INSTINCT Code Coverage Report

Directory: src/
File: NodeData/IMU/VectorNavBinaryOutput.hpp
Date: 2025-02-07 16:54:41
Exec Total Coverage
Lines: 9 634 1.4%
Functions: 4 9 44.4%
Branches: 5 1666 0.3%
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 <memory>
17
18 #include "NodeData/NodeData.hpp"
19 #include "NodeData/IMU/ImuPos.hpp"
20 #include "util/Eigen.hpp"
21
22 #include "util/Vendor/VectorNav/BinaryOutputs/TimeOutputs.hpp"
23 #include "util/Vendor/VectorNav/BinaryOutputs/ImuOutputs.hpp"
24 #include "util/Vendor/VectorNav/BinaryOutputs/GnssOutputs.hpp"
25 #include "util/Vendor/VectorNav/BinaryOutputs/AttitudeOutputs.hpp"
26 #include "util/Vendor/VectorNav/BinaryOutputs/InsOutputs.hpp"
27
28 namespace NAV
29 {
30 /// IMU Observation storage class
31 class VectorNavBinaryOutput : public NodeData
32 {
33 public:
34 /// @brief Constructor
35 /// @param[in] imuPos Reference to the position and rotation info of the Imu
36 28717 explicit VectorNavBinaryOutput(const ImuPos& imuPos)
37 28717 : imuPos(imuPos) {}
38
39 /// @brief Returns the type of the data class
40 /// @return The data type
41 582680 [[nodiscard]] static std::string type()
42 {
43
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 1165360 return "VectorNavBinaryOutput";
44 }
45
46 /// @brief Returns the type of the data class
47 /// @return The data type
48 ✗ [[nodiscard]] std::string getType() const override { return type(); }
49
50 /// @brief Returns the parent types of the data class
51 /// @return The parent data types
52 112 [[nodiscard]] static std::vector<std::string> parentTypes()
53 {
54
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 336 return { NodeData::type() };
55 112 }
56
57 /// @brief Returns a vector of data descriptors
58 6 [[nodiscard]] static std::vector<std::string> GetStaticDataDescriptors()
59 {
60 return {
61 // Group 2 (Time)
62 "Time::TimeStartup [ns]",
63 "Time::TimeGps [ns]",
64 "Time::GpsTow [ns]",
65 "Time::GpsWeek",
66 "Time::TimeSyncIn [ns]",
67 "Time::TimeGpsPps [ns]",
68 "Time::TimeUTC::year",
69 "Time::TimeUTC::month",
70 "Time::TimeUTC::day",
71 "Time::TimeUTC::hour",
72 "Time::TimeUTC::min",
73 "Time::TimeUTC::sec",
74 "Time::TimeUTC::ms",
75 "Time::SyncInCnt",
76 "Time::SyncOutCnt",
77 "Time::TimeStatus::timeOk",
78 "Time::TimeStatus::dateOk",
79 "Time::TimeStatus::utcTimeValid",
80 // Group 3 (IMU)
81 "IMU::ImuStatus",
82 "IMU::UncompMag::X [Gauss]",
83 "IMU::UncompMag::Y [Gauss]",
84 "IMU::UncompMag::Z [Gauss]",
85 "IMU::UncompAccel::X [m/s^2]",
86 "IMU::UncompAccel::Y [m/s^2]",
87 "IMU::UncompAccel::Z [m/s^2]",
88 "IMU::UncompGyro::X [rad/s]",
89 "IMU::UncompGyro::Y [rad/s]",
90 "IMU::UncompGyro::Z [rad/s]",
91 "IMU::Temp [Celsius]",
92 "IMU::Pres [kPa]",
93 "IMU::DeltaTime [s]",
94 "IMU::DeltaTheta::X [deg]",
95 "IMU::DeltaTheta::Y [deg]",
96 "IMU::DeltaTheta::Z [deg]",
97 "IMU::DeltaVel::X [m/s]",
98 "IMU::DeltaVel::Y [m/s]",
99 "IMU::DeltaVel::Z [m/s]",
100 "IMU::Mag::X [Gauss]",
101 "IMU::Mag::Y [Gauss]",
102 "IMU::Mag::Z [Gauss]",
103 "IMU::Accel::X [m/s^2]",
104 "IMU::Accel::Y [m/s^2]",
105 "IMU::Accel::Z [m/s^2]",
106 "IMU::AngularRate::X [rad/s]",
107 "IMU::AngularRate::Y [rad/s]",
108 "IMU::AngularRate::Z [rad/s]",
109 // Group 4 (GNSS1)
110 "GNSS1::UTC::year",
111 "GNSS1::UTC::month",
112 "GNSS1::UTC::day",
113 "GNSS1::UTC::hour",
114 "GNSS1::UTC::min",
115 "GNSS1::UTC::sec",
