL)) { return static_cast<double>(imuOutputs->deltaV(2)); } | |
| 199 | ✗ | break; | |
| 200 | ✗ | case 37: // IMU::Mag::X [Gauss] | |
| 201 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG)) { return static_cast<double>(imuOutputs->mag(0)); } | |
| 202 | ✗ | break; | |
| 203 | ✗ | case 38: // IMU::Mag::Y [Gauss] | |
| 204 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG)) { return static_cast<double>(imuOutputs->mag(1)); } | |
| 205 | ✗ | break; | |
| 206 | ✗ | case 39: // IMU::Mag::Z [Gauss] | |
| 207 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG)) { return static_cast<double>(imuOutputs->mag(2)); } | |
| 208 | ✗ | break; | |
| 209 | ✗ | case 40: // IMU::Accel::X [m/s^2] | |
| 210 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL)) { return static_cast<double>(imuOutputs->accel(0)); } | |
| 211 | ✗ | break; | |
| 212 | ✗ | case 41: // IMU::Accel::Y [m/s^2] | |
| 213 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL)) { return static_cast<double>(imuOutputs->accel(1)); } | |
| 214 | ✗ | break; | |
| 215 | ✗ | case 42: // IMU::Accel::Z [m/s^2] | |
| 216 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL)) { return static_cast<double>(imuOutputs->accel(2)); } | |
| 217 | ✗ | break; | |
| 218 | ✗ | case 43: // IMU::AngularRate::X [rad/s] | |
| 219 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE)) { return static_cast<double>(imuOutputs->angularRate(0)); } | |
| 220 | ✗ | break; | |
| 221 | ✗ | case 44: // IMU::AngularRate::Y [rad/s] | |
| 222 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE)) { return static_cast<double>(imuOutputs->angularRate(1)); } | |
| 223 | ✗ | break; | |
| 224 | ✗ | case 45: // IMU::AngularRate::Z [rad/s] | |
| 225 | ✗ | if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE)) { return static_cast<double>(imuOutputs->angularRate(2)); } | |
| 226 | ✗ | break; | |
| 227 | // Group 4 (GNSS1) | ||
| 228 | ✗ | case 46: // GNSS1::UTC::year | |
| 229 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.year); } | |
| 230 | ✗ | break; | |
| 231 | ✗ | case 47: // GNSS1::UTC::month | |
| 232 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.month); } | |
| 233 | ✗ | break; | |
| 234 | ✗ | case 48: // GNSS1::UTC::day | |
| 235 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.day); } | |
| 236 | ✗ | break; | |
| 237 | ✗ | case 49: // GNSS1::UTC::hour | |
| 238 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.hour); } | |
| 239 | ✗ | break; | |
| 240 | ✗ | case 50: // GNSS1::UTC::min | |
| 241 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.min); } | |
| 242 | ✗ | break; | |
| 243 | ✗ | case 51: // GNSS1::UTC::sec | |
| 244 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.sec); } | |
| 245 | ✗ | break; | |
| 246 | ✗ | case 52: // GNSS1::UTC::ms | |
| 247 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.ms); } | |
| 248 | ✗ | break; | |
| 249 | ✗ | case 53: // GNSS1::Tow [ns] | |
| 250 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW)) { return static_cast<double>(gnss1Outputs->tow); } | |
| 251 | ✗ | break; | |
| 252 | ✗ | case 54: // GNSS1::Week | |
| 253 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK)) { return static_cast<double>(gnss1Outputs->week); } | |
| 254 | ✗ | break; | |
| 255 | ✗ | case 55: // GNSS1::NumSats | |
| 256 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS)) { return static_cast<double>(gnss1Outputs->numSats); } | |
| 257 | ✗ | break; | |
| 258 | ✗ | case 56: // GNSS1::Fix | |
| 259 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX)) { return static_cast<double>(gnss1Outputs->fix); } | |
| 260 | ✗ | break; | |
| 261 | ✗ | case 57: // GNSS1::PosLla::latitude [deg] | |
| 262 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss1Outputs->posLla(0); } | |
| 263 | ✗ | break; | |
| 264 | ✗ | case 58: // GNSS1::PosLla::longitude [deg] | |
| 265 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss1Outputs->posLla(1); } | |
| 266 | ✗ | break; | |
| 267 | ✗ | case 59: // GNSS1::PosLla::altitude [m] | |
| 268 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss1Outputs->posLla(2); } | |
| 269 | ✗ | break; | |
| 270 | ✗ | case 60: // GNSS1::PosEcef::X [m] | |
| 271 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss1Outputs->posEcef(0); } | |
| 272 | ✗ | break; | |
| 273 | ✗ | case 61: // GNSS1::PosEcef::Y [m] | |
| 274 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss1Outputs->posEcef(1); } | |
| 275 | ✗ | break; | |
| 276 | ✗ | case 62: // GNSS1::PosEcef::Z [m] | |
| 277 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss1Outputs->posEcef(2); } | |
| 278 | ✗ | break; | |
| 279 | ✗ | case 63: // GNSS1::VelNed::N [m/s] | |
| 280 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss1Outputs->velNed(0)); } | |
| 281 | ✗ | break; | |
| 282 | ✗ | case 64: // GNSS1::VelNed::E [m/s] | |
| 283 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss1Outputs->velNed(1)); } | |
| 284 | ✗ | break; | |
| 285 | ✗ | case 65: // GNSS1::VelNed::D [m/s] | |
| 286 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss1Outputs->velNed(2)); } | |
| 287 | ✗ | break; | |
| 288 | ✗ | case 66: // GNSS1::VelEcef::X [m/s] | |
| 289 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss1Outputs->velEcef(0)); } | |
| 290 | ✗ | break; | |
| 291 | ✗ | case 67: // GNSS1::VelEcef::Y [m/s] | |
| 292 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss1Outputs->velEcef(1)); } | |
| 293 | ✗ | break; | |
| 294 | ✗ | case 68: // GNSS1::VelEcef::Z [m/s] | |
| 295 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss1Outputs->velEcef(2)); } | |
| 296 | ✗ | break; | |
| 297 | ✗ | case 69: // GNSS1::PosU::N [m] | |
| 298 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss1Outputs->posU(0)); } | |
| 299 | ✗ | break; | |
| 300 | ✗ | case 70: // GNSS1::PosU::E [m] | |
| 301 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss1Outputs->posU(1)); } | |
| 302 | ✗ | break; | |
| 303 | ✗ | case 71: // GNSS1::PosU::D [m] | |
| 304 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss1Outputs->posU(2)); } | |
| 305 | ✗ | break; | |
| 306 | ✗ | case 72: // GNSS1::VelU [m/s] | |
| 307 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU)) { return static_cast<double>(gnss1Outputs->velU); } | |
| 308 | ✗ | break; | |
| 309 | ✗ | case 73: // GNSS1::TimeU [s] | |
| 310 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU)) { return static_cast<double>(gnss1Outputs->timeU); } | |
| 311 | ✗ | break; | |
| 312 | ✗ | case 74: // GNSS1::TimeInfo::Status::timeOk | |
| 313 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss1Outputs->timeInfo.status.timeOk()); } | |
| 314 | ✗ | break; | |
| 315 | ✗ | case 75: // GNSS1::TimeInfo::Status::dateOk | |
| 316 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss1Outputs->timeInfo.status.dateOk()); } | |
| 317 | ✗ | break; | |
| 318 | ✗ | case 76: // GNSS1::TimeInfo::Status::utcTimeValid | |
| 319 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss1Outputs->timeInfo.status.utcTimeValid()); } | |
| 320 | ✗ | break; | |
| 321 | ✗ | case 77: // GNSS1::TimeInfo::LeapSeconds | |
| 322 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss1Outputs->timeInfo.leapSeconds); } | |
| 323 | ✗ | break; | |
| 324 | ✗ | case 78: // GNSS1::DOP::g | |
| 325 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.gDop); } | |
| 326 | ✗ | break; | |
| 327 | ✗ | case 79: // GNSS1::DOP::p | |
| 328 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.pDop); } | |
| 329 | ✗ | break; | |
| 330 | ✗ | case 80: // GNSS1::DOP::t | |
| 331 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.tDop); } | |
| 332 | ✗ | break; | |
| 333 | ✗ | case 81: // GNSS1::DOP::v | |
| 334 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.vDop); } | |
| 335 | ✗ | break; | |
| 336 | ✗ | case 82: // GNSS1::DOP::h | |
| 337 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.hDop); } | |
| 338 | ✗ | break; | |
| 339 | ✗ | case 83: // GNSS1::DOP::n | |
| 340 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.nDop); } | |
| 341 | ✗ | break; | |
| 342 | ✗ | case 84: // GNSS1::DOP::e | |
| 343 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.eDop); } | |
| 344 | ✗ | break; | |
| 345 | ✗ | case 85: // GNSS1::SatInfo::NumSats | |
| 346 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO)) { return static_cast<double>(gnss1Outputs->satInfo.numSats); } | |
| 347 | ✗ | break; | |
| 348 | ✗ | case 86: // GNSS1::RawMeas::Tow [s] | |
| 349 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return gnss1Outputs->raw.tow; } | |
| 350 | ✗ | break; | |
| 351 | ✗ | case 87: // GNSS1::RawMeas::Week | |
| 352 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return static_cast<double>(gnss1Outputs->raw.week); } | |
| 353 | ✗ | break; | |
| 354 | ✗ | case 88: // GNSS1::RawMeas::NumSats | |
| 355 | ✗ | if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return static_cast<double>(gnss1Outputs->raw.numSats); } | |
| 356 | ✗ | break; | |
| 357 | // Group 5 (Attitude) | ||
| 358 | ✗ | case 89: // Att::VpeStatus::AttitudeQuality | |
| 359 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.attitudeQuality()); } | |
| 360 | ✗ | break; | |
| 361 | ✗ | case 90: // Att::VpeStatus::GyroSaturation | |
| 362 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.gyroSaturation()); } | |
| 363 | ✗ | break; | |
| 364 | ✗ | case 91: // Att::VpeStatus::GyroSaturationRecovery | |
| 365 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.gyroSaturationRecovery()); } | |
| 366 | ✗ | break; | |
| 367 | ✗ | case 92: // Att::VpeStatus::MagDisturbance | |
| 368 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.magDisturbance()); } | |
| 369 | ✗ | break; | |
| 370 | ✗ | case 93: // Att::VpeStatus::MagSaturation | |
| 371 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.magSaturation()); } | |
| 372 | ✗ | break; | |
| 373 | ✗ | case 94: // Att::VpeStatus::AccDisturbance | |
| 374 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.accDisturbance()); } | |
| 375 | ✗ | break; | |
| 376 | ✗ | case 95: // Att::VpeStatus::AccSaturation | |
| 377 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.accSaturation()); } | |
| 378 | ✗ | break; | |
| 379 | ✗ | case 96: // Att::VpeStatus::KnownMagDisturbance | |
| 380 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.knownMagDisturbance()); } | |
| 381 | ✗ | break; | |
| 382 | ✗ | case 97: // Att::VpeStatus::KnownAccelDisturbance | |
| 383 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.knownAccelDisturbance()); } | |
| 384 | ✗ | break; | |
| 385 | ✗ | case 98: // Att::YawPitchRoll::Y [deg] | |
| 386 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL)) { return static_cast<double>(attitudeOutputs->ypr(0)); } | |
| 387 | ✗ | break; | |
| 388 | ✗ | case 99: // Att::YawPitchRoll::P [deg] | |
| 389 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL)) { return static_cast<double>(attitudeOutputs->ypr(1)); } | |
| 390 | ✗ | break; | |
| 391 | ✗ | case 100: // Att::YawPitchRoll::R [deg] | |
| 392 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL)) { return static_cast<double>(attitudeOutputs->ypr(2)); } | |
| 393 | ✗ | break; | |
| 394 | ✗ | case 101: // Att::Quaternion::w | |
| 395 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION)) { return static_cast<double>(attitudeOutputs->qtn.w()); } | |
| 396 | ✗ | break; | |
| 397 | ✗ | case 102: // Att::Quaternion::x | |
| 398 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION)) { return static_cast<double>(attitudeOutputs->qtn.x()); } | |
| 399 | ✗ | break; | |
| 400 | ✗ | case 103: // Att::Quaternion::y | |
| 401 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION)) { return static_cast<double>(attitudeOutputs->qtn.y()); } | |
| 402 | ✗ | break; | |
| 403 | ✗ | case 104: // Att::Quaternion::z | |
| 404 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION)) { return static_cast<double>(attitudeOutputs->qtn.z()); } | |
| 405 | ✗ | break; | |
| 406 | ✗ | case 105: // Att::DCM::0-0 | |
| 407 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(0, 0)); } | |
| 408 | ✗ | break; | |
| 409 | ✗ | case 106: // Att::DCM::0-1 | |
| 410 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(0, 1)); } | |
| 411 | ✗ | break; | |
| 412 | ✗ | case 107: // Att::DCM::0-2 | |
| 413 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(0, 2)); } | |
| 414 | ✗ | break; | |
| 415 | ✗ | case 108: // Att::DCM::1-0 | |
| 416 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(1, 0)); } | |
| 417 | ✗ | break; | |
| 418 | ✗ | case 109: // Att::DCM::1-1 | |
| 419 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(1, 1)); } | |
| 420 | ✗ | break; | |
| 421 | ✗ | case 110: // Att::DCM::1-2 | |
| 422 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(1, 2)); } | |
| 423 | ✗ | break; | |
| 424 | ✗ | case 111: // Att::DCM::2-0 | |
| 425 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(2, 0)); } | |
| 426 | ✗ | break; | |
| 427 | ✗ | case 112: // Att::DCM::2-1 | |
| 428 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(2, 1)); } | |
| 429 | ✗ | break; | |
| 430 | ✗ | case 113: // Att::DCM::2-2 | |
| 431 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(2, 2)); } | |
| 432 | ✗ | break; | |
| 433 | ✗ | case 114: // Att::MagNed::N [Gauss] | |
| 434 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED)) { return static_cast<double>(attitudeOutputs->magNed(0)); } | |
| 435 | ✗ | break; | |
| 436 | ✗ | case 115: // Att::MagNed::E [Gauss] | |
| 437 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED)) { return static_cast<double>(attitudeOutputs->magNed(1)); } | |
| 438 | ✗ | break; | |
| 439 | ✗ | case 116: // Att::MagNed::D [Gauss] | |
| 440 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED)) { return static_cast<double>(attitudeOutputs->magNed(2)); } | |
| 441 | ✗ | break; | |
| 442 | ✗ | case 117: // Att::AccelNed::N [m/s^2] | |
| 443 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED)) { return static_cast<double>(attitudeOutputs->accelNed(0)); } | |
| 444 | ✗ | break; | |
| 445 | ✗ | case 118: // Att::AccelNed::E [m/s^2] | |
| 446 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED)) { return static_cast<double>(attitudeOutputs->accelNed(1)); } | |
| 447 | ✗ | break; | |
| 448 | ✗ | case 119: // Att::AccelNed::D [m/s^2] | |
| 449 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED)) { return static_cast<double>(attitudeOutputs->accelNed(2)); } | |
| 450 | ✗ | break; | |
| 451 | ✗ | case 120: // Att::LinearAccelBody::X [m/s^2] | |
| 452 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY)) { return static_cast<double>(attitudeOutputs->linearAccelBody(0)); } | |
| 453 | ✗ | break; | |
| 454 | ✗ | case 121: // Att::LinearAccelBody::Y [m/s^2] | |
| 455 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY)) { return static_cast<double>(attitudeOutputs->linearAccelBody(1)); } | |
| 456 | ✗ | break; | |
| 457 | ✗ | case 122: // Att::LinearAccelBody::Z [m/s^2] | |
| 458 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY)) { return static_cast<double>(attitudeOutputs->linearAccelBody(2)); } | |
| 459 | ✗ | break; | |
| 460 | ✗ | case 123: // Att::LinearAccelNed::N [m/s^2] | |
| 461 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED)) { return static_cast<double>(attitudeOutputs->linearAccelNed(0)); } | |
| 462 | ✗ | break; | |
| 463 | ✗ | case 124: // Att::LinearAccelNed::E [m/s^2] | |
| 464 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED)) { return static_cast<double>(attitudeOutputs->linearAccelNed(1)); } | |
| 465 | ✗ | break; | |
| 466 | ✗ | case 125: // Att::LinearAccelNed::D [m/s^2] | |
| 467 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED)) { return static_cast<double>(attitudeOutputs->linearAccelNed(2)); } | |
| 468 | ✗ | break; | |
| 469 | ✗ | case 126: // Att::YprU::Y [deg] | |
| 470 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU)) { return static_cast<double>(attitudeOutputs->yprU(0)); } | |
| 471 | ✗ | break; | |
| 472 | ✗ | case 127: // Att::YprU::P [deg] | |
| 473 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU)) { return static_cast<double>(attitudeOutputs->yprU(1)); } | |
| 474 | ✗ | break; | |
| 475 | ✗ | case 128: // Att::YprU::R [deg] | |
| 476 | ✗ | if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU)) { return static_cast<double>(attitudeOutputs->yprU(2)); } | |
| 477 | ✗ | break; | |
| 478 | // Group 6 (INS) | ||
| 479 | ✗ | case 129: // INS::InsStatus::Mode | |
| 480 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.mode()); } | |
| 481 | ✗ | break; | |
| 482 | ✗ | case 130: // INS::InsStatus::GpsFix | |
| 483 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.gpsFix()); } | |
| 484 | ✗ | break; | |
| 485 | ✗ | case 131: // INS::InsStatus::Error::IMU | |
| 486 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.errorIMU()); } | |
| 487 | ✗ | break; | |
| 488 | ✗ | case 132: // INS::InsStatus::Error::MagPres | |
| 489 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.errorMagPres()); } | |
| 490 | ✗ | break; | |
| 491 | ✗ | case 133: // INS::InsStatus::Error::GNSS | |
| 492 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.errorGnss()); } | |
| 493 | ✗ | break; | |
| 494 | ✗ | case 134: // INS::InsStatus::GpsHeadingIns | |
| 495 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.gpsHeadingIns()); } | |
| 496 | ✗ | break; | |
| 497 | ✗ | case 135: // INS::InsStatus::GpsCompass | |
| 498 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.gpsCompass()); } | |
| 499 | ✗ | break; | |
| 500 | ✗ | case 136: // INS::PosLla::latitude [deg] | |
| 501 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA)) { return insOutputs->posLla(0); } | |
| 502 | ✗ | break; | |
| 503 | ✗ | case 137: // INS::PosLla::longitude [deg] | |
| 504 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA)) { return insOutputs->posLla(1); } | |
| 505 | ✗ | break; | |
| 506 | ✗ | case 138: // INS::PosLla::altitude [m] | |
| 507 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA)) { return insOutputs->posLla(2); } | |
| 508 | ✗ | break; | |
| 509 | ✗ | case 139: // INS::PosEcef::X [m] | |
| 510 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF)) { return insOutputs->posEcef(0); } | |
| 511 | ✗ | break; | |
| 512 | ✗ | case 140: // INS::PosEcef::Y [m] | |
| 513 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF)) { return insOutputs->posEcef(1); } | |
| 514 | ✗ | break; | |
| 515 | ✗ | case 141: // INS::PosEcef::Z [m] | |
| 516 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF)) { return insOutputs->posEcef(2); } | |
| 517 | ✗ | break; | |
| 518 | ✗ | case 142: // INS::VelBody::X [m/s] | |
| 519 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY)) { return static_cast<double>(insOutputs->velBody(0)); } | |
| 520 | ✗ | break; | |
| 521 | ✗ | case 143: // INS::VelBody::Y [m/s] | |
| 522 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY)) { return static_cast<double>(insOutputs->velBody(1)); } | |
| 523 | ✗ | break; | |
| 524 | ✗ | case 144: // INS::VelBody::Z [m/s] | |
| 525 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY)) { return static_cast<double>(insOutputs->velBody(2)); } | |
| 526 | ✗ | break; | |
| 527 | ✗ | case 145: // INS::VelNed::N [m/s] | |
| 528 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED)) { return static_cast<double>(insOutputs->velNed(0)); } | |
| 529 | ✗ | break; | |
| 530 | ✗ | case 146: // INS::VelNed::E [m/s] | |
| 531 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED)) { return static_cast<double>(insOutputs->velNed(1)); } | |
| 532 | ✗ | break; | |
| 533 | ✗ | case 147: // INS::VelNed::D [m/s] | |
| 534 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED)) { return static_cast<double>(insOutputs->velNed(2)); } | |
| 535 | ✗ | break; | |
| 536 | ✗ | case 148: // INS::VelEcef::X [m/s] | |
| 537 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF)) { return static_cast<double>(insOutputs->velEcef(0)); } | |
| 538 | ✗ | break; | |
| 539 | ✗ | case 149: // INS::VelEcef::Y [m/s] | |
| 540 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF)) { return static_cast<double>(insOutputs->velEcef(1)); } | |
| 541 | ✗ | break; | |
| 542 | ✗ | case 150: // INS::VelEcef::Z [m/s] | |
| 543 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF)) { return static_cast<double>(insOutputs->velEcef(2)); } | |
| 544 | ✗ | break; | |
| 545 | ✗ | case 151: // INS::MagEcef::X [Gauss} | |
| 546 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF)) { return static_cast<double>(insOutputs->magEcef(0)); } | |
| 547 | ✗ | break; | |
| 548 | ✗ | case 152: // INS::MagEcef::Y [Gauss} | |
| 549 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF)) { return static_cast<double>(insOutputs->magEcef(1)); } | |
| 550 | ✗ | break; | |
| 551 | ✗ | case 153: // INS::MagEcef::Z [Gauss} | |
| 552 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF)) { return static_cast<double>(insOutputs->magEcef(2)); } | |
| 553 | ✗ | break; | |
| 554 | ✗ | case 154: // INS::AccelEcef::X [m/s^2] | |
| 555 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF)) { return static_cast<double>(insOutputs->accelEcef(0)); } | |
| 556 | ✗ | break; | |
| 557 | ✗ | case 155: // INS::AccelEcef::Y [m/s^2] | |
| 558 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF)) { return static_cast<double>(insOutputs->accelEcef(1)); } | |
| 559 | ✗ | break; | |
| 560 | ✗ | case 156: // INS::AccelEcef::Z [m/s^2] | |
| 561 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF)) { return static_cast<double>(insOutputs->accelEcef(2)); } | |
| 562 | ✗ | break; | |
| 563 | ✗ | case 157: // INS::LinearAccelEcef::X [m/s^2] | |
| 564 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF)) { return static_cast<double>(insOutputs->linearAccelEcef(0)); } | |
| 565 | ✗ | break; | |
| 566 | ✗ | case 158: // INS::LinearAccelEcef::Y [m/s^2] | |
| 567 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF)) { return static_cast<double>(insOutputs->linearAccelEcef(1)); } | |
| 568 | ✗ | break; | |
| 569 | ✗ | case 159: // INS::LinearAccelEcef::Z [m/s^2] | |
| 570 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF)) { return static_cast<double>(insOutputs->linearAccelEcef(2)); } | |
| 571 | ✗ | break; | |
| 572 | ✗ | case 160: // INS::PosU [m] | |
| 573 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSU)) { return static_cast<double>(insOutputs->posU); } | |
| 574 | ✗ | break; | |
| 575 | ✗ | case 161: // INS::VelU [m/s] | |
| 576 | ✗ | if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELU)) { return static_cast<double>(insOutputs->velU); } | |
| 577 | ✗ | break; | |
| 578 | // Group 7 (GNSS2) | ||
| 579 | ✗ | case 162: // GNSS2::UTC::year | |
| 580 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.year); } | |
| 581 | ✗ | break; | |
| 582 | ✗ | case 163: // GNSS2::UTC::month | |
| 583 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.month); } | |
| 584 | ✗ | break; | |
| 585 | ✗ | case 164: // GNSS2::UTC::day | |
| 586 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.day); } | |
| 587 | ✗ | break; | |
| 588 | ✗ | case 165: // GNSS2::UTC::hour | |
| 589 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.hour); } | |
| 590 | ✗ | break; | |
| 591 | ✗ | case 166: // GNSS2::UTC::min | |
| 592 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.min); } | |
| 593 | ✗ | break; | |
| 594 | ✗ | case 167: // GNSS2::UTC::sec | |
| 595 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.sec); } | |
| 596 | ✗ | break; | |
| 597 | ✗ | case 168: // GNSS2::UTC::ms | |
| 598 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.ms); } | |
| 599 | ✗ | break; | |
| 600 | ✗ | case 169: // GNSS2::Tow [ns] | |
| 601 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW)) { return static_cast<double>(gnss2Outputs->tow); } | |
| 602 | ✗ | break; | |
| 603 | ✗ | case 170: // GNSS2::Week | |
| 604 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK)) { return static_cast<double>(gnss2Outputs->week); } | |
| 605 | ✗ | break; | |
| 606 | ✗ | case 171: // GNSS2::NumSats | |
| 607 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS)) { return static_cast<double>(gnss2Outputs->numSats); } | |
| 608 | ✗ | break; | |
| 609 | ✗ | case 172: // GNSS2::Fix | |
| 610 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX)) { return static_cast<double>(gnss2Outputs->fix); } | |
| 611 | ✗ | break; | |
| 612 | ✗ | case 173: // GNSS2::PosLla::latitude [deg] | |
| 613 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss2Outputs->posLla(0); } | |
| 614 | ✗ | break; | |
| 615 | ✗ | case 174: // GNSS2::PosLla::longitude [deg] | |
| 616 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss2Outputs->posLla(1); } | |
| 617 | ✗ | break; | |
| 618 | ✗ | case 175: // GNSS2::PosLla::altitude [m] | |
| 619 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss2Outputs->posLla(2); } | |
| 620 | ✗ | break; | |
| 621 | ✗ | case 176: // GNSS2::PosEcef::X [m] | |
| 622 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss2Outputs->posEcef(0); } | |
| 623 | ✗ | break; | |
| 624 | ✗ | case 177: // GNSS2::PosEcef::Y [m] | |
| 625 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss2Outputs->posEcef(1); } | |
| 626 | ✗ | break; | |
| 627 | ✗ | case 178: // GNSS2::PosEcef::Z [m] | |
| 628 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss2Outputs->posEcef(2); } | |
| 629 | ✗ | break; | |
| 630 | ✗ | case 179: // GNSS2::VelNed::N [m/s] | |
| 631 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss2Outputs->velNed(0)); } | |
| 632 | ✗ | break; | |
| 633 | ✗ | case 180: // GNSS2::VelNed::E [m/s] | |
| 634 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss2Outputs->velNed(1)); } | |
| 635 | ✗ | break; | |
| 636 | ✗ | case 181: // GNSS2::VelNed::D [m/s] | |
| 637 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss2Outputs->velNed(2)); } | |
| 638 | ✗ | break; | |
| 639 | ✗ | case 182: // GNSS2::VelEcef::X [m/s] | |
| 640 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss2Outputs->velEcef(0)); } | |
| 641 | ✗ | break; | |
| 642 | ✗ | case 183: // GNSS2::VelEcef::Y [m/s] | |
| 643 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss2Outputs->velEcef(1)); } | |
| 644 | ✗ | break; | |
| 645 | ✗ | case 184: // GNSS2::VelEcef::Z [m/s] | |
| 646 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss2Outputs->velEcef(2)); } | |
| 647 | ✗ | break; | |
| 648 | ✗ | case 185: // GNSS2::PosU::N [m] | |
| 649 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss2Outputs->posU(0)); } | |
| 650 | ✗ | break; | |
| 651 | ✗ | case 186: // GNSS2::PosU::E [m] | |
| 652 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss2Outputs->posU(1)); } | |
| 653 | ✗ | break; | |
| 654 | ✗ | case 187: // GNSS2::PosU::D [m] | |
| 655 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss2Outputs->posU(2)); } | |
| 656 | ✗ | break; | |
| 657 | ✗ | case 188: // GNSS2::VelU [m/s] | |
| 658 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU)) { return static_cast<double>(gnss2Outputs->velU); } | |
| 659 | ✗ | break; | |
| 660 | ✗ | case 189: // GNSS2::TimeU [s] | |
| 661 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU)) { return static_cast<double>(gnss2Outputs->timeU); } | |
| 662 | ✗ | break; | |
| 663 | ✗ | case 190: // GNSS2::TimeInfo::Status::timeOk | |
| 664 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss2Outputs->timeInfo.status.timeOk()); } | |
| 665 | ✗ | break; | |
| 666 | ✗ | case 191: // GNSS2::TimeInfo::Status::dateOk | |
| 667 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss2Outputs->timeInfo.status.dateOk()); } | |
| 668 | ✗ | break; | |
| 669 | ✗ | case 192: // GNSS2::TimeInfo::Status::utcTimeValid | |
| 670 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss2Outputs->timeInfo.status.utcTimeValid()); } | |
| 671 | ✗ | break; | |
| 672 | ✗ | case 193: // GNSS2::TimeInfo::LeapSeconds | |
| 673 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss2Outputs->timeInfo.leapSeconds); } | |
| 674 | ✗ | break; | |
| 675 | ✗ | case 194: // GNSS2::DOP::g | |
| 676 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.gDop); } | |
| 677 | ✗ | break; | |
| 678 | ✗ | case 195: // GNSS2::DOP::p | |
| 679 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.pDop); } | |
| 680 | ✗ | break; | |
| 681 | ✗ | case 196: // GNSS2::DOP::t | |
| 682 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.tDop); } | |
| 683 | ✗ | break; | |
| 684 | ✗ | case 197: // GNSS2::DOP::v | |
| 685 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.vDop); } | |
| 686 | ✗ | break; | |
| 687 | ✗ | case 198: // GNSS2::DOP::h | |
| 688 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.hDop); } | |
| 689 | ✗ | break; | |
| 690 | ✗ | case 199: // GNSS2::DOP::n | |
| 691 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.nDop); } | |
| 692 | ✗ | break; | |
| 693 | ✗ | case 200: // GNSS2::DOP::e | |
| 694 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.eDop); } | |
| 695 | ✗ | break; | |
| 696 | ✗ | case 201: // GNSS2::SatInfo::NumSats | |
| 697 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO)) { return static_cast<double>(gnss2Outputs->satInfo.numSats); } | |
| 698 | ✗ | break; | |
| 699 | ✗ | case 202: // GNSS2::RawMeas::Tow [s] | |
| 700 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return gnss2Outputs->raw.tow; } | |
| 701 | ✗ | break; | |
| 702 | ✗ | case 203: // GNSS2::RawMeas::Week | |
| 703 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return static_cast<double>(gnss2Outputs->raw.week); } | |
| 704 | ✗ | break; | |
| 705 | ✗ | case 204: // GNSS2::RawMeas::NumSats | |
| 706 | ✗ | if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return static_cast<double>(gnss2Outputs->raw.numSats); } | |
| 707 | ✗ | break; | |
| 708 | ✗ | default: | |
| 709 | ✗ | return std::nullopt; | |
| 710 | } | ||
| 711 | ✗ | return std::nullopt; | |
| 712 | } | ||
| 713 | |||
| 714 | /// @brief Get the Sat Sys object in "INSTINCT" format | ||
| 715 | /// @param[in, out] sys VectorNav Satellite Constellation | ||
| 716 | /// @return Satellite System in "INSTINCT" format | ||
| 717 | ✗ | [[nodiscard]] static SatelliteSystem getSatSys(vendor::vectornav::SatSys& sys) | |
| 718 | { | ||
| 719 | ✗ | SatelliteSystem satSys = SatSys_None; | |
| 720 | ✗ | switch (sys) | |
| 721 | { | ||
| 722 | ✗ | case vendor::vectornav::SatSys::GPS: | |
| 723 | ✗ | satSys = GPS; | |
| 724 | ✗ | break; | |
| 725 | ✗ | case vendor::vectornav::SatSys::SBAS: | |
| 726 | ✗ | satSys = SBAS; | |
| 727 | ✗ | break; | |
| 728 | ✗ | case vendor::vectornav::SatSys::Galileo: | |
| 729 | ✗ | satSys = GAL; | |
| 730 | ✗ | break; | |
| 731 | ✗ | case vendor::vectornav::SatSys::BeiDou: | |
| 732 | ✗ | satSys = BDS; | |
| 733 | ✗ | break; | |
| 734 | ✗ | case vendor::vectornav::SatSys::IMES: | |
| 735 | LOG_TRACE("VectorNav SatInfoElement satellite system '{}' is not supported yet. Skipping measurement.", sys); | ||
| 736 | ✗ | break; | |
| 737 | ✗ | case vendor::vectornav::SatSys::QZSS: | |
| 738 | ✗ | satSys = QZSS; | |
| 739 | ✗ | break; | |
| 740 | ✗ | case vendor::vectornav::SatSys::GLONASS: | |
| 741 | ✗ | satSys = GLO; | |
| 742 | ✗ | break; | |
| 743 | ✗ | default: // IRNSS not in vectorNav | |
| 744 | LOG_TRACE("VectorNav SatInfoElement satellite system '{}' is not supported yet. Skipping measurement.", sys); | ||
| 745 | ✗ | break; | |
| 746 | } | ||
| 747 | ✗ | return satSys; | |
| 748 | } | ||
| 749 | |||
| 750 | /// @brief Returns a vector of data descriptors for the dynamic data | ||
| 751 | 30 | [[nodiscard]] std::vector<std::string> dynamicDataDescriptors() const override | |
| 752 | { | ||
| 753 | 30 | std::vector<std::string> descriptors; | |
| 754 | |||
| 755 | // Group 2 (Time) | ||
| 756 |
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30 | if (timeOutputs) |
| 757 | { | ||
| 758 |
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30 | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP) |
| 759 | { | ||
| 760 |
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30 | descriptors.emplace_back("Time::TimeStartup [ns]"); |
| 761 | } | ||
| 762 |
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30 | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPS) |
| 763 | { | ||
| 764 | ✗ | descriptors.emplace_back("Time::TimeGps [ns]"); | |
| 765 | } | ||
| 766 |
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30 | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW) |
| 767 | { | ||
| 768 |
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30 | descriptors.emplace_back("Time::GpsTow [ns]"); |
| 769 | } | ||
| 770 |
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29 | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK) |
| 771 | { | ||
| 772 |
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30 | descriptors.emplace_back("Time::GpsWeek"); |
| 773 | } | ||
| 774 |
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30 | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESYNCIN) |
| 775 | { | ||
| 776 | ✗ | descriptors.emplace_back("Time::TimeSyncIn [ns]"); | |
| 777 | } | ||
| 778 |
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30 | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPSPPS) |
| 779 | { | ||
| 780 | ✗ | descriptors.emplace_back("Time::TimeGpsPps [ns]"); | |
| 781 | } | ||
| 782 |
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30 | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC) |
| 783 | { | ||
| 784 |
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12 | descriptors.emplace_back("Time::TimeUTC::year"); |
| 785 |
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12 | descriptors.emplace_back("Time::TimeUTC::month"); |
| 786 |
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12 | descriptors.emplace_back("Time::TimeUTC::day"); |
| 787 |
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12 | descriptors.emplace_back("Time::TimeUTC::hour"); |
| 788 |
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12 | descriptors.emplace_back("Time::TimeUTC::min"); |
| 789 |
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12 | descriptors.emplace_back("Time::TimeUTC::sec"); |
| 790 |
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12 | descriptors.emplace_back("Time::TimeUTC::ms"); |
| 791 | } | ||
| 792 |
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30 | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCINCNT) |
| 793 | { | ||
| 794 | ✗ | descriptors.emplace_back("Time::SyncInCnt"); | |
| 795 | } | ||
| 796 |
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|
30 | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCOUTCNT) |
| 797 | { | ||
| 798 | ✗ | descriptors.emplace_back("Time::SyncOutCnt"); | |
| 799 | } | ||
| 800 |
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30 | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS) |
| 801 | { | ||
| 802 |
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30 | descriptors.emplace_back("Time::TimeStatus::timeOk"); |
| 803 |
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30 | descriptors.emplace_back("Time::TimeStatus::dateOk"); |
| 804 |
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30 | descriptors.emplace_back("Time::TimeStatus::utcTimeValid"); |
| 805 | } | ||
| 806 | } | ||
| 807 | // Group 3 (IMU) | ||
| 808 |
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30 | if (imuOutputs) |
| 809 | { | ||
| 810 |
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18 | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_IMUSTATUS) |
| 811 | { | ||
| 812 | ✗ | descriptors.emplace_back("IMU::ImuStatus"); | |
| 813 | } | ||
| 814 |
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18 | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG) |
| 815 | { | ||
| 816 |
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18 | descriptors.emplace_back("IMU::UncompMag::X [Gauss]"); |
| 817 |
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18 | descriptors.emplace_back("IMU::UncompMag::Y [Gauss]"); |
| 818 |
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18 | descriptors.emplace_back("IMU::UncompMag::Z [Gauss]"); |
| 819 | } | ||
| 820 |
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18 | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL) |
| 821 | { | ||
| 822 |
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18 | descriptors.emplace_back("IMU::UncompAccel::X [m/s^2]"); |
| 823 |
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18 | descriptors.emplace_back("IMU::UncompAccel::Y [m/s^2]"); |
| 824 |
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18 | descriptors.emplace_back("IMU::UncompAccel::Z [m/s^2]"); |
| 825 | } | ||
| 826 |
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18 | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO) |
| 827 | { | ||
| 828 |
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|
18 | descriptors.emplace_back("IMU::UncompGyro::X [rad/s]"); |
| 829 |
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|
18 | descriptors.emplace_back("IMU::UncompGyro::Y [rad/s]"); |
| 830 |
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|
18 | descriptors.emplace_back("IMU::UncompGyro::Z [rad/s]"); |
| 831 | } | ||
| 832 |
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|
18 | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP) |
| 833 | { | ||
| 834 |
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18 | descriptors.emplace_back("IMU::Temp [Celsius]"); |
| 835 | } | ||
| 836 |
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18 | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_PRES) |
| 837 | { | ||
| 838 |
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18 | descriptors.emplace_back("IMU::Pres [kPa]"); |
| 839 | } | ||
| 840 |
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18 | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA) |
| 841 | { | ||
| 842 |
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18 | descriptors.emplace_back("IMU::DeltaTime [s]"); |
| 843 |
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|
18 | descriptors.emplace_back("IMU::DeltaTheta::X [deg]"); |
| 844 |
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|
18 | descriptors.emplace_back("IMU::DeltaTheta::Y [deg]"); |
| 845 |
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18 | descriptors.emplace_back("IMU::DeltaTheta::Z [deg]"); |
| 846 | } | ||
| 847 |
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18 | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL) |
| 848 | { | ||
| 849 |
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|
18 | descriptors.emplace_back("IMU::DeltaVel::X [m/s]"); |
| 850 |
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18 | descriptors.emplace_back("IMU::DeltaVel::Y [m/s]"); |
| 851 |
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18 | descriptors.emplace_back("IMU::DeltaVel::Z [m/s]"); |
| 852 | } | ||
| 853 |
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18 | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG) |
| 854 | { | ||
| 855 |
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|
18 | descriptors.emplace_back("IMU::Mag::X [Gauss]"); |
| 856 |
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18 | descriptors.emplace_back("IMU::Mag::Y [Gauss]"); |
| 857 |
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18 | descriptors.emplace_back("IMU::Mag::Z [Gauss]"); |
| 858 | } | ||
| 859 |
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|
18 | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL) |
| 860 | { | ||
| 861 |