116 "GNSS1::UTC::ms",
117 "GNSS1::Tow [ns]",
118 "GNSS1::Week",
119 "GNSS1::NumSats",
120 "GNSS1::Fix",
121 "GNSS1::PosLla::latitude [deg]",
122 "GNSS1::PosLla::longitude [deg]",
123 "GNSS1::PosLla::altitude [m]",
124 "GNSS1::PosEcef::X [m]",
125 "GNSS1::PosEcef::Y [m]",
126 "GNSS1::PosEcef::Z [m]",
127 "GNSS1::VelNed::N [m/s]",
128 "GNSS1::VelNed::E [m/s]",
129 "GNSS1::VelNed::D [m/s]",
130 "GNSS1::VelEcef::X [m/s]",
131 "GNSS1::VelEcef::Y [m/s]",
132 "GNSS1::VelEcef::Z [m/s]",
133 "GNSS1::PosU::N [m]",
134 "GNSS1::PosU::E [m]",
135 "GNSS1::PosU::D [m]",
136 "GNSS1::VelU [m/s]",
137 "GNSS1::TimeU [s]",
138 "GNSS1::TimeInfo::Status::timeOk",
139 "GNSS1::TimeInfo::Status::dateOk",
140 "GNSS1::TimeInfo::Status::utcTimeValid",
141 "GNSS1::TimeInfo::LeapSeconds",
142 "GNSS1::DOP::g",
143 "GNSS1::DOP::p",
144 "GNSS1::DOP::t",
145 "GNSS1::DOP::v",
146 "GNSS1::DOP::h",
147 "GNSS1::DOP::n",
148 "GNSS1::DOP::e",
149 "GNSS1::SatInfo::NumSats",
150 "GNSS1::RawMeas::Tow [s]",
151 "GNSS1::RawMeas::Week",
152 "GNSS1::RawMeas::NumSats",
153 // Group 5 (Attitude)
154 "Att::VpeStatus::AttitudeQuality",
155 "Att::VpeStatus::GyroSaturation",
156 "Att::VpeStatus::GyroSaturationRecovery",
157 "Att::VpeStatus::MagDisturbance",
158 "Att::VpeStatus::MagSaturation",
159 "Att::VpeStatus::AccDisturbance",
160 "Att::VpeStatus::AccSaturation",
161 "Att::VpeStatus::KnownMagDisturbance",
162 "Att::VpeStatus::KnownAccelDisturbance",
163 "Att::YawPitchRoll::Y [deg]",
164 "Att::YawPitchRoll::P [deg]",
165 "Att::YawPitchRoll::R [deg]",
166 "Att::Quaternion::w",
167 "Att::Quaternion::x",
168 "Att::Quaternion::y",
169 "Att::Quaternion::z",
170 "Att::DCM::0-0",
171 "Att::DCM::0-1",
172 "Att::DCM::0-2",
173 "Att::DCM::1-0",
174 "Att::DCM::1-1",
175 "Att::DCM::1-2",
176 "Att::DCM::2-0",
177 "Att::DCM::2-1",
178 "Att::DCM::2-2",
179 "Att::MagNed::N [Gauss]",
180 "Att::MagNed::E [Gauss]",
181 "Att::MagNed::D [Gauss]",
182 "Att::AccelNed::N [m/s^2]",
183 "Att::AccelNed::E [m/s^2]",
184 "Att::AccelNed::D [m/s^2]",
185 "Att::LinearAccelBody::X [m/s^2]",
186 "Att::LinearAccelBody::Y [m/s^2]",
187 "Att::LinearAccelBody::Z [m/s^2]",
188 "Att::LinearAccelNed::N [m/s^2]",
189 "Att::LinearAccelNed::E [m/s^2]",
190 "Att::LinearAccelNed::D [m/s^2]",
191 "Att::YprU::Y [deg]",
192 "Att::YprU::P [deg]",
193 "Att::YprU::R [deg]",
194 // Group 6 (INS)
195 "INS::InsStatus::Mode",
196 "INS::InsStatus::GpsFix",
197 "INS::InsStatus::Error::IMU",
198 "INS::InsStatus::Error::MagPres",
199 "INS::InsStatus::Error::GNSS",
200 "INS::InsStatus::GpsHeadingIns",
201 "INS::InsStatus::GpsCompass",
202 "INS::PosLla::latitude [deg]",
203 "INS::PosLla::longitude [deg]",
204 "INS::PosLla::altitude [m]",
205 "INS::PosEcef::X [m]",
206 "INS::PosEcef::Y [m]",
207 "INS::PosEcef::Z [m]",
208 "INS::VelBody::X [m/s]",
209 "INS::VelBody::Y [m/s]",
210 "INS::VelBody::Z [m/s]",
211 "INS::VelNed::N [m/s]",
212 "INS::VelNed::E [m/s]",
213 "INS::VelNed::D [m/s]",
214 "INS::VelEcef::X [m/s]",
215 "INS::VelEcef::Y [m/s]",
216 "INS::VelEcef::Z [m/s]",
217 "INS::MagEcef::X [Gauss}",
218 "INS::MagEcef::Y [Gauss}",
219 "INS::MagEcef::Z [Gauss}",
220 "INS::AccelEcef::X [m/s^2]",
221 "INS::AccelEcef::Y [m/s^2]",
222 "INS::AccelEcef::Z [m/s^2]",
223 "INS::LinearAccelEcef::X [m/s^2]",
224 "INS::LinearAccelEcef::Y [m/s^2]",
225 "INS::LinearAccelEcef::Z [m/s^2]",
226 "INS::PosU [m]",
227 "INS::VelU [m/s]",
228 // Group 7 (GNSS2)
229 "GNSS2::UTC::year",
230 "GNSS2::UTC::month",
231 "GNSS2::UTC::day",
232 "GNSS2::UTC::hour",
233 "GNSS2::UTC::min",
234 "GNSS2::UTC::sec",
235 "GNSS2::UTC::ms",
236 "GNSS2::Tow [ns]",
237 "GNSS2::Week",
238 "GNSS2::NumSats",
239 "GNSS2::Fix",
240 "GNSS2::PosLla::latitude [deg]",
241 "GNSS2::PosLla::longitude [deg]",
242 "GNSS2::PosLla::altitude [m]",
243 "GNSS2::PosEcef::X [m]",
244 "GNSS2::PosEcef::Y [m]",
245 "GNSS2::PosEcef::Z [m]",
246 "GNSS2::VelNed::N [m/s]",
247 "GNSS2::VelNed::E [m/s]",
248 "GNSS2::VelNed::D [m/s]",
249 "GNSS2::VelEcef::X [m/s]",
250 "GNSS2::VelEcef::Y [m/s]",
251 "GNSS2::VelEcef::Z [m/s]",
252 "GNSS2::PosU::N [m]",
253 "GNSS2::PosU::E [m]",
254 "GNSS2::PosU::D [m]",
255 "GNSS2::VelU [m/s]",
256 "GNSS2::TimeU [s]",
257 "GNSS2::TimeInfo::Status::timeOk",
258 "GNSS2::TimeInfo::Status::dateOk",
259 "GNSS2::TimeInfo::Status::utcTimeValid",
260 "GNSS2::TimeInfo::LeapSeconds",
261 "GNSS2::DOP::g",
262 "GNSS2::DOP::p",
263 "GNSS2::DOP::t",
264 "GNSS2::DOP::v",
265 "GNSS2::DOP::h",
266 "GNSS2::DOP::n",
267 "GNSS2::DOP::e",
268 "GNSS2::SatInfo::NumSats",
269 "GNSS2::RawMeas::Tow [s]",
270 "GNSS2::RawMeas::Week",
271 "GNSS2::RawMeas::NumSats",
272
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 18 };
273 }
274
275 /// @brief Get the amount of descriptors
276 ✗ [[nodiscard]] static constexpr size_t GetStaticDescriptorCount() { return 205; }
277
278 /// @brief Returns a vector of data descriptors
279 ✗ [[nodiscard]] std::vector<std::string> staticDataDescriptors() const override { return GetStaticDataDescriptors(); }
280
281 /// @brief Get the amount of descriptors
282 ✗ [[nodiscard]] size_t staticDescriptorCount() const override { return GetStaticDescriptorCount(); }
283
284 /// @brief Get the value at the index
285 /// @param idx Index corresponding to data descriptor order
286 /// @return Value if in the observation
287 ✗ [[nodiscard]] std::optional<double> getValueAt(size_t idx) const override
288 {
289 ✗ INS_ASSERT(idx < GetStaticDescriptorCount());
290 ✗ switch (idx)
291 {
292 // Group 2 (Time)
293 ✗ case 0: // Time::TimeStartup [ns]
294 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP)) { return static_cast<double>(timeOutputs->timeStartup); }
295 ✗ break;
296 ✗ case 1: // Time::TimeGps [ns]
297 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPS)) { return static_cast<double>(timeOutputs->timeGps); }
298 ✗ break;
299 ✗ case 2: // Time::GpsTow [ns]
300 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW)) { return static_cast<double>(timeOutputs->gpsTow); }
301 ✗ break;
302 ✗ case 3: // Time::GpsWeek
303 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK)) { return static_cast<double>(timeOutputs->gpsWeek); }
304 ✗ break;
305 ✗ case 4: // Time::TimeSyncIn [ns]
306 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESYNCIN)) { return static_cast<double>(timeOutputs->timeSyncIn); }
307 ✗ break;
308 ✗ case 5: // Time::TimeGpsPps [ns]
309 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPSPPS)) { return static_cast<double>(timeOutputs->timePPS); }
310 ✗ break;
311 ✗ case 6: // Time::TimeUTC::year
312 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.year); }
313 ✗ break;
314 ✗ case 7: // Time::TimeUTC::month
315 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.month); }
316 ✗ break;
317 ✗ case 8: // Time::TimeUTC::day