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|
18 | descriptors.emplace_back("IMU::Accel::X [m/s^2]"); |
| 862 |
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|
18 | descriptors.emplace_back("IMU::Accel::Y [m/s^2]"); |
| 863 |
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18 | descriptors.emplace_back("IMU::Accel::Z [m/s^2]"); |
| 864 | } | ||
| 865 |
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18 | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE) |
| 866 | { | ||
| 867 |
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18 | descriptors.emplace_back("IMU::AngularRate::X [rad/s]"); |
| 868 |
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18 | descriptors.emplace_back("IMU::AngularRate::Y [rad/s]"); |
| 869 |
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|
18 | descriptors.emplace_back("IMU::AngularRate::Z [rad/s]"); |
| 870 | } | ||
| 871 | } | ||
| 872 | // Group 4 (GNSS1) | ||
| 873 |
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|
30 | if (gnss1Outputs) |
| 874 | { | ||
| 875 |
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30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC) |
| 876 | { | ||
| 877 |
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|
12 | descriptors.emplace_back("GNSS1::UTC::year"); |
| 878 |
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|
12 | descriptors.emplace_back("GNSS1::UTC::month"); |
| 879 |
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|
12 | descriptors.emplace_back("GNSS1::UTC::day"); |
| 880 |
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|
12 | descriptors.emplace_back("GNSS1::UTC::hour"); |
| 881 |
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|
12 | descriptors.emplace_back("GNSS1::UTC::min"); |
| 882 |
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|
12 | descriptors.emplace_back("GNSS1::UTC::sec"); |
| 883 |
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12 | descriptors.emplace_back("GNSS1::UTC::ms"); |
| 884 | } | ||
| 885 |
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30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW) |
| 886 | { | ||
| 887 |
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30 | descriptors.emplace_back("GNSS1::Tow [ns]"); |
| 888 | } | ||
| 889 |
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30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK) |
| 890 | { | ||
| 891 |
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30 | descriptors.emplace_back("GNSS1::Week"); |
| 892 | } | ||
| 893 |
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30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS) |
| 894 | { | ||
| 895 |
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12 | descriptors.emplace_back("GNSS1::NumSats"); |
| 896 | } | ||
| 897 |
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|
30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX) |
| 898 | { | ||
| 899 |
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12 | descriptors.emplace_back("GNSS1::Fix"); |
| 900 | } | ||
| 901 |
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|
30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA) |
| 902 | { | ||
| 903 |
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12 | descriptors.emplace_back("GNSS1::PosLla::latitude [deg]"); |
| 904 |
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12 | descriptors.emplace_back("GNSS1::PosLla::longitude [deg]"); |
| 905 |
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12 | descriptors.emplace_back("GNSS1::PosLla::altitude [m]"); |
| 906 | } | ||
| 907 |
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|
30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF) |
| 908 | { | ||
| 909 |
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12 | descriptors.emplace_back("GNSS1::PosEcef::X [m]"); |
| 910 |
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12 | descriptors.emplace_back("GNSS1::PosEcef::Y [m]"); |
| 911 |
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12 | descriptors.emplace_back("GNSS1::PosEcef::Z [m]"); |
| 912 | } | ||
| 913 |
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|
30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED) |
| 914 | { | ||
| 915 |
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12 | descriptors.emplace_back("GNSS1::VelNed::N [m/s]"); |
| 916 |
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12 | descriptors.emplace_back("GNSS1::VelNed::E [m/s]"); |
| 917 |
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12 | descriptors.emplace_back("GNSS1::VelNed::D [m/s]"); |
| 918 | } | ||
| 919 |
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|
30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF) |
| 920 | { | ||
| 921 |
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12 | descriptors.emplace_back("GNSS1::VelEcef::X [m/s]"); |
| 922 |
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12 | descriptors.emplace_back("GNSS1::VelEcef::Y [m/s]"); |
| 923 |
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12 | descriptors.emplace_back("GNSS1::VelEcef::Z [m/s]"); |
| 924 | } | ||
| 925 |
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|
30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU) |
| 926 | { | ||
| 927 |
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12 | descriptors.emplace_back("GNSS1::PosU::N [m]"); |
| 928 |
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12 | descriptors.emplace_back("GNSS1::PosU::E [m]"); |
| 929 |
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12 | descriptors.emplace_back("GNSS1::PosU::D [m]"); |
| 930 | } | ||
| 931 |
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|
30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU) |
| 932 | { | ||
| 933 |
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12 | descriptors.emplace_back("GNSS1::VelU [m/s]"); |
| 934 | } | ||
| 935 |
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30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU) |
| 936 | { | ||
| 937 |
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12 | descriptors.emplace_back("GNSS1::TimeU [s]"); |
| 938 | } | ||
| 939 |
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30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO) |
| 940 | { | ||
| 941 |
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|
30 | descriptors.emplace_back("GNSS1::TimeInfo::Status::timeOk"); |
| 942 |
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|
30 | descriptors.emplace_back("GNSS1::TimeInfo::Status::dateOk"); |
| 943 |
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30 | descriptors.emplace_back("GNSS1::TimeInfo::Status::utcTimeValid"); |
| 944 |
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30 | descriptors.emplace_back("GNSS1::TimeInfo::LeapSeconds"); |
| 945 | } | ||
| 946 |
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|
30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP) |
| 947 | { | ||
| 948 |
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12 | descriptors.emplace_back("GNSS1::DOP::g"); |
| 949 |
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12 | descriptors.emplace_back("GNSS1::DOP::p"); |
| 950 |
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12 | descriptors.emplace_back("GNSS1::DOP::t"); |
| 951 |
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12 | descriptors.emplace_back("GNSS1::DOP::v"); |
| 952 |
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12 | descriptors.emplace_back("GNSS1::DOP::h"); |
| 953 |
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12 | descriptors.emplace_back("GNSS1::DOP::n"); |
| 954 |
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12 | descriptors.emplace_back("GNSS1::DOP::e"); |
| 955 | } | ||
| 956 |
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30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO) |
| 957 | { | ||
| 958 | ✗ | descriptors.emplace_back("GNSS1::SatInfo::NumSats"); | |
| 959 | ✗ | for (auto& satellite : gnss1Outputs->satInfo.satellites) | |
| 960 | { | ||
| 961 | ✗ | SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId)); | |
| 962 | ✗ | descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - flag Healthy", satId)); | |
| 963 | ✗ | descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - flag Almanac", satId)); | |
| 964 | ✗ | descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - flag Ephemeris", satId)); | |
| 965 | ✗ | descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - flag DifferentialCorrection", satId)); | |
| 966 | ✗ | descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - flag UsedForNavigation", satId)); | |
| 967 | ✗ | descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - flag AzimuthElevationValid", satId)); | |
| 968 | ✗ | descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - flag UsedForRTK", satId)); | |
| 969 | ✗ | descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - cno", satId)); | |
| 970 | ✗ | descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - qi", satId)); | |
| 971 | ✗ | descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - el", satId)); | |
| 972 | ✗ | descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - az", satId)); | |
| 973 | } | ||
| 974 | } | ||
| 975 |
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30 | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS) |
| 976 | { | ||
| 977 | ✗ | descriptors.emplace_back("GNSS1::RawMeas::Tow [s]"); | |
| 978 | ✗ | descriptors.emplace_back("GNSS1::RawMeas::Week"); | |
| 979 | ✗ | descriptors.emplace_back("GNSS1::RawMeas::NumSats"); | |
| 980 | ✗ | for (auto& satellite : gnss1Outputs->raw.satellites) | |
| 981 | { | ||
| 982 | ✗ | SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId)); | |
| 983 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - sys", satId)); | |
| 984 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - svId", satId)); | |
| 985 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - freq", satId)); | |
| 986 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - chan", satId)); | |
| 987 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - slot", satId)); | |
| 988 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - cno", satId)); | |
| 989 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag Searching", satId)); | |
| 990 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag Tracking", satId)); | |
| 991 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag TimeValid", satId)); | |
| 992 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag CodeLock", satId)); | |
| 993 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseLock", satId)); | |
| 994 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseHalfAmbiguity", satId)); | |
| 995 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseHalfSub", satId)); | |
| 996 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseSlip", satId)); | |
| 997 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag PseudorangeSmoothed", satId)); | |
| 998 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - pr", satId)); | |
| 999 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - cp", satId)); | |
| 1000 | ✗ | descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - dp", satId)); | |
| 1001 | } | ||
| 1002 | } | ||
| 1003 | } | ||
| 1004 | // Group 5 (Attitude) | ||
| 1005 |
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30 | if (attitudeOutputs) |
| 1006 | { | ||
| 1007 |
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30 | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS) |
| 1008 | { | ||
| 1009 | ✗ | descriptors.emplace_back("Att::VpeStatus::AttitudeQuality"); | |
| 1010 | ✗ | descriptors.emplace_back("Att::VpeStatus::GyroSaturation"); | |
| 1011 | ✗ | descriptors.emplace_back("Att::VpeStatus::GyroSaturationRecovery"); | |
| 1012 | ✗ | descriptors.emplace_back("Att::VpeStatus::MagDisturbance"); | |
| 1013 | ✗ | descriptors.emplace_back("Att::VpeStatus::MagSaturation"); | |
| 1014 | ✗ | descriptors.emplace_back("Att::VpeStatus::AccDisturbance"); | |
| 1015 | ✗ | descriptors.emplace_back("Att::VpeStatus::AccSaturation"); | |
| 1016 | ✗ | descriptors.emplace_back("Att::VpeStatus::KnownMagDisturbance"); | |
| 1017 | ✗ | descriptors.emplace_back("Att::VpeStatus::KnownAccelDisturbance"); | |
| 1018 | } | ||
| 1019 |
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30 | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL) |
| 1020 | { | ||
| 1021 |
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30 | descriptors.emplace_back("Att::YawPitchRoll::Y [deg]"); |
| 1022 |
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30 | descriptors.emplace_back("Att::YawPitchRoll::P [deg]"); |
| 1023 |
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30 | descriptors.emplace_back("Att::YawPitchRoll::R [deg]"); |
| 1024 | } | ||
| 1025 |
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30 | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION) |
| 1026 | { | ||
| 1027 |
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30 | descriptors.emplace_back("Att::Quaternion::w"); |
| 1028 |
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30 | descriptors.emplace_back("Att::Quaternion::x"); |
| 1029 |
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30 | descriptors.emplace_back("Att::Quaternion::y"); |
| 1030 |
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30 | descriptors.emplace_back("Att::Quaternion::z"); |
| 1031 | } | ||
| 1032 |
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|
30 | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM) |
| 1033 | { | ||
| 1034 | ✗ | descriptors.emplace_back("Att::DCM::0-0,Att::DCM::0-1,Att::DCM::0-2"); | |
| 1035 | ✗ | descriptors.emplace_back("Att::DCM::1-0,Att::DCM::1-1,Att::DCM::1-2"); | |
| 1036 | ✗ | descriptors.emplace_back("Att::DCM::2-0,Att::DCM::2-1,Att::DCM::2-2"); | |
| 1037 | } | ||
| 1038 |
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30 | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED) |
| 1039 | { | ||
| 1040 | ✗ | descriptors.emplace_back("Att::MagNed::N [Gauss]"); | |
| 1041 | ✗ | descriptors.emplace_back("Att::MagNed::E [Gauss]"); | |
| 1042 | ✗ | descriptors.emplace_back("Att::MagNed::D [Gauss]"); | |
| 1043 | } | ||
| 1044 |
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30 | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED) |
| 1045 | { | ||
| 1046 | ✗ | descriptors.emplace_back("Att::AccelNed::N [m/s^2]"); | |
| 1047 | ✗ | descriptors.emplace_back("Att::AccelNed::E [m/s^2]"); | |
| 1048 | ✗ | descriptors.emplace_back("Att::AccelNed::D [m/s^2]"); | |
| 1049 | } | ||
| 1050 |
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30 | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY) |
| 1051 | { | ||
| 1052 | ✗ | descriptors.emplace_back("Att::LinearAccelBody::X [m/s^2]"); | |
| 1053 | ✗ | descriptors.emplace_back("Att::LinearAccelBody::Y [m/s^2]"); | |
| 1054 | ✗ | descriptors.emplace_back("Att::LinearAccelBody::Z [m/s^2]"); | |
| 1055 | } | ||
| 1056 |
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30 | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED) |
| 1057 | { | ||
| 1058 | ✗ | descriptors.emplace_back("Att::LinearAccelNed::N [m/s^2]"); | |
| 1059 | ✗ | descriptors.emplace_back("Att::LinearAccelNed::E [m/s^2]"); | |
| 1060 | ✗ | descriptors.emplace_back("Att::LinearAccelNed::D [m/s^2]"); | |
| 1061 | } | ||
| 1062 |
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30 | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU) |
| 1063 | { | ||
| 1064 |
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30 | descriptors.emplace_back("Att::YprU::Y [deg]"); |
| 1065 |
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30 | descriptors.emplace_back("Att::YprU::P [deg]"); |
| 1066 |
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30 | descriptors.emplace_back("Att::YprU::R [deg]"); |
| 1067 | } | ||
| 1068 | } | ||
| 1069 | // Group 6 (INS) | ||
| 1070 |
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30 | if (insOutputs) |
| 1071 | { | ||
| 1072 |
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12 | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS) |
| 1073 | { | ||
| 1074 |
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12 | descriptors.emplace_back("INS::InsStatus::Mode"); |
| 1075 |
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12 | descriptors.emplace_back("INS::InsStatus::GpsFix"); |
| 1076 |
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12 | descriptors.emplace_back("INS::InsStatus::Error::IMU"); |
| 1077 |
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12 | descriptors.emplace_back("INS::InsStatus::Error::MagPres"); |
| 1078 |
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12 | descriptors.emplace_back("INS::InsStatus::Error::GNSS"); |
| 1079 |
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12 | descriptors.emplace_back("INS::InsStatus::GpsHeadingIns"); |
| 1080 |
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12 | descriptors.emplace_back("INS::InsStatus::GpsCompass"); |
| 1081 | } | ||
| 1082 |
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12 | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA) |
| 1083 | { | ||
| 1084 |
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12 | descriptors.emplace_back("INS::PosLla::latitude [deg]"); |
| 1085 |
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12 | descriptors.emplace_back("INS::PosLla::longitude [deg]"); |
| 1086 |
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12 | descriptors.emplace_back("INS::PosLla::altitude [m]"); |
| 1087 | } | ||
| 1088 |
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12 | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF) |
| 1089 | { | ||
| 1090 |
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12 | descriptors.emplace_back("INS::PosEcef::X [m]"); |
| 1091 |
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12 | descriptors.emplace_back("INS::PosEcef::Y [m]"); |
| 1092 |
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12 | descriptors.emplace_back("INS::PosEcef::Z [m]"); |
| 1093 | } | ||
| 1094 |
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12 | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY) |
| 1095 | { | ||
| 1096 |
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12 | descriptors.emplace_back("INS::VelBody::X [m/s]"); |
| 1097 |
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12 | descriptors.emplace_back("INS::VelBody::Y [m/s]"); |
| 1098 |
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12 | descriptors.emplace_back("INS::VelBody::Z [m/s]"); |
| 1099 | } | ||
| 1100 |
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12 | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED) |
| 1101 | { | ||
| 1102 |
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12 | descriptors.emplace_back("INS::VelNed::N [m/s]"); |
| 1103 |
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12 | descriptors.emplace_back("INS::VelNed::E [m/s]"); |
| 1104 |
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12 | descriptors.emplace_back("INS::VelNed::D [m/s]"); |
| 1105 | } | ||
| 1106 |
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12 | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF) |
| 1107 | { | ||
| 1108 |
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12 | descriptors.emplace_back("INS::VelEcef::X [m/s]"); |
| 1109 |
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12 | descriptors.emplace_back("INS::VelEcef::Y [m/s]"); |
| 1110 |
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12 | descriptors.emplace_back("INS::VelEcef::Z [m/s]"); |
| 1111 | } | ||