318 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.day); }
319 ✗ break;
320 ✗ case 9: // Time::TimeUTC::hour
321 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.hour); }
322 ✗ break;
323 ✗ case 10: // Time::TimeUTC::min
324 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.min); }
325 ✗ break;
326 ✗ case 11: // Time::TimeUTC::sec
327 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.sec); }
328 ✗ break;
329 ✗ case 12: // Time::TimeUTC::ms
330 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.ms); }
331 ✗ break;
332 ✗ case 13: // Time::SyncInCnt
333 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCINCNT)) { return static_cast<double>(timeOutputs->syncInCnt); }
334 ✗ break;
335 ✗ case 14: // Time::SyncOutCnt
336 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCOUTCNT)) { return static_cast<double>(timeOutputs->syncOutCnt); }
337 ✗ break;
338 ✗ case 15: // Time::TimeStatus::timeOk
339 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS)) { return static_cast<double>(timeOutputs->timeStatus.timeOk()); }
340 ✗ break;
341 ✗ case 16: // Time::TimeStatus::dateOk
342 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS)) { return static_cast<double>(timeOutputs->timeStatus.dateOk()); }
343 ✗ break;
344 ✗ case 17: // Time::TimeStatus::utcTimeValid
345 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS)) { return static_cast<double>(timeOutputs->timeStatus.utcTimeValid()); }
346 ✗ break;
347 // Group 3 (IMU)
348 ✗ case 18: // IMU::ImuStatus
349 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_IMUSTATUS)) { return static_cast<double>(imuOutputs->imuStatus); }
350 ✗ break;
351 ✗ case 19: // IMU::UncompMag::X [Gauss]
352 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG)) { return static_cast<double>(imuOutputs->uncompMag(0)); }
353 ✗ break;
354 ✗ case 20: // IMU::UncompMag::Y [Gauss]
355 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG)) { return static_cast<double>(imuOutputs->uncompMag(1)); }
356 ✗ break;
357 ✗ case 21: // IMU::UncompMag::Z [Gauss]
358 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG)) { return static_cast<double>(imuOutputs->uncompMag(2)); }
359 ✗ break;
360 ✗ case 22: // IMU::UncompAccel::X [m/s^2]
361 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL)) { return static_cast<double>(imuOutputs->uncompAccel(0)); }
362 ✗ break;
363 ✗ case 23: // IMU::UncompAccel::Y [m/s^2]
364 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL)) { return static_cast<double>(imuOutputs->uncompAccel(1)); }
365 ✗ break;
366 ✗ case 24: // IMU::UncompAccel::Z [m/s^2]
367 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL)) { return static_cast<double>(imuOutputs->uncompAccel(2)); }
368 ✗ break;
369 ✗ case 25: // IMU::UncompGyro::X [rad/s]
370 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO)) { return static_cast<double>(imuOutputs->uncompGyro(0)); }
371 ✗ break;
372 ✗ case 26: // IMU::UncompGyro::Y [rad/s]
373 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO)) { return static_cast<double>(imuOutputs->uncompGyro(1)); }
374 ✗ break;
375 ✗ case 27: // IMU::UncompGyro::Z [rad/s]
376 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO)) { return static_cast<double>(imuOutputs->uncompGyro(2)); }
377 ✗ break;
378 ✗ case 28: // IMU::Temp [Celsius]
379 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP)) { return static_cast<double>(imuOutputs->temp); }
380 ✗ break;
381 ✗ case 29: // IMU::Pres [kPa]
382 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_PRES)) { return static_cast<double>(imuOutputs->pres); }
383 ✗ break;
384 ✗ case 30: // IMU::DeltaTime [s]
385 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)) { return static_cast<double>(imuOutputs->deltaTime); }
386 ✗ break;
387 ✗ case 31: // IMU::DeltaTheta::X [deg]
388 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)) { return static_cast<double>(imuOutputs->deltaTheta(0)); }
389 ✗ break;
390 ✗ case 32: // IMU::DeltaTheta::Y [deg]
391 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)) { return static_cast<double>(imuOutputs->deltaTheta(1)); }
392 ✗ break;
393 ✗ case 33: // IMU::DeltaTheta::Z [deg]
394 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)) { return static_cast<double>(imuOutputs->deltaTheta(2)); }
395 ✗ break;
396 ✗ case 34: // IMU::DeltaVel::X [m/s]
397 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL)) { return static_cast<double>(imuOutputs->deltaV(0)); }
398 ✗ break;
399 ✗ case 35: // IMU::DeltaVel::Y [m/s]
400 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL)) { return static_cast<double>(imuOutputs->deltaV(1)); }
401 ✗ break;
402 ✗ case 36: // IMU::DeltaVel::Z [m/s]
403 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL)) { return static_cast<double>(imuOutputs->deltaV(2)); }
404 ✗ break;
405 ✗ case 37: // IMU::Mag::X [Gauss]
406 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG)) { return static_cast<double>(imuOutputs->mag(0)); }
407 ✗ break;
408 ✗ case 38: // IMU::Mag::Y [Gauss]
409 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG)) { return static_cast<double>(imuOutputs->mag(1)); }
410 ✗ break;
411 ✗ case 39: // IMU::Mag::Z [Gauss]
412 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG)) { return static_cast<double>(imuOutputs->mag(2)); }
413 ✗ break;
414 ✗ case 40: // IMU::Accel::X [m/s^2]
415 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL)) { return static_cast<double>(imuOutputs->accel(0)); }
416 ✗ break;
417 ✗ case 41: // IMU::Accel::Y [m/s^2]
418 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL)) { return static_cast<double>(imuOutputs->accel(1)); }
419 ✗ break;
420 ✗ case 42: // IMU::Accel::Z [m/s^2]
421 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL)) { return static_cast<double>(imuOutputs->accel(2)); }
422 ✗ break;
423 ✗ case 43: // IMU::AngularRate::X [rad/s]
424 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE)) { return static_cast<double>(imuOutputs->angularRate(0)); }
425 ✗ break;
426 ✗ case 44: // IMU::AngularRate::Y [rad/s]
427 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE)) { return static_cast<double>(imuOutputs->angularRate(1)); }
428 ✗ break;
429 ✗ case 45: // IMU::AngularRate::Z [rad/s]
430 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE)) { return static_cast<double>(imuOutputs->angularRate(2)); }
431 ✗ break;
432 // Group 4 (GNSS1)
433 ✗ case 46: // GNSS1::UTC::year
434 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.year); }
435 ✗ break;
436 ✗ case 47: // GNSS1::UTC::month
437 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.month); }
438 ✗ break;
439 ✗ case 48: // GNSS1::UTC::day
440 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.day); }
441 ✗ break;
442 ✗ case 49: // GNSS1::UTC::hour
443 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.hour); }