| 1112 |
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12 | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF) |
| 1113 | { | ||
| 1114 |
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12 | descriptors.emplace_back("INS::MagEcef::X [Gauss]"); |
| 1115 |
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12 | descriptors.emplace_back("INS::MagEcef::Y [Gauss]"); |
| 1116 |
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12 | descriptors.emplace_back("INS::MagEcef::Z [Gauss]"); |
| 1117 | } | ||
| 1118 |
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12 | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF) |
| 1119 | { | ||
| 1120 |
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12 | descriptors.emplace_back("INS::AccelEcef::X [m/s^2]"); |
| 1121 |
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12 | descriptors.emplace_back("INS::AccelEcef::Y [m/s^2]"); |
| 1122 |
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12 | descriptors.emplace_back("INS::AccelEcef::Z [m/s^2]"); |
| 1123 | } | ||
| 1124 |
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12 | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF) |
| 1125 | { | ||
| 1126 |
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12 | descriptors.emplace_back("INS::LinearAccelEcef::X [m/s^2]"); |
| 1127 |
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12 | descriptors.emplace_back("INS::LinearAccelEcef::Y [m/s^2]"); |
| 1128 |
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12 | descriptors.emplace_back("INS::LinearAccelEcef::Z [m/s^2]"); |
| 1129 | } | ||
| 1130 |
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12 | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSU) |
| 1131 | { | ||
| 1132 |
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12 | descriptors.emplace_back("INS::PosU [m]"); |
| 1133 | } | ||
| 1134 |
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12 | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELU) |
| 1135 | { | ||
| 1136 |
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12 | descriptors.emplace_back("INS::VelU [m/s]"); |
| 1137 | } | ||
| 1138 | } | ||
| 1139 | // Group 7 (GNSS2) | ||
| 1140 |
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30 | if (gnss2Outputs) |
| 1141 | { | ||
| 1142 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC) |
| 1143 | { | ||
| 1144 |
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12 | descriptors.emplace_back("GNSS2::UTC::year"); |
| 1145 |
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12 | descriptors.emplace_back("GNSS2::UTC::month"); |
| 1146 |
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12 | descriptors.emplace_back("GNSS2::UTC::day"); |
| 1147 |
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12 | descriptors.emplace_back("GNSS2::UTC::hour"); |
| 1148 |
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12 | descriptors.emplace_back("GNSS2::UTC::min"); |
| 1149 |
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12 | descriptors.emplace_back("GNSS2::UTC::sec"); |
| 1150 |
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12 | descriptors.emplace_back("GNSS2::UTC::ms"); |
| 1151 | } | ||
| 1152 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW) |
| 1153 | { | ||
| 1154 |
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12 | descriptors.emplace_back("GNSS2::Tow [ns]"); |
| 1155 | } | ||
| 1156 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK) |
| 1157 | { | ||
| 1158 |
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12 | descriptors.emplace_back("GNSS2::Week"); |
| 1159 | } | ||
| 1160 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS) |
| 1161 | { | ||
| 1162 |
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12 | descriptors.emplace_back("GNSS2::NumSats"); |
| 1163 | } | ||
| 1164 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX) |
| 1165 | { | ||
| 1166 |
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12 | descriptors.emplace_back("GNSS2::Fix"); |
| 1167 | } | ||
| 1168 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA) |
| 1169 | { | ||
| 1170 |
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12 | descriptors.emplace_back("GNSS2::PosLla::latitude [deg]"); |
| 1171 |
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12 | descriptors.emplace_back("GNSS2::PosLla::longitude [deg]"); |
| 1172 |
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12 | descriptors.emplace_back("GNSS2::PosLla::altitude [m]"); |
| 1173 | } | ||
| 1174 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF) |
| 1175 | { | ||
| 1176 |
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12 | descriptors.emplace_back("GNSS2::PosEcef::X [m]"); |
| 1177 |
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12 | descriptors.emplace_back("GNSS2::PosEcef::Y [m]"); |
| 1178 |
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12 | descriptors.emplace_back("GNSS2::PosEcef::Z [m]"); |
| 1179 | } | ||
| 1180 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED) |
| 1181 | { | ||
| 1182 |
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12 | descriptors.emplace_back("GNSS2::VelNed::N [m/s]"); |
| 1183 |
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12 | descriptors.emplace_back("GNSS2::VelNed::E [m/s]"); |
| 1184 |
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12 | descriptors.emplace_back("GNSS2::VelNed::D [m/s]"); |
| 1185 | } | ||
| 1186 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF) |
| 1187 | { | ||
| 1188 |
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12 | descriptors.emplace_back("GNSS2::VelEcef::X [m/s]"); |
| 1189 |
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12 | descriptors.emplace_back("GNSS2::VelEcef::Y [m/s]"); |
| 1190 |
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12 | descriptors.emplace_back("GNSS2::VelEcef::Z [m/s]"); |
| 1191 | } | ||
| 1192 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU) |
| 1193 | { | ||
| 1194 |
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12 | descriptors.emplace_back("GNSS2::PosU::N [m]"); |
| 1195 |
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12 | descriptors.emplace_back("GNSS2::PosU::E [m]"); |
| 1196 |
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12 | descriptors.emplace_back("GNSS2::PosU::D [m]"); |
| 1197 | } | ||
| 1198 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU) |
| 1199 | { | ||
| 1200 |
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12 | descriptors.emplace_back("GNSS2::VelU [m/s]"); |
| 1201 | } | ||
| 1202 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU) |
| 1203 | { | ||
| 1204 |
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12 | descriptors.emplace_back("GNSS2::TimeU [s]"); |
| 1205 | } | ||
| 1206 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO) |
| 1207 | { | ||
| 1208 |
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12 | descriptors.emplace_back("GNSS2::TimeInfo::Status::timeOk"); |
| 1209 |
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12 | descriptors.emplace_back("GNSS2::TimeInfo::Status::dateOk"); |
| 1210 |
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12 | descriptors.emplace_back("GNSS2::TimeInfo::Status::utcTimeValid"); |
| 1211 |
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12 | descriptors.emplace_back("GNSS2::TimeInfo::LeapSeconds"); |
| 1212 | } | ||
| 1213 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP) |
| 1214 | { | ||
| 1215 |
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12 | descriptors.emplace_back("GNSS2::DOP::g"); |
| 1216 |
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12 | descriptors.emplace_back("GNSS2::DOP::p"); |
| 1217 |
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12 | descriptors.emplace_back("GNSS2::DOP::t"); |
| 1218 |
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12 | descriptors.emplace_back("GNSS2::DOP::v"); |
| 1219 |
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12 | descriptors.emplace_back("GNSS2::DOP::h"); |
| 1220 |
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12 | descriptors.emplace_back("GNSS2::DOP::n"); |
| 1221 |
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12 | descriptors.emplace_back("GNSS2::DOP::e"); |
| 1222 | } | ||
| 1223 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO) |
| 1224 | { | ||
| 1225 | ✗ | descriptors.emplace_back("GNSS2::SatInfo::NumSats"); | |
| 1226 | ✗ | for (auto& satellite : gnss2Outputs->satInfo.satellites) | |
| 1227 | { | ||
| 1228 | ✗ | SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId)); | |
| 1229 | ✗ | descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - flag Healthy", satId)); | |
| 1230 | ✗ | descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - flag Almanac", satId)); | |
| 1231 | ✗ | descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - flag Ephemeris", satId)); | |
| 1232 | ✗ | descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - flag DifferentialCorrection", satId)); | |
| 1233 | ✗ | descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - flag UsedForNavigation", satId)); | |
| 1234 | ✗ | descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - flag AzimuthElevationValid", satId)); | |
| 1235 | ✗ | descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - flag UsedForRTK", satId)); | |
| 1236 | ✗ | descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - cno", satId)); | |
| 1237 | ✗ | descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - qi", satId)); | |
| 1238 | ✗ | descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - el", satId)); | |
| 1239 | ✗ | descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - az", satId)); | |
| 1240 | } | ||
| 1241 | } | ||
| 1242 |
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12 | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS) |
| 1243 | { | ||
| 1244 | ✗ | descriptors.emplace_back("GNSS2::RawMeas::Tow [s]"); | |
| 1245 | ✗ | descriptors.emplace_back("GNSS2::RawMeas::Week"); | |
| 1246 | ✗ | descriptors.emplace_back("GNSS2::RawMeas::NumSats"); | |
| 1247 | ✗ | for (auto& satellite : gnss2Outputs->raw.satellites) | |
| 1248 | { | ||
| 1249 | ✗ | SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId)); | |
| 1250 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - sys", satId)); | |
| 1251 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - svId", satId)); | |
| 1252 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - freq", satId)); | |
| 1253 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - chan", satId)); | |
| 1254 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - slot", satId)); | |
| 1255 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - cno", satId)); | |
| 1256 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag Searching", satId)); | |
| 1257 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag Tracking", satId)); | |
| 1258 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag TimeValid", satId)); | |
| 1259 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag CodeLock", satId)); | |
| 1260 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseLock", satId)); | |
| 1261 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseHalfAmbiguity", satId)); | |
| 1262 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseHalfSub", satId)); | |
| 1263 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseSlip", satId)); | |
| 1264 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag PseudorangeSmoothed", satId)); | |
| 1265 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - pr", satId)); | |
| 1266 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - cp", satId)); | |
| 1267 | ✗ | descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - dp", satId)); | |
| 1268 | } | ||
| 1269 | } | ||
| 1270 | } | ||
| 1271 | |||
| 1272 | 30 | return descriptors; | |
| 1273 | ✗ | } | |
| 1274 | |||
| 1275 | /// @brief Get the value for the descriptor | ||
| 1276 | /// @return Value if in the observation | ||
| 1277 | 2489 | [[nodiscard]] std::optional<double> getDynamicDataAt(const std::string& descriptor) const override | |
| 1278 | { | ||
| 1279 | // Group 2 (Time) | ||
| 1280 |
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2489 | if (timeOutputs) |
| 1281 | { | ||
| 1282 |
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2490 | if (descriptor == "Time::TimeStartup [ns]") { return static_cast<double>(timeOutputs->timeStartup); } |
| 1283 |
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2460 | if (descriptor == "Time::TimeGps [ns]") { return static_cast<double>(timeOutputs->timeGps); } |
| 1284 |
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2460 | if (descriptor == "Time::GpsTow [ns]") { return static_cast<double>(timeOutputs->gpsTow); } |
| 1285 |
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2430 | if (descriptor == "Time::GpsWeek") { return static_cast<double>(timeOutputs->gpsWeek); } |
| 1286 |
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2399 | if (descriptor == "Time::TimeSyncIn [ns]") { return static_cast<double>(timeOutputs->timeSyncIn); } |
| 1287 |
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2398 | if (descriptor == "Time::TimeGpsPps [ns]") { return static_cast<double>(timeOutputs->timePPS); } |
| 1288 |
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2399 | if (descriptor == "Time::TimeUTC::year") { return static_cast<double>(timeOutputs->timeUtc.year); } |
| 1289 |
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2387 | if (descriptor == "Time::TimeUTC::month") { return static_cast<double>(timeOutputs->timeUtc.month); } |
| 1290 |
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2375 | if (descriptor == "Time::TimeUTC::day") { return static_cast<double>(timeOutputs->timeUtc.day); } |
| 1291 |
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2362 | if (descriptor == "Time::TimeUTC::hour") { return static_cast<double>(timeOutputs->timeUtc.hour); } |
| 1292 |
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2350 | if (descriptor == "Time::TimeUTC::min") { return static_cast<double>(timeOutputs->timeUtc.min); } |
| 1293 |
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2338 | if (descriptor == "Time::TimeUTC::sec") { return static_cast<double>(timeOutputs->timeUtc.sec); } |
| 1294 |
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2328 | if (descriptor == "Time::TimeUTC::ms") { return static_cast<double>(timeOutputs->timeUtc.ms); } |
| 1295 |
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2316 | if (descriptor == "Time::SyncInCnt") { return static_cast<double>(timeOutputs->syncInCnt); } |
| 1296 |
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2315 | if (descriptor == "Time::SyncOutCnt") { return static_cast<double>(timeOutputs->syncOutCnt); } |
| 1297 |
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2315 | if (descriptor == "Time::TimeStatus::timeOk") { return static_cast<double>(timeOutputs->timeStatus.timeOk()); } |
| 1298 |
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2285 | if (descriptor == "Time::TimeStatus::dateOk") { return static_cast<double>(timeOutputs->timeStatus.dateOk()); } |
| 1299 |
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2255 | if (descriptor == "Time::TimeStatus::utcTimeValid") { return static_cast<double>(timeOutputs->timeStatus.utcTimeValid()); } |
| 1300 | } | ||
| 1301 | // Group 3 (IMU) | ||
| 1302 |
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2224 | if (imuOutputs) |
| 1303 | { | ||
| 1304 |
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774 | if (descriptor == "IMU::ImuStatus") { return static_cast<double>(imuOutputs->imuStatus); } |
| 1305 |
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774 | if (descriptor == "IMU::UncompMag::X [Gauss]") { return static_cast<double>(imuOutputs->uncompMag(0)); } |
| 1306 |
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756 | if (descriptor == "IMU::UncompMag::Y [Gauss]") { return static_cast<double>(imuOutputs->uncompMag(1)); } |
| 1307 |
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738 | if (descriptor == "IMU::UncompMag::Z [Gauss]") { return static_cast<double>(imuOutputs->uncompMag(2)); } |
| 1308 |
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720 | if (descriptor == "IMU::UncompAccel::X [m/s^2]") { return static_cast<double>(imuOutputs->uncompAccel(0)); } |
| 1309 |
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702 | if (descriptor == "IMU::UncompAccel::Y [m/s^2]") { return static_cast<double>(imuOutputs->uncompAccel(1)); } |
| 1310 |
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684 | if (descriptor == "IMU::UncompAccel::Z [m/s^2]") { return static_cast<double>(imuOutputs->uncompAccel(2)); } |
| 1311 |
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666 | if (descriptor == "IMU::UncompGyro::X [rad/s]") { return static_cast<double>(imuOutputs->uncompGyro(0)); } |
| 1312 |
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648 | if (descriptor == "IMU::UncompGyro::Y [rad/s]") { return static_cast<double>(imuOutputs->uncompGyro(1)); } |
| 1313 |
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630 | if (descriptor == "IMU::UncompGyro::Z [rad/s]") { return static_cast<double>(imuOutputs->uncompGyro(2)); } |
| 1314 |
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612 | if (descriptor == "IMU::Temp [Celsius]") { return static_cast<double>(imuOutputs->temp); } |
| 1315 |
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594 | if (descriptor == "IMU::Pres [kPa]") { return static_cast<double>(imuOutputs->pres); } |
| 1316 |
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576 | if (descriptor == "IMU::DeltaTime [s]") { return static_cast<double>(imuOutputs->deltaTime); } |
| 1317 |
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558 | if (descriptor == "IMU::DeltaTheta::X [deg]") { return static_cast<double>(imuOutputs->deltaTheta(0)); } |
| 1318 |
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540 | if (descriptor == "IMU::DeltaTheta::Y [deg]") { return static_cast<double>(imuOutputs->deltaTheta(1)); } |
| 1319 |
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522 | if (descriptor == "IMU::DeltaTheta::Z [deg]") { return static_cast<double>(imuOutputs->deltaTheta(2)); } |
| 1320 |
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504 | if (descriptor == "IMU::DeltaVel::X [m/s]") { return static_cast<double>(imuOutputs->deltaV(0)); } |
| 1321 |
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486 | if (descriptor == "IMU::DeltaVel::Y [m/s]") { return static_cast<double>(imuOutputs->deltaV(1)); } |
| 1322 |
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468 | if (descriptor == "IMU::DeltaVel::Z [m/s]") { return static_cast<double>(imuOutputs->deltaV(2)); } |
| 1323 |
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450 | if (descriptor == "IMU::Mag::X [Gauss]") { return static_cast<double>(imuOutputs->mag(0)); } |
| 1324 |
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432 | if (descriptor == "IMU::Mag::Y [Gauss]") { return static_cast<double>(imuOutputs->mag(1)); } |
| 1325 |
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414 | if (descriptor == "IMU::Mag::Z [Gauss]") { return static_cast<double>(imuOutputs->mag(2)); } |
| 1326 |
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396 | if (descriptor == "IMU::Accel::X [m/s^2]") { return static_cast<double>(imuOutputs->accel(0)); } |
| 1327 |
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378 | if (descriptor == "IMU::Accel::Y [m/s^2]") { return static_cast<double>(imuOutputs->accel(1)); } |
| 1328 |
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360 | if (descriptor == "IMU::Accel::Z [m/s^2]") { return static_cast<double>(imuOutputs->accel(2)); } |
| 1329 |
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342 | if (descriptor == "IMU::AngularRate::X [rad/s]") { return static_cast<double>(imuOutputs->angularRate(0)); } |
| 1330 |
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324 | if (descriptor == "IMU::AngularRate::Y [rad/s]") { return static_cast<double>(imuOutputs->angularRate(1)); } |
| 1331 |
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306 | if (descriptor == "IMU::AngularRate::Z [rad/s]") { return static_cast<double>(imuOutputs->angularRate(2)); } |
| 1332 | } | ||
| 1333 | // Group 4 (GNSS1) | ||
| 1334 |
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1739 | if (gnss1Outputs) |
| 1335 | { | ||
| 1336 |
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1740 | if (descriptor == "GNSS1::UTC::year") { return static_cast<double>(gnss1Outputs->timeUtc.year); } |
| 1337 |
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1728 | if (descriptor == "GNSS1::UTC::month") { return static_cast<double>(gnss1Outputs->timeUtc.month); } |
| 1338 |
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1716 | if (descriptor == "GNSS1::UTC::day") { return static_cast<double>(gnss1Outputs->timeUtc.day); } |
| 1339 |
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1704 | if (descriptor == "GNSS1::UTC::hour") { return static_cast<double>(gnss1Outputs->timeUtc.hour); } |
| 1340 |
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|
1692 | if (descriptor == "GNSS1::UTC::min") { return static_cast<double>(gnss1Outputs->timeUtc.min); } |
| 1341 |
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|
1680 | if (descriptor == "GNSS1::UTC::sec") { return static_cast<double>(gnss1Outputs->timeUtc.sec); } |
| 1342 |
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1668 | if (descriptor == "GNSS1::UTC::ms") { return static_cast<double>(gnss1Outputs->timeUtc.ms); } |
| 1343 |
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|
1656 | if (descriptor == "GNSS1::Tow [ns]") { return static_cast<double>(gnss1Outputs->tow); } |
| 1344 |
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|
1626 | if (descriptor == "GNSS1::Week") { return static_cast<double>(gnss1Outputs->week); } |
| 1345 |
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|
1595 | if (descriptor == "GNSS1::NumSats") { return static_cast<double>(gnss1Outputs->numSats); } |
| 1346 |
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|
1584 | if (descriptor == "GNSS1::Fix") { return static_cast<double>(gnss1Outputs->fix); } |
| 1347 |
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1571 | if (descriptor == "GNSS1::PosLla::latitude [deg]") { return static_cast<double>(gnss1Outputs->posLla(0)); } |
| 1348 |
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1559 | if (descriptor == "GNSS1::PosLla::longitude [deg]") { return static_cast<double>(gnss1Outputs->posLla(1)); } |
| 1349 |
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1548 | if (descriptor == "GNSS1::PosLla::altitude [m]") { return static_cast<double>(gnss1Outputs->posLla(2)); } |
| 1350 |
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1535 | if (descriptor == "GNSS1::PosEcef::X [m]") { return static_cast<double>(gnss1Outputs->posEcef(0)); } |
| 1351 |
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1522 | if (descriptor == "GNSS1::PosEcef::Y [m]") { return static_cast<double>(gnss1Outputs->posEcef(1)); } |
| 1352 |
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|
1509 | if (descriptor == "GNSS1::PosEcef::Z [m]") { return static_cast<double>(gnss1Outputs->posEcef(2)); } |
| 1353 |
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|
1497 | if (descriptor == "GNSS1::VelNed::N [m/s]") { return static_cast<double>(gnss1Outputs->velNed(0)); } |
| 1354 |
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|
1486 | if (descriptor == "GNSS1::VelNed::E [m/s]") { return static_cast<double>(gnss1Outputs->velNed(1)); } |
| 1355 |
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1474 | if (descriptor == "GNSS1::VelNed::D [m/s]") { return static_cast<double>(gnss1Outputs->velNed(2)); } |
| 1356 |
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1463 | if (descriptor == "GNSS1::VelEcef::X [m/s]") { return static_cast<double>(gnss1Outputs->velEcef(0)); } |
| 1357 |
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1452 | if (descriptor == "GNSS1::VelEcef::Y [m/s]") { return static_cast<double>(gnss1Outputs->velEcef(1)); } |
| 1358 |
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|
1440 | if (descriptor == "GNSS1::VelEcef::Z [m/s]") { return static_cast<double>(gnss1Outputs->velEcef(2)); } |
| 1359 |
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|
1428 | if (descriptor == "GNSS1::PosU::N [m]") { return static_cast<double>(gnss1Outputs->posU(0)); } |
| 1360 |
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|
1415 | if (descriptor == "GNSS1::PosU::E [m]") { return static_cast<double>(gnss1Outputs->posU(1)); } |
| 1361 |
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|
1404 | if (descriptor == "GNSS1::PosU::D [m]") { return static_cast<double>(gnss1Outputs->posU(2)); } |
| 1362 |
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|
1391 | if (descriptor == "GNSS1::VelU [m/s]") { return static_cast<double>(gnss1Outputs->velU); } |
| 1363 |
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|
1380 | if (descriptor == "GNSS1::TimeU [s]") { return static_cast<double>(gnss1Outputs->timeU); } |
| 1364 |
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|
1367 | if (descriptor == "GNSS1::TimeInfo::Status::timeOk") { return static_cast<double>(gnss1Outputs->timeInfo.status.timeOk()); } |
| 1365 |
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|
1338 | if (descriptor == "GNSS1::TimeInfo::Status::dateOk") { return static_cast<double>(gnss1Outputs->timeInfo.status.dateOk()); } |
| 1366 |
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|
1308 | if (descriptor == "GNSS1::TimeInfo::Status::utcTimeValid") { return static_cast<double>(gnss1Outputs->timeInfo.status.utcTimeValid()); } |
| 1367 |
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|
1278 | if (descriptor == "GNSS1::TimeInfo::LeapSeconds") { return static_cast<double>(gnss1Outputs->timeInfo.leapSeconds); } |
| 1368 |
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|
1247 | if (descriptor == "GNSS1::DOP::g") { return static_cast<double>(gnss1Outputs->dop.gDop); } |
| 1369 |
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|
1236 | if (descriptor == "GNSS1::DOP::p") { return static_cast<double>(gnss1Outputs->dop.pDop); } |
| 1370 |
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|
1223 | if (descriptor == "GNSS1::DOP::t") { return static_cast<double>(gnss1Outputs->dop.tDop); } |
| 1371 |
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|
1211 | if (descriptor == "GNSS1::DOP::v") { return static_cast<double>(gnss1Outputs->dop.vDop); } |
| 1372 |
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|
1199 | if (descriptor == "GNSS1::DOP::h") { return static_cast<double>(gnss1Outputs->dop.hDop); } |
| 1373 |
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|
1187 | if (descriptor == "GNSS1::DOP::n") { return static_cast<double>(gnss1Outputs->dop.nDop); } |
| 1374 |
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|
1175 | if (descriptor == "GNSS1::DOP::e") { return static_cast<double>(gnss1Outputs->dop.eDop); } |
| 1375 |
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1163 | if (descriptor == "GNSS1::SatInfo::NumSats") { return static_cast<double>(gnss1Outputs->satInfo.numSats); } |
| 1376 |
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|
1163 | for (auto& satellite : gnss1Outputs->satInfo.satellites) |
| 1377 | { | ||
| 1378 | ✗ | SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId)); | |
| 1379 | ✗ | if (descriptor == fmt::format("GNSS1::SatInfo::{} - flag Healthy", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Healthy) ? 1 : 0); } | |
| 1380 | ✗ | if (descriptor == fmt::format("GNSS1::SatInfo::{} - flag Almanac", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Almanac) ? 1 : 0); } | |
| 1381 | ✗ | if (descriptor == fmt::format("GNSS1::SatInfo::{} - flag Ephemeris", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Ephemeris) ? 1 : 0); } | |
| 1382 | ✗ | if (descriptor == fmt::format("GNSS1::SatInfo::{} - flag DifferentialCorrection", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::DifferentialCorrection) ? 1 : 0); } | |
| 1383 | ✗ | if (descriptor == fmt::format("GNSS1::SatInfo::{} - flag UsedForNavigation", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForNavigation) ? 1 : 0); } | |
| 1384 | ✗ | if (descriptor == fmt::format("GNSS1::SatInfo::{} - flag AzimuthElevationValid", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::AzimuthElevationValid) ? 1 : 0); } | |
| 1385 | ✗ | if (descriptor == fmt::format("GNSS1::SatInfo::{} - flag UsedForRTK", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForRTK) ? 1 : 0); } | |
| 1386 | ✗ | if (descriptor == fmt::format("GNSS1::SatInfo::{} - cno", satId)) { return static_cast<double>(satellite.cno); } | |
| 1387 | ✗ | if (descriptor == fmt::format("GNSS1::SatInfo::{} - qi", satId)) { return static_cast<double>(satellite.qi); } | |
| 1388 | ✗ | if (descriptor == fmt::format("GNSS1::SatInfo::{} - el", satId)) { return static_cast<double>(satellite.el); } | |
| 1389 | ✗ | if (descriptor == fmt::format("GNSS1::SatInfo::{} - az", satId)) { return static_cast<double>(satellite.az); } | |
| 1390 | } | ||
| 1391 |
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1164 | if (descriptor == "GNSS1::RawMeas::Tow [s]") { return gnss1Outputs->raw.tow; } |
| 1392 |
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1163 | if (descriptor == "GNSS1::RawMeas::Week") { return static_cast<double>(gnss1Outputs->raw.week); } |
| 1393 |
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1164 | if (descriptor == "GNSS1::RawMeas::NumSats") { return static_cast<double>(gnss1Outputs->raw.numSats); } |
| 1394 |
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1164 | for (auto& satellite : gnss1Outputs->raw.satellites) |
| 1395 | { | ||
| 1396 | ✗ | SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId)); | |
| 1397 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - freq", satId)) { return static_cast<double>(satellite.freq); } | |
| 1398 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - chan", satId)) { return static_cast<double>(satellite.chan); } | |
| 1399 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - slot", satId)) { return static_cast<double>(satellite.slot); } | |
| 1400 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - cno", satId)) { return static_cast<double>(satellite.cno); } | |
| 1401 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag Searching", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Searching) ? 1 : 0); } | |
| 1402 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag Tracking", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Tracking) ? 1 : 0); } | |
| 1403 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag TimeValid", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::TimeValid) ? 1 : 0); } | |
| 1404 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag CodeLock", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::CodeLock) ? 1 : 0); } | |
| 1405 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag PhaseLock", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseLock) ? 1 : 0); } | |
| 1406 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag PhaseHalfAmbiguity", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfAmbiguity) ? 1 : 0); } | |
| 1407 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag PhaseHalfSub", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfSub) ? 1 : 0); } | |
| 1408 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag PhaseSlip", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseSlip) ? 1 : 0); } | |
| 1409 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag PseudorangeSmoothed", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PseudorangeSmoothed) ? 1 : 0); } | |
| 1410 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - pr", satId)) { return satellite.pr; } | |
| 1411 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - cp", satId)) { return satellite.cp; } | |
| 1412 | ✗ | if (descriptor == fmt::format("GNSS1::RawMeas::{} - dp", satId)) { return static_cast<double>(satellite.dp); } | |
| 1413 | } | ||
| 1414 | } | ||
| 1415 | // Group 5 (Attitude) | ||
| 1416 |
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1164 | if (attitudeOutputs) |
| 1417 | { | ||
| 1418 |
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1164 | if (descriptor == "Att::VpeStatus::AttitudeQuality") { return static_cast<double>(attitudeOutputs->vpeStatus.attitudeQuality()); } |
| 1419 |
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1164 | if (descriptor == "Att::VpeStatus::GyroSaturation") { return static_cast<double>(attitudeOutputs->vpeStatus.gyroSaturation()); } |
| 1420 |
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1164 | if (descriptor == "Att::VpeStatus::GyroSaturationRecovery") { return static_cast<double>(attitudeOutputs->vpeStatus.gyroSaturationRecovery()); } |
| 1421 |
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1164 | if (descriptor == "Att::VpeStatus::MagDisturbance") { return static_cast<double>(attitudeOutputs->vpeStatus.magDisturbance()); } |
| 1422 |
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1164 | if (descriptor == "Att::VpeStatus::MagSaturation") { return static_cast<double>(attitudeOutputs->vpeStatus.magSaturation()); } |
| 1423 |
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1164 | if (descriptor == "Att::VpeStatus::AccDisturbance") { return static_cast<double>(attitudeOutputs->vpeStatus.accDisturbance()); } |
| 1424 |
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1164 | if (descriptor == "Att::VpeStatus::AccSaturation") { return static_cast<double>(attitudeOutputs->vpeStatus.accSaturation()); } |
| 1425 |
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1164 | if (descriptor == "Att::VpeStatus::KnownMagDisturbance") { return static_cast<double>(attitudeOutputs->vpeStatus.knownMagDisturbance()); } |
| 1426 |
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1164 | if (descriptor == "Att::VpeStatus::KnownAccelDisturbance") { return static_cast<double>(attitudeOutputs->vpeStatus.knownAccelDisturbance()); } |
| 1427 |
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1164 | if (descriptor == "Att::YawPitchRoll::Y [deg]") { return static_cast<double>(attitudeOutputs->ypr(0)); } |
| 1428 |
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1134 | if (descriptor == "Att::YawPitchRoll::P [deg]") { return static_cast<double>(attitudeOutputs->ypr(1)); } |
| 1429 |
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1104 | if (descriptor == "Att::YawPitchRoll::R [deg]") { return static_cast<double>(attitudeOutputs->ypr(2)); } |
| 1430 |
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1074 | if (descriptor == "Att::Quaternion::w") { return static_cast<double>(attitudeOutputs->qtn.w()); } |
| 1431 |
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1044 | if (descriptor == "Att::Quaternion::x") { return static_cast<double>(attitudeOutputs->qtn.x()); } |
| 1432 |
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1014 | if (descriptor == "Att::Quaternion::y") { return static_cast<double>(attitudeOutputs->qtn.y()); } |
| 1433 |
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984 | if (descriptor == "Att::Quaternion::z") { return static_cast<double>(attitudeOutputs->qtn.z()); } |
| 1434 |
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954 | if (descriptor == "Att::DCM::0-0") { return static_cast<double>(attitudeOutputs->dcm(0, 0)); } |
| 1435 |
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954 | if (descriptor == "Att::DCM::0-1") { return static_cast<double>(attitudeOutputs->dcm(0, 1)); } |
| 1436 |
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954 | if (descriptor == "Att::DCM::0-2") { return static_cast<double>(attitudeOutputs->dcm(0, 2)); } |
| 1437 |
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954 | if (descriptor == "Att::DCM::1-0") { return static_cast<double>(attitudeOutputs->dcm(1, 0)); } |
| 1438 |
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954 | if (descriptor == "Att::DCM::1-1") { return static_cast<double>(attitudeOutputs->dcm(1, 1)); } |
| 1439 |
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954 | if (descriptor == "Att::DCM::1-2") { return static_cast<double>(attitudeOutputs->dcm(1, 2)); } |
| 1440 |
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954 | if (descriptor == "Att::DCM::2-0") { return static_cast<double>(attitudeOutputs->dcm(2, 0)); } |
| 1441 |
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954 | if (descriptor == "Att::DCM::2-1") { return static_cast<double>(attitudeOutputs->dcm(2, 1)); } |
| 1442 |
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954 | if (descriptor == "Att::DCM::2-2") { return static_cast<double>(attitudeOutputs->dcm(2, 2)); } |
| 1443 |
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954 | if (descriptor == "Att::MagNed::N [Gauss]") { return static_cast<double>(attitudeOutputs->magNed(0)); } |
| 1444 |
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954 | if (descriptor == "Att::MagNed::E [Gauss]") { return static_cast<double>(attitudeOutputs->magNed(1)); } |
| 1445 |
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954 | if (descriptor == "Att::MagNed::D [Gauss]") { return static_cast<double>(attitudeOutputs->magNed(2)); } |
| 1446 |
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954 | if (descriptor == "Att::AccelNed::N [m/s^2]") { return static_cast<double>(attitudeOutputs->accelNed(0)); } |
| 1447 |
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954 | if (descriptor == "Att::AccelNed::E [m/s^2]") { return static_cast<double>(attitudeOutputs->accelNed(1)); } |
| 1448 |
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954 | if (descriptor == "Att::AccelNed::D [m/s^2]") { return static_cast<double>(attitudeOutputs->accelNed(2)); } |
| 1449 |
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954 | if (descriptor == "Att::LinearAccelBody::X [m/s^2]") { return static_cast<double>(attitudeOutputs->linearAccelBody(0)); } |
| 1450 |
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954 | if (descriptor == "Att::LinearAccelBody::Y [m/s^2]") { return static_cast<double>(attitudeOutputs->linearAccelBody(1)); } |
| 1451 |
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954 | if (descriptor == "Att::LinearAccelBody::Z [m/s^2]") { return static_cast<double>(attitudeOutputs->linearAccelBody(2)); } |
| 1452 |
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954 | if (descriptor == "Att::LinearAccelNed::N [m/s^2]") { return static_cast<double>(attitudeOutputs->linearAccelNed(0)); } |
| 1453 |
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954 | if (descriptor == "Att::LinearAccelNed::E [m/s^2]") { return static_cast<double>(attitudeOutputs->linearAccelNed(1)); } |
| 1454 |
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954 | if (descriptor == "Att::LinearAccelNed::D [m/s^2]") { return static_cast<double>(attitudeOutputs->linearAccelNed(2)); } |
| 1455 |
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954 | if (descriptor == "Att::YprU::Y [deg]") { return static_cast<double>(attitudeOutputs->yprU(0)); } |
| 1456 |
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924 | if (descriptor == "Att::YprU::P [deg]") { return static_cast<double>(attitudeOutputs->yprU(1)); } |
| 1457 |
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|
894 | if (descriptor == "Att::YprU::R [deg]") { return static_cast<double>(attitudeOutputs->yprU(2)); } |
| 1458 | } | ||
| 1459 | // Group 6 (INS) | ||
| 1460 |
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864 | if (insOutputs) |
| 1461 | { | ||
| 1462 |
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864 | if (descriptor == "INS::InsStatus::Mode") { return static_cast<double>(insOutputs->insStatus.mode()); } |
| 1463 |
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852 | if (descriptor == "INS::InsStatus::GpsFix") { return static_cast<double>(insOutputs->insStatus.gpsFix()); } |
| 1464 |
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840 | if (descriptor == "INS::InsStatus::Error::IMU") { return static_cast<double>(insOutputs->insStatus.errorIMU()); } |
| 1465 |
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828 | if (descriptor == "INS::InsStatus::Error::MagPres") { return static_cast<double>(insOutputs->insStatus.errorMagPres()); } |
| 1466 |
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816 | if (descriptor == "INS::InsStatus::Error::GNSS") { return static_cast<double>(insOutputs->insStatus.errorGnss()); } |
| 1467 |
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804 | if (descriptor == "INS::InsStatus::GpsHeadingIns") { return static_cast<double>(insOutputs->insStatus.gpsHeadingIns()); } |
| 1468 |
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|
792 | if (descriptor == "INS::InsStatus::GpsCompass") { return static_cast<double>(insOutputs->insStatus.gpsCompass()); } |
| 1469 |
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780 | if (descriptor == "INS::PosLla::latitude [deg]") { return static_cast<double>(insOutputs->posLla(0)); } |
| 1470 |
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768 | if (descriptor == "INS::PosLla::longitude [deg]") { return static_cast<double>(insOutputs->posLla(1)); } |
| 1471 |
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756 | if (descriptor == "INS::PosLla::altitude [m]") { return static_cast<double>(insOutputs->posLla(2)); } |
| 1472 |
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744 | if (descriptor == "INS::PosEcef::X [m]") { return static_cast<double>(insOutputs->posEcef(0)); } |
| 1473 |
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732 | if (descriptor == "INS::PosEcef::Y [m]") { return static_cast<double>(insOutputs->posEcef(1)); } |
| 1474 |
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720 | if (descriptor == "INS::PosEcef::Z [m]") { return static_cast<double>(insOutputs->posEcef(2)); } |
| 1475 |
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708 | if (descriptor == "INS::VelBody::X [m/s]") { return static_cast<double>(insOutputs->velBody(0)); } |
| 1476 |
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696 | if (descriptor == "INS::VelBody::Y [m/s]") { return static_cast<double>(insOutputs->velBody(1)); } |
| 1477 |
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684 | if (descriptor == "INS::VelBody::Z [m/s]") { return static_cast<double>(insOutputs->velBody(2)); } |
| 1478 |
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672 | if (descriptor == "INS::VelNed::N [m/s]") { return static_cast<double>(insOutputs->velNed(0)); } |
| 1479 |
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660 | if (descriptor == "INS::VelNed::E [m/s]") { return static_cast<double>(insOutputs->velNed(1)); } |
| 1480 |
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648 | if (descriptor == "INS::VelNed::D [m/s]") { return static_cast<double>(insOutputs->velNed(2)); } |
| 1481 |
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636 | if (descriptor == "INS::VelEcef::X [m/s]") { return static_cast<double>(insOutputs->velEcef(0)); } |
| 1482 |
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624 | if (descriptor == "INS::VelEcef::Y [m/s]") { return static_cast<double>(insOutputs->velEcef(1)); } |
| 1483 |
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612 | if (descriptor == "INS::VelEcef::Z [m/s]") { return static_cast<double>(insOutputs->velEcef(2)); } |
| 1484 |
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600 | if (descriptor == "INS::MagEcef::X [Gauss]") { return static_cast<double>(insOutputs->magEcef(0)); } |
| 1485 |
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588 | if (descriptor == "INS::MagEcef::Y [Gauss]") { return static_cast<double>(insOutputs->magEcef(1)); } |
| 1486 |
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576 | if (descriptor == "INS::MagEcef::Z [Gauss]") { return static_cast<double>(insOutputs->magEcef(2)); } |
| 1487 |
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564 | if (descriptor == "INS::AccelEcef::X [m/s^2]") { return static_cast<double>(insOutputs->accelEcef(0)); } |
| 1488 |
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552 | if (descriptor == "INS::AccelEcef::Y [m/s^2]") { return static_cast<double>(insOutputs->accelEcef(1)); } |
| 1489 |
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540 | if (descriptor == "INS::AccelEcef::Z [m/s^2]") { return static_cast<double>(insOutputs->accelEcef(2)); } |
| 1490 |
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528 | if (descriptor == "INS::LinearAccelEcef::X [m/s^2]") { return static_cast<double>(insOutputs->linearAccelEcef(0)); } |
| 1491 |
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516 | if (descriptor == "INS::LinearAccelEcef::Y [m/s^2]") { return static_cast<double>(insOutputs->linearAccelEcef(1)); } |
| 1492 |
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504 | if (descriptor == "INS::LinearAccelEcef::Z [m/s^2]") { return static_cast<double>(insOutputs->linearAccelEcef(2)); } |
| 1493 |
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492 | if (descriptor == "INS::PosU [m]") { return static_cast<double>(insOutputs->posU); } |
| 1494 |
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480 | if (descriptor == "INS::VelU [m/s]") { return static_cast<double>(insOutputs->velU); } |
| 1495 | } | ||
| 1496 | // Group 7 (GNSS2) | ||
| 1497 |
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468 | if (gnss2Outputs) |
| 1498 | { | ||
| 1499 |
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468 | if (descriptor == "GNSS2::UTC::year") { return static_cast<double>(gnss2Outputs->timeUtc.year); } |
| 1500 |
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456 | if (descriptor == "GNSS2::UTC::month") { return static_cast<double>(gnss2Outputs->timeUtc.month); } |
| 1501 |
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444 | if (descriptor == "GNSS2::UTC::day") { return static_cast<double>(gnss2Outputs->timeUtc.day); } |
| 1502 |
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432 | if (descriptor == "GNSS2::UTC::hour") { return static_cast<double>(gnss2Outputs->timeUtc.hour); } |
| 1503 |
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420 | if (descriptor == "GNSS2::UTC::min") { return static_cast<double>(gnss2Outputs->timeUtc.min); } |
| 1504 |
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408 | if (descriptor == "GNSS2::UTC::sec") { return static_cast<double>(gnss2Outputs->timeUtc.sec); } |
| 1505 |
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396 | if (descriptor == "GNSS2::UTC::ms") { return static_cast<double>(gnss2Outputs->timeUtc.ms); } |
| 1506 |
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384 | if (descriptor == "GNSS2::Tow [ns]") { return static_cast<double>(gnss2Outputs->tow); } |
| 1507 |
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372 | if (descriptor == "GNSS2::Week") { return static_cast<double>(gnss2Outputs->week); } |
| 1508 |
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360 | if (descriptor == "GNSS2::NumSats") { return static_cast<double>(gnss2Outputs->numSats); } |
| 1509 |
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348 | if (descriptor == "GNSS2::Fix") { return static_cast<double>(gnss2Outputs->fix); } |
| 1510 |
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336 | if (descriptor == "GNSS2::PosLla::latitude [deg]") { return static_cast<double>(gnss2Outputs->posLla(0)); } |
| 1511 |
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324 | if (descriptor == "GNSS2::PosLla::longitude [deg]") { return static_cast<double>(gnss2Outputs->posLla(1)); } |
| 1512 |
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312 | if (descriptor == "GNSS2::PosLla::altitude [m]") { return static_cast<double>(gnss2Outputs->posLla(2)); } |
| 1513 |
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300 | if (descriptor == "GNSS2::PosEcef::X [m]") { return static_cast<double>(gnss2Outputs->posEcef(0)); } |
| 1514 |
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288 | if (descriptor == "GNSS2::PosEcef::Y [m]") { return static_cast<double>(gnss2Outputs->posEcef(1)); } |
| 1515 |
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276 | if (descriptor == "GNSS2::PosEcef::Z [m]") { return static_cast<double>(gnss2Outputs->posEcef(2)); } |
| 1516 |
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264 | if (descriptor == "GNSS2::VelNed::N [m/s]") { return static_cast<double>(gnss2Outputs->velNed(0)); } |
| 1517 |
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252 | if (descriptor == "GNSS2::VelNed::E [m/s]") { return static_cast<double>(gnss2Outputs->velNed(1)); } |
| 1518 |
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240 | if (descriptor == "GNSS2::VelNed::D [m/s]") { return static_cast<double>(gnss2Outputs->velNed(2)); } |
| 1519 |
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228 | if (descriptor == "GNSS2::VelEcef::X [m/s]") { return static_cast<double>(gnss2Outputs->velEcef(0)); } |
| 1520 |
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216 | if (descriptor == "GNSS2::VelEcef::Y [m/s]") { return static_cast<double>(gnss2Outputs->velEcef(1)); } |
| 1521 |
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204 | if (descriptor == "GNSS2::VelEcef::Z [m/s]") { return static_cast<double>(gnss2Outputs->velEcef(2)); } |
| 1522 |
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192 | if (descriptor == "GNSS2::PosU::N [m]") { return static_cast<double>(gnss2Outputs->posU(0)); } |
| 1523 |
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180 | if (descriptor == "GNSS2::PosU::E [m]") { return static_cast<double>(gnss2Outputs->posU(1)); } |
| 1524 |
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168 | if (descriptor == "GNSS2::PosU::D [m]") { return static_cast<double>(gnss2Outputs->posU(2)); } |
| 1525 |
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156 | if (descriptor == "GNSS2::VelU [m/s]") { return static_cast<double>(gnss2Outputs->velU); } |
| 1526 |
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144 | if (descriptor == "GNSS2::TimeU [s]") { return static_cast<double>(gnss2Outputs->timeU); } |
| 1527 |
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132 | if (descriptor == "GNSS2::TimeInfo::Status::timeOk") { return static_cast<double>(gnss2Outputs->timeInfo.status.timeOk()); } |
| 1528 |
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120 | if (descriptor == "GNSS2::TimeInfo::Status::dateOk") { return static_cast<double>(gnss2Outputs->timeInfo.status.dateOk()); } |
| 1529 |
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108 | if (descriptor == "GNSS2::TimeInfo::Status::utcTimeValid") { return static_cast<double>(gnss2Outputs->timeInfo.status.utcTimeValid()); } |
| 1530 |
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96 | if (descriptor == "GNSS2::TimeInfo::LeapSeconds") { return static_cast<double>(gnss2Outputs->timeInfo.leapSeconds); } |
| 1531 |
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84 | if (descriptor == "GNSS2::DOP::g") { return static_cast<double>(gnss2Outputs->dop.gDop); } |
| 1532 |
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|
72 | if (descriptor == "GNSS2::DOP::p") { return static_cast<double>(gnss2Outputs->dop.pDop); } |
| 1533 |
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|
60 | if (descriptor == "GNSS2::DOP::t") { return static_cast<double>(gnss2Outputs->dop.tDop); } |
| 1534 |
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|
48 | if (descriptor == "GNSS2::DOP::v") { return static_cast<double>(gnss2Outputs->dop.vDop); } |
| 1535 |
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36 | if (descriptor == "GNSS2::DOP::h") { return static_cast<double>(gnss2Outputs->dop.hDop); } |
| 1536 |
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24 | if (descriptor == "GNSS2::DOP::n") { return static_cast<double>(gnss2Outputs->dop.nDop); } |
| 1537 |
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12 | if (descriptor == "GNSS2::DOP::e") { return static_cast<double>(gnss2Outputs->dop.eDop); } |
| 1538 | ✗ | if (descriptor == "GNSS2::SatInfo::NumSats") { return static_cast<double>(gnss2Outputs->satInfo.numSats); } | |
| 1539 | ✗ | for (auto& satellite : gnss2Outputs->satInfo.satellites) | |
| 1540 | { | ||
| 1541 | ✗ | SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId)); | |
| 1542 | ✗ | if (descriptor == fmt::format("GNSS2::SatInfo::{} - flag Healthy", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Healthy) ? 1 : 0); } | |
| 1543 | ✗ | if (descriptor == fmt::format("GNSS2::SatInfo::{} - flag Almanac", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Almanac) ? 1 : 0); } | |
| 1544 | ✗ | if (descriptor == fmt::format("GNSS2::SatInfo::{} - flag Ephemeris", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Ephemeris) ? 1 : 0); } | |
| 1545 | ✗ | if (descriptor == fmt::format("GNSS2::SatInfo::{} - flag DifferentialCorrection", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::DifferentialCorrection) ? 1 : 0); } | |
| 1546 | ✗ | if (descriptor == fmt::format("GNSS2::SatInfo::{} - flag UsedForNavigation", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForNavigation) ? 1 : 0); } | |
| 1547 | ✗ | if (descriptor == fmt::format("GNSS2::SatInfo::{} - flag AzimuthElevationValid", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::AzimuthElevationValid) ? 1 : 0); } | |
| 1548 | ✗ | if (descriptor == fmt::format("GNSS2::SatInfo::{} - flag UsedForRTK", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForRTK) ? 1 : 0); } | |
| 1549 | ✗ | if (descriptor == fmt::format("GNSS2::SatInfo::{} - cno", satId)) { return static_cast<double>(satellite.cno); } | |
| 1550 | ✗ | if (descriptor == fmt::format("GNSS2::SatInfo::{} - qi", satId)) { return static_cast<double>(satellite.qi); } | |
| 1551 | ✗ | if (descriptor == fmt::format("GNSS2::SatInfo::{} - el", satId)) { return static_cast<double>(satellite.el); } | |
| 1552 | ✗ | if (descriptor == fmt::format("GNSS2::SatInfo::{} - az", satId)) { return static_cast<double>(satellite.az); } | |
| 1553 | } | ||
| 1554 | ✗ | if (descriptor == "GNSS2::RawMeas::Tow [s]") { return gnss2Outputs->raw.tow; } | |
| 1555 | ✗ | if (descriptor == "GNSS2::RawMeas::Week") { return static_cast<double>(gnss2Outputs->raw.week); } | |
| 1556 | ✗ | if (descriptor == "GNSS2::RawMeas::NumSats") { return static_cast<double>(gnss2Outputs->raw.numSats); } | |
| 1557 | ✗ | for (auto& satellite : gnss2Outputs->raw.satellites) | |
| 1558 | { | ||
| 1559 | ✗ | SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId)); | |
| 1560 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - freq", satId)) { return static_cast<double>(satellite.freq); } | |
| 1561 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - chan", satId)) { return static_cast<double>(satellite.chan); } | |
| 1562 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - slot", satId)) { return static_cast<double>(satellite.slot); } | |
| 1563 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - cno", satId)) { return static_cast<double>(satellite.cno); } | |
| 1564 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag Searching", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Searching) ? 1 : 0); } | |
| 1565 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag Tracking", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Tracking) ? 1 : 0); } | |
| 1566 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag TimeValid", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::TimeValid) ? 1 : 0); } | |
| 1567 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag CodeLock", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::CodeLock) ? 1 : 0); } | |
| 1568 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag PhaseLock", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseLock) ? 1 : 0); } | |
| 1569 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag PhaseHalfAmbiguity", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfAmbiguity) ? 1 : 0); } | |
| 1570 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag PhaseHalfSub", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfSub) ? 1 : 0); } | |
| 1571 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag PhaseSlip", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseSlip) ? 1 : 0); } | |
| 1572 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag PseudorangeSmoothed", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PseudorangeSmoothed) ? 1 : 0); } | |
| 1573 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - pr", satId)) { return satellite.pr; } | |
| 1574 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - cp", satId)) { return satellite.cp; } | |
| 1575 | ✗ | if (descriptor == fmt::format("GNSS2::RawMeas::{} - dp", satId)) { return static_cast<double>(satellite.dp); } | |
| 1576 | } | ||
| 1577 | } | ||
| 1578 | |||
| 1579 | ✗ | return std::nullopt; | |
| 1580 | } | ||
| 1581 | |||
| 1582 | /// @brief Returns a vector of data descriptors and values for the dynamic data | ||
| 1583 | ✗ | [[nodiscard]] std::vector<std::pair<std::string, double>> getDynamicData() const override | |
| 1584 | { | ||
| 1585 | ✗ | std::vector<std::pair<std::string, double>> dynData; | |
| 1586 | |||
| 1587 | // Group 2 (Time) | ||
| 1588 | ✗ | if (timeOutputs) | |
| 1589 | { | ||
| 1590 | ✗ | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP) | |
| 1591 | { | ||
| 1592 | ✗ | dynData.emplace_back("Time::TimeStartup [ns]", static_cast<double>(timeOutputs->timeStartup)); | |
| 1593 | } | ||
| 1594 | ✗ | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPS) | |
| 1595 | { | ||
| 1596 | ✗ | dynData.emplace_back("Time::TimeGps [ns]", static_cast<double>(timeOutputs->timeGps)); | |
| 1597 | } | ||
| 1598 | ✗ | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW) | |
| 1599 | { | ||
| 1600 | ✗ | dynData.emplace_back("Time::GpsTow [ns]", static_cast<double>(timeOutputs->gpsTow)); | |
| 1601 | } | ||
| 1602 | ✗ | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK) | |
| 1603 | { | ||
| 1604 | ✗ | dynData.emplace_back("Time::GpsWeek", static_cast<double>(timeOutputs->gpsWeek)); | |
| 1605 | } | ||
| 1606 | ✗ | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESYNCIN) | |
| 1607 | { | ||
| 1608 | ✗ | dynData.emplace_back("Time::TimeSyncIn [ns]", static_cast<double>(timeOutputs->timeSyncIn)); | |
| 1609 | } | ||
| 1610 | ✗ | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPSPPS) | |
| 1611 | { | ||
| 1612 | ✗ | dynData.emplace_back("Time::TimeGpsPps [ns]", static_cast<double>(timeOutputs->timePPS)); | |
| 1613 | } | ||
| 1614 | ✗ | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC) | |
| 1615 | { | ||
| 1616 | ✗ | dynData.emplace_back("Time::TimeUTC::year", static_cast<double>(timeOutputs->timeUtc.year)); | |
| 1617 | ✗ | dynData.emplace_back("Time::TimeUTC::month", static_cast<double>(timeOutputs->timeUtc.month)); | |
| 1618 | ✗ | dynData.emplace_back("Time::TimeUTC::day", static_cast<double>(timeOutputs->timeUtc.day)); | |
| 1619 | ✗ | dynData.emplace_back("Time::TimeUTC::hour", static_cast<double>(timeOutputs->timeUtc.hour)); | |
| 1620 | ✗ | dynData.emplace_back("Time::TimeUTC::min", static_cast<double>(timeOutputs->timeUtc.min)); | |
| 1621 | ✗ | dynData.emplace_back("Time::TimeUTC::sec", static_cast<double>(timeOutputs->timeUtc.sec)); | |
| 1622 | ✗ | dynData.emplace_back("Time::TimeUTC::ms", static_cast<double>(timeOutputs->timeUtc.ms)); | |
| 1623 | } | ||
| 1624 | ✗ | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCINCNT) | |
| 1625 | { | ||
| 1626 | ✗ | dynData.emplace_back("Time::SyncInCnt", static_cast<double>(timeOutputs->syncInCnt)); | |
| 1627 | } | ||
| 1628 | ✗ | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCOUTCNT) | |
| 1629 | { | ||
| 1630 | ✗ | dynData.emplace_back("Time::SyncOutCnt", static_cast<double>(timeOutputs->syncOutCnt)); | |
| 1631 | } | ||
| 1632 | ✗ | if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS) | |
| 1633 | { | ||
| 1634 | ✗ | dynData.emplace_back("Time::TimeStatus::timeOk", static_cast<double>(timeOutputs->timeStatus.timeOk())); | |
| 1635 | ✗ | dynData.emplace_back("Time::TimeStatus::dateOk", static_cast<double>(timeOutputs->timeStatus.dateOk())); | |
| 1636 | ✗ | dynData.emplace_back("Time::TimeStatus::utcTimeValid", static_cast<double>(timeOutputs->timeStatus.utcTimeValid())); | |
| 1637 | } | ||
| 1638 | } | ||
| 1639 | // Group 3 (IMU) | ||
| 1640 | ✗ | if (imuOutputs) | |
| 1641 | { | ||
| 1642 | ✗ | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_IMUSTATUS) | |
| 1643 | { | ||
| 1644 | ✗ | dynData.emplace_back("IMU::ImuStatus", static_cast<double>(imuOutputs->imuStatus)); | |
| 1645 | } | ||
| 1646 | ✗ | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG) | |
| 1647 | { | ||
| 1648 | ✗ | dynData.emplace_back("IMU::UncompMag::X [Gauss]", static_cast<double>(imuOutputs->uncompMag(0))); | |
| 1649 | ✗ | dynData.emplace_back("IMU::UncompMag::Y [Gauss]", static_cast<double>(imuOutputs->uncompMag(1))); | |
| 1650 | ✗ | dynData.emplace_back("IMU::UncompMag::Z [Gauss]", static_cast<double>(imuOutputs->uncompMag(2))); | |
| 1651 | } | ||
| 1652 | ✗ | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL) | |
| 1653 | { | ||
| 1654 | ✗ | dynData.emplace_back("IMU::UncompAccel::X [m/s^2]", static_cast<double>(imuOutputs->uncompAccel(0))); | |
| 1655 | ✗ | dynData.emplace_back("IMU::UncompAccel::Y [m/s^2]", static_cast<double>(imuOutputs->uncompAccel(1))); | |
| 1656 | ✗ | dynData.emplace_back("IMU::UncompAccel::Z [m/s^2]", static_cast<double>(imuOutputs->uncompAccel(2))); | |
| 1657 | } | ||
| 1658 | ✗ | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO) | |
| 1659 | { | ||
| 1660 | ✗ | dynData.emplace_back("IMU::UncompGyro::X [rad/s]", static_cast<double>(imuOutputs->uncompGyro(0))); | |
| 1661 | ✗ | dynData.emplace_back("IMU::UncompGyro::Y [rad/s]", static_cast<double>(imuOutputs->uncompGyro(1))); | |
| 1662 | ✗ | dynData.emplace_back("IMU::UncompGyro::Z [rad/s]", static_cast<double>(imuOutputs->uncompGyro(2))); | |
| 1663 | } | ||
| 1664 | ✗ | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP) | |
| 1665 | { | ||
| 1666 | ✗ | dynData.emplace_back("IMU::Temp [Celsius]", static_cast<double>(imuOutputs->temp)); | |
| 1667 | } | ||
| 1668 | ✗ | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_PRES) | |
| 1669 | { | ||
| 1670 | ✗ | dynData.emplace_back("IMU::Pres [kPa]", static_cast<double>(imuOutputs->pres)); | |
| 1671 | } | ||
| 1672 | ✗ | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA) | |
| 1673 | { | ||
| 1674 | ✗ | dynData.emplace_back("IMU::DeltaTime [s]", static_cast<double>(imuOutputs->deltaTime)); | |
| 1675 | ✗ | dynData.emplace_back("IMU::DeltaTheta::X [deg]", static_cast<double>(imuOutputs->deltaTheta(0))); | |
| 1676 | ✗ | dynData.emplace_back("IMU::DeltaTheta::Y [deg]", static_cast<double>(imuOutputs->deltaTheta(1))); | |
| 1677 | ✗ | dynData.emplace_back("IMU::DeltaTheta::Z [deg]", static_cast<double>(imuOutputs->deltaTheta(2))); | |
| 1678 | } | ||
| 1679 | ✗ | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL) | |
| 1680 | { | ||
| 1681 | ✗ | dynData.emplace_back("IMU::DeltaVel::X [m/s]", static_cast<double>(imuOutputs->deltaV(0))); | |
| 1682 | ✗ | dynData.emplace_back("IMU::DeltaVel::Y [m/s]", static_cast<double>(imuOutputs->deltaV(1))); | |
| 1683 | ✗ | dynData.emplace_back("IMU::DeltaVel::Z [m/s]", static_cast<double>(imuOutputs->deltaV(2))); | |
| 1684 | } | ||
| 1685 | ✗ | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG) | |
| 1686 | { | ||
| 1687 | ✗ | dynData.emplace_back("IMU::Mag::X [Gauss]", static_cast<double>(imuOutputs->mag(0))); | |
| 1688 | ✗ | dynData.emplace_back("IMU::Mag::Y [Gauss]", static_cast<double>(imuOutputs->mag(1))); | |
| 1689 | ✗ | dynData.emplace_back("IMU::Mag::Z [Gauss]", static_cast<double>(imuOutputs->mag(2))); | |
| 1690 | } | ||
| 1691 | ✗ | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL) | |
| 1692 | { | ||
| 1693 | ✗ | dynData.emplace_back("IMU::Accel::X [m/s^2]", static_cast<double>(imuOutputs->accel(0))); | |
| 1694 | ✗ | dynData.emplace_back("IMU::Accel::Y [m/s^2]", static_cast<double>(imuOutputs->accel(1))); | |
| 1695 | ✗ | dynData.emplace_back("IMU::Accel::Z [m/s^2]", static_cast<double>(imuOutputs->accel(2))); | |
| 1696 | } | ||
| 1697 | ✗ | if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE) | |
| 1698 | { | ||
| 1699 | ✗ | dynData.emplace_back("IMU::AngularRate::X [rad/s]", static_cast<double>(imuOutputs->angularRate(0))); | |
| 1700 | ✗ | dynData.emplace_back("IMU::AngularRate::Y [rad/s]", static_cast<double>(imuOutputs->angularRate(1))); | |
| 1701 | ✗ | dynData.emplace_back("IMU::AngularRate::Z [rad/s]", static_cast<double>(imuOutputs->angularRate(2))); | |
| 1702 | } | ||
| 1703 | } | ||
| 1704 | |||
| 1705 | // Group 4 (GNSS1) | ||
| 1706 | ✗ | if (gnss1Outputs) | |
| 1707 | { | ||
| 1708 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC) | |
| 1709 | { | ||
| 1710 | ✗ | dynData.emplace_back("GNSS1::UTC::year", static_cast<double>(gnss1Outputs->timeUtc.year)); | |
| 1711 | ✗ | dynData.emplace_back("GNSS1::UTC::month", static_cast<double>(gnss1Outputs->timeUtc.month)); | |
| 1712 | ✗ | dynData.emplace_back("GNSS1::UTC::day", static_cast<double>(gnss1Outputs->timeUtc.day)); | |
| 1713 | ✗ | dynData.emplace_back("GNSS1::UTC::hour", static_cast<double>(gnss1Outputs->timeUtc.hour)); | |
| 1714 | ✗ | dynData.emplace_back("GNSS1::UTC::min", static_cast<double>(gnss1Outputs->timeUtc.min)); | |
| 1715 | ✗ | dynData.emplace_back("GNSS1::UTC::sec", static_cast<double>(gnss1Outputs->timeUtc.sec)); | |
| 1716 | ✗ | dynData.emplace_back("GNSS1::UTC::ms", static_cast<double>(gnss1Outputs->timeUtc.ms)); | |
| 1717 | } | ||
| 1718 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW) | |
| 1719 | { | ||
| 1720 | ✗ | dynData.emplace_back("GNSS1::Tow [ns]", static_cast<double>(gnss1Outputs->tow)); | |
| 1721 | } | ||
| 1722 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK) | |
| 1723 | { | ||
| 1724 | ✗ | dynData.emplace_back("GNSS1::Week", static_cast<double>(gnss1Outputs->week)); | |
| 1725 | } | ||
| 1726 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS) | |
| 1727 | { | ||
| 1728 | ✗ | dynData.emplace_back("GNSS1::NumSats", static_cast<double>(gnss1Outputs->numSats)); | |
| 1729 | } | ||
| 1730 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX) | |
| 1731 | { | ||
| 1732 | ✗ | dynData.emplace_back("GNSS1::Fix", static_cast<double>(gnss1Outputs->fix)); | |
| 1733 | } | ||
| 1734 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA) | |
| 1735 | { | ||
| 1736 | ✗ | dynData.emplace_back("GNSS1::PosLla::latitude [deg]", static_cast<double>(gnss1Outputs->posLla(0))); | |
| 1737 | ✗ | dynData.emplace_back("GNSS1::PosLla::longitude [deg]", static_cast<double>(gnss1Outputs->posLla(1))); | |
| 1738 | ✗ | dynData.emplace_back("GNSS1::PosLla::altitude [m]", static_cast<double>(gnss1Outputs->posLla(2))); | |
| 1739 | } | ||
| 1740 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF) | |
| 1741 | { | ||
| 1742 | ✗ | dynData.emplace_back("GNSS1::PosEcef::X [m]", static_cast<double>(gnss1Outputs->posEcef(0))); | |
| 1743 | ✗ | dynData.emplace_back("GNSS1::PosEcef::Y [m]", static_cast<double>(gnss1Outputs->posEcef(1))); | |
| 1744 | ✗ | dynData.emplace_back("GNSS1::PosEcef::Z [m]", static_cast<double>(gnss1Outputs->posEcef(2))); | |
| 1745 | } | ||
| 1746 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED) | |
| 1747 | { | ||
| 1748 | ✗ | dynData.emplace_back("GNSS1::VelNed::N [m/s]", static_cast<double>(gnss1Outputs->velNed(0))); | |
| 1749 | ✗ | dynData.emplace_back("GNSS1::VelNed::E [m/s]", static_cast<double>(gnss1Outputs->velNed(1))); | |
| 1750 | ✗ | dynData.emplace_back("GNSS1::VelNed::D [m/s]", static_cast<double>(gnss1Outputs->velNed(2))); | |
| 1751 | } | ||
| 1752 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF) | |
| 1753 | { | ||
| 1754 | ✗ | dynData.emplace_back("GNSS1::VelEcef::X [m/s]", static_cast<double>(gnss1Outputs->velEcef(0))); | |
| 1755 | ✗ | dynData.emplace_back("GNSS1::VelEcef::Y [m/s]", static_cast<double>(gnss1Outputs->velEcef(1))); | |
| 1756 | ✗ | dynData.emplace_back("GNSS1::VelEcef::Z [m/s]", static_cast<double>(gnss1Outputs->velEcef(2))); | |
| 1757 | } | ||
| 1758 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU) | |
| 1759 | { | ||
| 1760 | ✗ | dynData.emplace_back("GNSS1::PosU::N [m]", static_cast<double>(gnss1Outputs->posU(0))); | |
| 1761 | ✗ | dynData.emplace_back("GNSS1::PosU::E [m]", static_cast<double>(gnss1Outputs->posU(1))); | |
| 1762 | ✗ | dynData.emplace_back("GNSS1::PosU::D [m]", static_cast<double>(gnss1Outputs->posU(2))); | |
| 1763 | } | ||
| 1764 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU) | |
| 1765 | { | ||
| 1766 | ✗ | dynData.emplace_back("GNSS1::VelU [m/s]", static_cast<double>(gnss1Outputs->velU)); | |
| 1767 | } | ||
| 1768 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU) | |
| 1769 | { | ||
| 1770 | ✗ | dynData.emplace_back("GNSS1::TimeU [s]", static_cast<double>(gnss1Outputs->timeU)); | |
| 1771 | } | ||
| 1772 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO) | |
| 1773 | { | ||
| 1774 | ✗ | dynData.emplace_back("GNSS1::TimeInfo::Status::timeOk", static_cast<double>(gnss1Outputs->timeInfo.status.timeOk())); | |
| 1775 | ✗ | dynData.emplace_back("GNSS1::TimeInfo::Status::dateOk", static_cast<double>(gnss1Outputs->timeInfo.status.dateOk())); | |
| 1776 | ✗ | dynData.emplace_back("GNSS1::TimeInfo::Status::utcTimeValid", static_cast<double>(gnss1Outputs->timeInfo.status.utcTimeValid())); | |
| 1777 | ✗ | dynData.emplace_back("GNSS1::TimeInfo::LeapSeconds", static_cast<double>(gnss1Outputs->timeInfo.leapSeconds)); | |
| 1778 | } | ||
| 1779 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP) | |
| 1780 | { | ||
| 1781 | ✗ | dynData.emplace_back("GNSS1::DOP::g", static_cast<double>(gnss1Outputs->dop.gDop)); | |
| 1782 | ✗ | dynData.emplace_back("GNSS1::DOP::p", static_cast<double>(gnss1Outputs->dop.pDop)); | |
| 1783 | ✗ | dynData.emplace_back("GNSS1::DOP::t", static_cast<double>(gnss1Outputs->dop.tDop)); | |
| 1784 | ✗ | dynData.emplace_back("GNSS1::DOP::v", static_cast<double>(gnss1Outputs->dop.vDop)); | |
| 1785 | ✗ | dynData.emplace_back("GNSS1::DOP::h", static_cast<double>(gnss1Outputs->dop.hDop)); | |
| 1786 | ✗ | dynData.emplace_back("GNSS1::DOP::n", static_cast<double>(gnss1Outputs->dop.nDop)); | |
| 1787 | ✗ | dynData.emplace_back("GNSS1::DOP::e", static_cast<double>(gnss1Outputs->dop.eDop)); | |
| 1788 | } | ||
| 1789 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO) | |
| 1790 | { | ||
| 1791 | ✗ | dynData.emplace_back("GNSS1::SatInfo::NumSats", static_cast<double>(gnss1Outputs->satInfo.numSats)); | |
| 1792 | ✗ | for (auto& satellite : gnss1Outputs->satInfo.satellites) | |
| 1793 | { | ||
| 1794 | ✗ | SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId)); | |
| 1795 | ✗ | dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - flag Healthy", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Healthy) ? 1 : 0)); | |
| 1796 | ✗ | dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - flag Almanac", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Almanac) ? 1 : 0)); | |
| 1797 | ✗ | dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - flag Ephemeris", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Ephemeris) ? 1 : 0)); | |
| 1798 | ✗ | dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - flag DifferentialCorrection", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::DifferentialCorrection) ? 1 : 0)); | |
| 1799 | ✗ | dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - flag UsedForNavigation", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForNavigation) ? 1 : 0)); | |
| 1800 | ✗ | dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - flag AzimuthElevationValid", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::AzimuthElevationValid) ? 1 : 0)); | |
| 1801 | ✗ | dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - flag UsedForRTK", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForRTK) ? 1 : 0)); | |
| 1802 | ✗ | dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - cno", satId), static_cast<double>(satellite.cno)); | |
| 1803 | ✗ | dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - qi", satId), static_cast<double>(satellite.qi)); | |
| 1804 | ✗ | dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - el", satId), static_cast<double>(satellite.el)); | |
| 1805 | ✗ | dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - az", satId), static_cast<double>(satellite.az)); | |
| 1806 | } | ||
| 1807 | } | ||
| 1808 | ✗ | if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS) | |
| 1809 | { | ||
| 1810 | ✗ | dynData.emplace_back("GNSS1::RawMeas::Tow [s]", gnss1Outputs->raw.tow); | |
| 1811 | ✗ | dynData.emplace_back("GNSS1::RawMeas::Week", static_cast<double>(gnss1Outputs->raw.week)); | |
| 1812 | ✗ | dynData.emplace_back("GNSS1::RawMeas::NumSats", static_cast<double>(gnss1Outputs->raw.numSats)); | |
| 1813 | ✗ | for (auto& satellite : gnss1Outputs->raw.satellites) | |
| 1814 | { | ||
| 1815 | ✗ | SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId)); | |
| 1816 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - freq", satId), static_cast<double>(satellite.freq)); | |
| 1817 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - chan", satId), static_cast<double>(satellite.chan)); | |
| 1818 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - slot", satId), static_cast<double>(satellite.slot)); | |
| 1819 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - cno", satId), static_cast<double>(satellite.cno)); | |
| 1820 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag Searching", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Searching) ? 1 : 0)); | |
| 1821 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag Tracking", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Tracking) ? 1 : 0)); | |
| 1822 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag TimeValid", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::TimeValid) ? 1 : 0)); | |
| 1823 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag CodeLock", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::CodeLock) ? 1 : 0)); | |
| 1824 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseLock", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseLock) ? 1 : 0)); | |
| 1825 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseHalfAmbiguity", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfAmbiguity) ? 1 : 0)); | |
| 1826 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseHalfSub", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfSub) ? 1 : 0)); | |
| 1827 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseSlip", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseSlip) ? 1 : 0)); | |
| 1828 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag PseudorangeSmoothed", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PseudorangeSmoothed) ? 1 : 0)); | |
| 1829 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - pr", satId), satellite.pr); | |
| 1830 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - cp", satId), satellite.cp); | |
| 1831 | ✗ | dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - dp", satId), static_cast<double>(satellite.dp)); | |
| 1832 | } | ||
| 1833 | } | ||
| 1834 | } | ||
| 1835 | |||
| 1836 | // Group 5 (Attitude) | ||
| 1837 | ✗ | if (attitudeOutputs) | |
| 1838 | { | ||
| 1839 | ✗ | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS) | |
| 1840 | { | ||
| 1841 | ✗ | dynData.emplace_back("Att::VpeStatus::AttitudeQuality", static_cast<double>(attitudeOutputs->vpeStatus.attitudeQuality())); | |
| 1842 | ✗ | dynData.emplace_back("Att::VpeStatus::GyroSaturation", static_cast<double>(attitudeOutputs->vpeStatus.gyroSaturation())); | |
| 1843 | ✗ | dynData.emplace_back("Att::VpeStatus::GyroSaturationRecovery", static_cast<double>(attitudeOutputs->vpeStatus.gyroSaturationRecovery())); | |
| 1844 | ✗ | dynData.emplace_back("Att::VpeStatus::MagDisturbance", static_cast<double>(attitudeOutputs->vpeStatus.magDisturbance())); | |
| 1845 | ✗ | dynData.emplace_back("Att::VpeStatus::MagSaturation", static_cast<double>(attitudeOutputs->vpeStatus.magSaturation())); | |
| 1846 | ✗ | dynData.emplace_back("Att::VpeStatus::AccDisturbance", static_cast<double>(attitudeOutputs->vpeStatus.accDisturbance())); | |
| 1847 | ✗ | dynData.emplace_back("Att::VpeStatus::AccSaturation", static_cast<double>(attitudeOutputs->vpeStatus.accSaturation())); | |
| 1848 | ✗ | dynData.emplace_back("Att::VpeStatus::KnownMagDisturbance", static_cast<double>(attitudeOutputs->vpeStatus.knownMagDisturbance())); | |
| 1849 | ✗ | dynData.emplace_back("Att::VpeStatus::KnownAccelDisturbance", static_cast<double>(attitudeOutputs->vpeStatus.knownAccelDisturbance())); | |
| 1850 | } | ||
| 1851 | ✗ | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL) | |
| 1852 | { | ||
| 1853 | ✗ | dynData.emplace_back("Att::YawPitchRoll::Y [deg]", static_cast<double>(attitudeOutputs->ypr(0))); | |
| 1854 | ✗ | dynData.emplace_back("Att::YawPitchRoll::P [deg]", static_cast<double>(attitudeOutputs->ypr(1))); | |
| 1855 | ✗ | dynData.emplace_back("Att::YawPitchRoll::R [deg]", static_cast<double>(attitudeOutputs->ypr(2))); | |
| 1856 | } | ||
| 1857 | ✗ | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION) | |
| 1858 | { | ||
| 1859 | ✗ | dynData.emplace_back("Att::Quaternion::w", static_cast<double>(attitudeOutputs->qtn.w())); | |
| 1860 | ✗ | dynData.emplace_back("Att::Quaternion::x", static_cast<double>(attitudeOutputs->qtn.x())); | |
| 1861 | ✗ | dynData.emplace_back("Att::Quaternion::y", static_cast<double>(attitudeOutputs->qtn.y())); | |
| 1862 | ✗ | dynData.emplace_back("Att::Quaternion::z", static_cast<double>(attitudeOutputs->qtn.z())); | |
| 1863 | } | ||
| 1864 | ✗ | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM) | |
| 1865 | { | ||
| 1866 | ✗ | dynData.emplace_back("Att::DCM::0-0", static_cast<double>(attitudeOutputs->dcm(0, 0))); | |
| 1867 | ✗ | dynData.emplace_back("Att::DCM::0-1", static_cast<double>(attitudeOutputs->dcm(0, 1))); | |
| 1868 | ✗ | dynData.emplace_back("Att::DCM::0-2", static_cast<double>(attitudeOutputs->dcm(0, 2))); | |
| 1869 | ✗ | dynData.emplace_back("Att::DCM::1-0", static_cast<double>(attitudeOutputs->dcm(1, 0))); | |
| 1870 | ✗ | dynData.emplace_back("Att::DCM::1-1", static_cast<double>(attitudeOutputs->dcm(1, 1))); | |
| 1871 | ✗ | dynData.emplace_back("Att::DCM::1-2", static_cast<double>(attitudeOutputs->dcm(1, 2))); | |
| 1872 | ✗ | dynData.emplace_back("Att::DCM::2-0", static_cast<double>(attitudeOutputs->dcm(2, 0))); | |
| 1873 | ✗ | dynData.emplace_back("Att::DCM::2-1", static_cast<double>(attitudeOutputs->dcm(2, 1))); | |
| 1874 | ✗ | dynData.emplace_back("Att::DCM::2-2", static_cast<double>(attitudeOutputs->dcm(2, 2))); | |
| 1875 | } | ||
| 1876 | ✗ | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED) | |
| 1877 | { | ||
| 1878 | ✗ | dynData.emplace_back("Att::MagNed::N [Gauss]", static_cast<double>(attitudeOutputs->magNed(0))); | |
| 1879 | ✗ | dynData.emplace_back("Att::MagNed::E [Gauss]", static_cast<double>(attitudeOutputs->magNed(1))); | |
| 1880 | ✗ | dynData.emplace_back("Att::MagNed::D [Gauss]", static_cast<double>(attitudeOutputs->magNed(2))); | |
| 1881 | } | ||
| 1882 | ✗ | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED) | |
| 1883 | { | ||
| 1884 | ✗ | dynData.emplace_back("Att::AccelNed::N [m/s^2]", static_cast<double>(attitudeOutputs->accelNed(0))); | |
| 1885 | ✗ | dynData.emplace_back("Att::AccelNed::E [m/s^2]", static_cast<double>(attitudeOutputs->accelNed(1))); | |
| 1886 | ✗ | dynData.emplace_back("Att::AccelNed::D [m/s^2]", static_cast<double>(attitudeOutputs->accelNed(2))); | |
| 1887 | } | ||
| 1888 | ✗ | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY) | |
| 1889 | { | ||
| 1890 | ✗ | dynData.emplace_back("Att::LinearAccelBody::X [m/s^2]", static_cast<double>(attitudeOutputs->linearAccelBody(0))); | |
| 1891 | ✗ | dynData.emplace_back("Att::LinearAccelBody::Y [m/s^2]", static_cast<double>(attitudeOutputs->linearAccelBody(1))); | |
| 1892 | ✗ | dynData.emplace_back("Att::LinearAccelBody::Z [m/s^2]", static_cast<double>(attitudeOutputs->linearAccelBody(2))); | |
| 1893 | } | ||
| 1894 | ✗ | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED) | |
| 1895 | { | ||
| 1896 | ✗ | dynData.emplace_back("Att::LinearAccelNed::N [m/s^2]", static_cast<double>(attitudeOutputs->linearAccelNed(0))); | |
| 1897 | ✗ | dynData.emplace_back("Att::LinearAccelNed::E [m/s^2]", static_cast<double>(attitudeOutputs->linearAccelNed(1))); | |
| 1898 | ✗ | dynData.emplace_back("Att::LinearAccelNed::D [m/s^2]", static_cast<double>(attitudeOutputs->linearAccelNed(2))); | |
| 1899 | } | ||
| 1900 | ✗ | if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU) | |
| 1901 | { | ||
| 1902 | ✗ | dynData.emplace_back("Att::YprU::Y [deg]", static_cast<double>(attitudeOutputs->yprU(0))); | |
| 1903 | ✗ | dynData.emplace_back("Att::YprU::P [deg]", static_cast<double>(attitudeOutputs->yprU(1))); | |
| 1904 | ✗ | dynData.emplace_back("Att::YprU::R [deg]", static_cast<double>(attitudeOutputs->yprU(2))); | |
| 1905 | } | ||
| 1906 | } | ||
| 1907 | |||
| 1908 | // Group 6 (INS) | ||
| 1909 | ✗ | if (insOutputs) | |
| 1910 | { | ||
| 1911 | ✗ | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS) | |
| 1912 | { | ||
| 1913 | ✗ | dynData.emplace_back("INS::InsStatus::Mode", static_cast<double>(insOutputs->insStatus.mode())); | |
| 1914 | ✗ | dynData.emplace_back("INS::InsStatus::GpsFix", static_cast<double>(insOutputs->insStatus.gpsFix())); | |
| 1915 | ✗ | dynData.emplace_back("INS::InsStatus::Error::IMU", static_cast<double>(insOutputs->insStatus.errorIMU())); | |
| 1916 | ✗ | dynData.emplace_back("INS::InsStatus::Error::MagPres", static_cast<double>(insOutputs->insStatus.errorMagPres())); | |
| 1917 | ✗ | dynData.emplace_back("INS::InsStatus::Error::GNSS", static_cast<double>(insOutputs->insStatus.errorGnss())); | |
| 1918 | ✗ | dynData.emplace_back("INS::InsStatus::GpsHeadingIns", static_cast<double>(insOutputs->insStatus.gpsHeadingIns())); | |
| 1919 | ✗ | dynData.emplace_back("INS::InsStatus::GpsCompass", static_cast<double>(insOutputs->insStatus.gpsCompass())); | |
| 1920 | } | ||
| 1921 | ✗ | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA) | |
| 1922 | { | ||
| 1923 | ✗ | dynData.emplace_back("INS::PosLla::latitude [deg]", static_cast<double>(insOutputs->posLla(0))); | |
| 1924 | ✗ | dynData.emplace_back("INS::PosLla::longitude [deg]", static_cast<double>(insOutputs->posLla(1))); | |
| 1925 | ✗ | dynData.emplace_back("INS::PosLla::altitude [m]", static_cast<double>(insOutputs->posLla(2))); | |
| 1926 | } | ||
| 1927 | ✗ | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF) | |
| 1928 | { | ||
| 1929 | ✗ | dynData.emplace_back("INS::PosEcef::X [m]", static_cast<double>(insOutputs->posEcef(0))); | |
| 1930 | ✗ | dynData.emplace_back("INS::PosEcef::Y [m]", static_cast<double>(insOutputs->posEcef(1))); | |
| 1931 | ✗ | dynData.emplace_back("INS::PosEcef::Z [m]", static_cast<double>(insOutputs->posEcef(2))); | |
| 1932 | } | ||
| 1933 | ✗ | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY) | |
| 1934 | { | ||
| 1935 | ✗ | dynData.emplace_back("INS::VelBody::X [m/s]", static_cast<double>(insOutputs->velBody(0))); | |
| 1936 | ✗ | dynData.emplace_back("INS::VelBody::Y [m/s]", static_cast<double>(insOutputs->velBody(1))); | |
| 1937 | ✗ | dynData.emplace_back("INS::VelBody::Z [m/s]", static_cast<double>(insOutputs->velBody(2))); | |
| 1938 | } | ||
| 1939 | ✗ | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED) | |
| 1940 | { | ||
| 1941 | ✗ | dynData.emplace_back("INS::VelNed::N [m/s]", static_cast<double>(insOutputs->velNed(0))); | |
| 1942 | ✗ | dynData.emplace_back("INS::VelNed::E [m/s]", static_cast<double>(insOutputs->velNed(1))); | |
| 1943 | ✗ | dynData.emplace_back("INS::VelNed::D [m/s]", static_cast<double>(insOutputs->velNed(2))); | |
| 1944 | } | ||
| 1945 | ✗ | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF) | |
| 1946 | { | ||
| 1947 | ✗ | dynData.emplace_back("INS::VelEcef::X [m/s]", static_cast<double>(insOutputs->velEcef(0))); | |
| 1948 | ✗ | dynData.emplace_back("INS::VelEcef::Y [m/s]", static_cast<double>(insOutputs->velEcef(1))); | |
| 1949 | ✗ | dynData.emplace_back("INS::VelEcef::Z [m/s]", static_cast<double>(insOutputs->velEcef(2))); | |
| 1950 | } | ||
| 1951 | ✗ | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF) | |
| 1952 | { | ||
| 1953 | ✗ | dynData.emplace_back("INS::MagEcef::X [Gauss]", static_cast<double>(insOutputs->magEcef(0))); | |
| 1954 | ✗ | dynData.emplace_back("INS::MagEcef::Y [Gauss]", static_cast<double>(insOutputs->magEcef(1))); | |
| 1955 | ✗ | dynData.emplace_back("INS::MagEcef::Z [Gauss]", static_cast<double>(insOutputs->magEcef(2))); | |
| 1956 | } | ||
| 1957 | ✗ | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF) | |
| 1958 | { | ||
| 1959 | ✗ | dynData.emplace_back("INS::AccelEcef::X [m/s^2]", static_cast<double>(insOutputs->accelEcef(0))); | |
| 1960 | ✗ | dynData.emplace_back("INS::AccelEcef::Y [m/s^2]", static_cast<double>(insOutputs->accelEcef(1))); | |
| 1961 | ✗ | dynData.emplace_back("INS::AccelEcef::Z [m/s^2]", static_cast<double>(insOutputs->accelEcef(2))); | |
| 1962 | } | ||
| 1963 | ✗ | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF) | |
| 1964 | { | ||
| 1965 | ✗ | dynData.emplace_back("INS::LinearAccelEcef::X [m/s^2]", static_cast<double>(insOutputs->linearAccelEcef(0))); | |
| 1966 | ✗ | dynData.emplace_back("INS::LinearAccelEcef::Y [m/s^2]", static_cast<double>(insOutputs->linearAccelEcef(1))); | |
| 1967 | ✗ | dynData.emplace_back("INS::LinearAccelEcef::Z [m/s^2]", static_cast<double>(insOutputs->linearAccelEcef(2))); | |
| 1968 | } | ||
| 1969 | ✗ | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSU) | |
| 1970 | { | ||
| 1971 | ✗ | dynData.emplace_back("INS::PosU [m]", static_cast<double>(insOutputs->posU)); | |
| 1972 | } | ||
| 1973 | ✗ | if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELU) | |
| 1974 | { | ||
| 1975 | ✗ | dynData.emplace_back("INS::VelU [m/s]", static_cast<double>(insOutputs->velU)); | |
| 1976 | } | ||
| 1977 | } | ||
| 1978 | |||
| 1979 | // Group 7 (GNSS2) | ||
| 1980 | ✗ | if (gnss2Outputs) | |
| 1981 | { | ||
| 1982 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC) | |
| 1983 | { | ||
| 1984 | ✗ | dynData.emplace_back("GNSS2::UTC::year", static_cast<double>(gnss2Outputs->timeUtc.year)); | |
| 1985 | ✗ | dynData.emplace_back("GNSS2::UTC::month", static_cast<double>(gnss2Outputs->timeUtc.month)); | |
| 1986 | ✗ | dynData.emplace_back("GNSS2::UTC::day", static_cast<double>(gnss2Outputs->timeUtc.day)); | |
| 1987 | ✗ | dynData.emplace_back("GNSS2::UTC::hour", static_cast<double>(gnss2Outputs->timeUtc.hour)); | |
| 1988 | ✗ | dynData.emplace_back("GNSS2::UTC::min", static_cast<double>(gnss2Outputs->timeUtc.min)); | |
| 1989 | ✗ | dynData.emplace_back("GNSS2::UTC::sec", static_cast<double>(gnss2Outputs->timeUtc.sec)); | |
| 1990 | ✗ | dynData.emplace_back("GNSS2::UTC::ms", static_cast<double>(gnss2Outputs->timeUtc.ms)); | |
| 1991 | } | ||
| 1992 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW) | |
| 1993 | { | ||
| 1994 | ✗ | dynData.emplace_back("GNSS2::Tow [ns]", static_cast<double>(gnss2Outputs->tow)); | |
| 1995 | } | ||
| 1996 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK) | |
| 1997 | { | ||
| 1998 | ✗ | dynData.emplace_back("GNSS2::Week", static_cast<double>(gnss2Outputs->week)); | |
| 1999 | } | ||
| 2000 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS) | |
| 2001 | { | ||
| 2002 | ✗ | dynData.emplace_back("GNSS2::NumSats", static_cast<double>(gnss2Outputs->numSats)); | |
| 2003 | } | ||
| 2004 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX) | |
| 2005 | { | ||
| 2006 | ✗ | dynData.emplace_back("GNSS2::Fix", static_cast<double>(gnss2Outputs->fix)); | |
| 2007 | } | ||
| 2008 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA) | |
| 2009 | { | ||
| 2010 | ✗ | dynData.emplace_back("GNSS2::PosLla::latitude [deg]", static_cast<double>(gnss2Outputs->posLla(0))); | |
| 2011 | ✗ | dynData.emplace_back("GNSS2::PosLla::longitude [deg]", static_cast<double>(gnss2Outputs->posLla(1))); | |
| 2012 | ✗ | dynData.emplace_back("GNSS2::PosLla::altitude [m]", static_cast<double>(gnss2Outputs->posLla(2))); | |
| 2013 | } | ||
| 2014 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF) | |
| 2015 | { | ||
| 2016 | ✗ | dynData.emplace_back("GNSS2::PosEcef::X [m]", static_cast<double>(gnss2Outputs->posEcef(0))); | |
| 2017 | ✗ | dynData.emplace_back("GNSS2::PosEcef::Y [m]", static_cast<double>(gnss2Outputs->posEcef(1))); | |
| 2018 | ✗ | dynData.emplace_back("GNSS2::PosEcef::Z [m]", static_cast<double>(gnss2Outputs->posEcef(2))); | |
| 2019 | } | ||
| 2020 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED) | |
| 2021 | { | ||
| 2022 | ✗ | dynData.emplace_back("GNSS2::VelNed::N [m/s]", static_cast<double>(gnss2Outputs->velNed(0))); | |
| 2023 | ✗ | dynData.emplace_back("GNSS2::VelNed::E [m/s]", static_cast<double>(gnss2Outputs->velNed(1))); | |
| 2024 | ✗ | dynData.emplace_back("GNSS2::VelNed::D [m/s]", static_cast<double>(gnss2Outputs->velNed(2))); | |
| 2025 | } | ||
| 2026 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF) | |
| 2027 | { | ||
| 2028 | ✗ | dynData.emplace_back("GNSS2::VelEcef::X [m/s]", static_cast<double>(gnss2Outputs->velEcef(0))); | |
| 2029 | ✗ | dynData.emplace_back("GNSS2::VelEcef::Y [m/s]", static_cast<double>(gnss2Outputs->velEcef(1))); | |
| 2030 | ✗ | dynData.emplace_back("GNSS2::VelEcef::Z [m/s]", static_cast<double>(gnss2Outputs->velEcef(2))); | |
| 2031 | } | ||
| 2032 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU) | |
| 2033 | { | ||
| 2034 | ✗ | dynData.emplace_back("GNSS2::PosU::N [m]", static_cast<double>(gnss2Outputs->posU(0))); | |
| 2035 | ✗ | dynData.emplace_back("GNSS2::PosU::E [m]", static_cast<double>(gnss2Outputs->posU(1))); | |
| 2036 | ✗ | dynData.emplace_back("GNSS2::PosU::D [m]", static_cast<double>(gnss2Outputs->posU(2))); | |
| 2037 | } | ||
| 2038 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU) | |
| 2039 | { | ||
| 2040 | ✗ | dynData.emplace_back("GNSS2::VelU [m/s]", static_cast<double>(gnss2Outputs->velU)); | |
| 2041 | } | ||
| 2042 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU) | |
| 2043 | { | ||
| 2044 | ✗ | dynData.emplace_back("GNSS2::TimeU [s]", static_cast<double>(gnss2Outputs->timeU)); | |
| 2045 | } | ||
| 2046 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO) | |
| 2047 | { | ||
| 2048 | ✗ | dynData.emplace_back("GNSS2::TimeInfo::Status::timeOk", static_cast<double>(gnss2Outputs->timeInfo.status.timeOk())); | |
| 2049 | ✗ | dynData.emplace_back("GNSS2::TimeInfo::Status::dateOk", static_cast<double>(gnss2Outputs->timeInfo.status.dateOk())); | |
| 2050 | ✗ | dynData.emplace_back("GNSS2::TimeInfo::Status::utcTimeValid", static_cast<double>(gnss2Outputs->timeInfo.status.utcTimeValid())); | |
| 2051 | ✗ | dynData.emplace_back("GNSS2::TimeInfo::LeapSeconds", static_cast<double>(gnss2Outputs->timeInfo.leapSeconds)); | |
| 2052 | } | ||
| 2053 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP) | |
| 2054 | { | ||
| 2055 | ✗ | dynData.emplace_back("GNSS2::DOP::g", static_cast<double>(gnss2Outputs->dop.gDop)); | |
| 2056 | ✗ | dynData.emplace_back("GNSS2::DOP::p", static_cast<double>(gnss2Outputs->dop.pDop)); | |
| 2057 | ✗ | dynData.emplace_back("GNSS2::DOP::t", static_cast<double>(gnss2Outputs->dop.tDop)); | |
| 2058 | ✗ | dynData.emplace_back("GNSS2::DOP::v", static_cast<double>(gnss2Outputs->dop.vDop)); | |
| 2059 | ✗ | dynData.emplace_back("GNSS2::DOP::h", static_cast<double>(gnss2Outputs->dop.hDop)); | |
| 2060 | ✗ | dynData.emplace_back("GNSS2::DOP::n", static_cast<double>(gnss2Outputs->dop.nDop)); | |
| 2061 | ✗ | dynData.emplace_back("GNSS2::DOP::e", static_cast<double>(gnss2Outputs->dop.eDop)); | |
| 2062 | } | ||
| 2063 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO) | |
| 2064 | { | ||
| 2065 | ✗ | dynData.emplace_back("GNSS2::SatInfo::NumSats", static_cast<double>(gnss2Outputs->satInfo.numSats)); | |
| 2066 | ✗ | for (auto& satellite : gnss2Outputs->satInfo.satellites) | |
| 2067 | { | ||
| 2068 | ✗ | SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId)); | |
| 2069 | ✗ | dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - flag Healthy", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Healthy) ? 1 : 0)); | |
| 2070 | ✗ | dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - flag Almanac", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Almanac) ? 1 : 0)); | |
| 2071 | ✗ | dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - flag Ephemeris", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Ephemeris) ? 1 : 0)); | |
| 2072 | ✗ | dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - flag DifferentialCorrection", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::DifferentialCorrection) ? 1 : 0)); | |
| 2073 | ✗ | dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - flag UsedForNavigation", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForNavigation) ? 1 : 0)); | |
| 2074 | ✗ | dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - flag AzimuthElevationValid", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::AzimuthElevationValid) ? 1 : 0)); | |
| 2075 | ✗ | dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - flag UsedForRTK", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForRTK) ? 1 : 0)); | |
| 2076 | ✗ | dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - cno", satId), static_cast<double>(satellite.cno)); | |
| 2077 | ✗ | dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - qi", satId), static_cast<double>(satellite.qi)); | |
| 2078 | ✗ | dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - el", satId), static_cast<double>(satellite.el)); | |
| 2079 | ✗ | dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - az", satId), static_cast<double>(satellite.az)); | |
| 2080 | } | ||
| 2081 | } | ||
| 2082 | ✗ | if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS) | |
| 2083 | { | ||
| 2084 | ✗ | dynData.emplace_back("GNSS2::RawMeas::Tow [s]", gnss2Outputs->raw.tow); | |
| 2085 | ✗ | dynData.emplace_back("GNSS2::RawMeas::Week", static_cast<double>(gnss2Outputs->raw.week)); | |
| 2086 | ✗ | dynData.emplace_back("GNSS2::RawMeas::NumSats", static_cast<double>(gnss2Outputs->raw.numSats)); | |
| 2087 | ✗ | for (auto& satellite : gnss2Outputs->raw.satellites) | |
| 2088 | { | ||
| 2089 | ✗ | SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId)); | |
| 2090 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - freq", satId), static_cast<double>(satellite.freq)); | |
| 2091 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - chan", satId), static_cast<double>(satellite.chan)); | |
| 2092 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - slot", satId), static_cast<double>(satellite.slot)); | |
| 2093 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - cno", satId), static_cast<double>(satellite.cno)); | |
| 2094 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag Searching", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Searching) ? 1 : 0)); | |
| 2095 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag Tracking", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Tracking) ? 1 : 0)); | |
| 2096 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag TimeValid", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::TimeValid) ? 1 : 0)); | |
| 2097 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag CodeLock", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::CodeLock) ? 1 : 0)); | |
| 2098 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseLock", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseLock) ? 1 : 0)); | |
| 2099 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseHalfAmbiguity", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfAmbiguity) ? 1 : 0)); | |
| 2100 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseHalfSub", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfSub) ? 1 : 0)); | |
| 2101 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseSlip", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseSlip) ? 1 : 0)); | |
| 2102 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag PseudorangeSmoothed", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PseudorangeSmoothed) ? 1 : 0)); | |
| 2103 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - pr", satId), satellite.pr); | |
| 2104 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - cp", satId), satellite.cp); | |
| 2105 | ✗ | dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - dp", satId), static_cast<double>(satellite.dp)); | |
| 2106 | } | ||
| 2107 | } | ||
| 2108 | } | ||
| 2109 | |||
| 2110 | ✗ | return dynData; | |
| 2111 | ✗ | } | |
| 2112 | |||
| 2113 | // ------------------------------------------ Public members --------------------------------------------- | ||
| 2114 | |||
| 2115 | /// @brief Binary Group 2 - Time Outputs | ||
| 2116 | std::shared_ptr<vendor::vectornav::TimeOutputs> timeOutputs = nullptr; | ||
| 2117 | |||
| 2118 | /// @brief Binary Group 3 - IMU Outputs | ||
| 2119 | std::shared_ptr<vendor::vectornav::ImuOutputs> imuOutputs = nullptr; | ||
| 2120 | |||
| 2121 | /// @brief Binary Group 4 - GNSS1 Outputs | ||
| 2122 | std::shared_ptr<vendor::vectornav::GnssOutputs> gnss1Outputs = nullptr; | ||
| 2123 | |||
| 2124 | /// @brief Binary Group 5 - Attitude Outputs | ||
| 2125 | std::shared_ptr<vendor::vectornav::AttitudeOutputs> attitudeOutputs = nullptr; | ||
| 2126 | |||
| 2127 | /// @brief Binary Group 6 - INS Outputs | ||
| 2128 | std::shared_ptr<vendor::vectornav::InsOutputs> insOutputs = nullptr; | ||
| 2129 | |||
| 2130 | /// @brief Binary Group 7 - GNSS2 Outputs | ||
| 2131 | std::shared_ptr<vendor::vectornav::GnssOutputs> gnss2Outputs = nullptr; | ||
| 2132 | |||
| 2133 | /// Position and rotation information for conversion from platform to body frame | ||
| 2134 | const ImuPos& imuPos; | ||
| 2135 | }; | ||
| 2136 | |||
| 2137 | } // namespace NAV | ||
| 2138 |