444 ✗ break;
445 ✗ case 50: // GNSS1::UTC::min
446 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.min); }
447 ✗ break;
448 ✗ case 51: // GNSS1::UTC::sec
449 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.sec); }
450 ✗ break;
451 ✗ case 52: // GNSS1::UTC::ms
452 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.ms); }
453 ✗ break;
454 ✗ case 53: // GNSS1::Tow [ns]
455 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW)) { return static_cast<double>(gnss1Outputs->tow); }
456 ✗ break;
457 ✗ case 54: // GNSS1::Week
458 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK)) { return static_cast<double>(gnss1Outputs->week); }
459 ✗ break;
460 ✗ case 55: // GNSS1::NumSats
461 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS)) { return static_cast<double>(gnss1Outputs->numSats); }
462 ✗ break;
463 ✗ case 56: // GNSS1::Fix
464 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX)) { return static_cast<double>(gnss1Outputs->fix); }
465 ✗ break;
466 ✗ case 57: // GNSS1::PosLla::latitude [deg]
467 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss1Outputs->posLla(0); }
468 ✗ break;
469 ✗ case 58: // GNSS1::PosLla::longitude [deg]
470 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss1Outputs->posLla(1); }
471 ✗ break;
472 ✗ case 59: // GNSS1::PosLla::altitude [m]
473 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss1Outputs->posLla(2); }
474 ✗ break;
475 ✗ case 60: // GNSS1::PosEcef::X [m]
476 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss1Outputs->posEcef(0); }
477 ✗ break;
478 ✗ case 61: // GNSS1::PosEcef::Y [m]
479 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss1Outputs->posEcef(1); }
480 ✗ break;
481 ✗ case 62: // GNSS1::PosEcef::Z [m]
482 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss1Outputs->posEcef(2); }
483 ✗ break;
484 ✗ case 63: // GNSS1::VelNed::N [m/s]
485 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss1Outputs->velNed(0)); }
486 ✗ break;
487 ✗ case 64: // GNSS1::VelNed::E [m/s]
488 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss1Outputs->velNed(1)); }
489 ✗ break;
490 ✗ case 65: // GNSS1::VelNed::D [m/s]
491 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss1Outputs->velNed(2)); }
492 ✗ break;
493 ✗ case 66: // GNSS1::VelEcef::X [m/s]
494 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss1Outputs->velEcef(0)); }
495 ✗ break;
496 ✗ case 67: // GNSS1::VelEcef::Y [m/s]
497 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss1Outputs->velEcef(1)); }
498 ✗ break;
499 ✗ case 68: // GNSS1::VelEcef::Z [m/s]
500 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss1Outputs->velEcef(2)); }
501 ✗ break;
502 ✗ case 69: // GNSS1::PosU::N [m]
503 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss1Outputs->posU(0)); }
504 ✗ break;
505 ✗ case 70: // GNSS1::PosU::E [m]
506 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss1Outputs->posU(1)); }
507 ✗ break;
508 ✗ case 71: // GNSS1::PosU::D [m]
509 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss1Outputs->posU(2)); }
510 ✗ break;
511 ✗ case 72: // GNSS1::VelU [m/s]
512 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU)) { return static_cast<double>(gnss1Outputs->velU); }
513 ✗ break;
514 ✗ case 73: // GNSS1::TimeU [s]
515 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU)) { return static_cast<double>(gnss1Outputs->timeU); }
516 ✗ break;
517 ✗ case 74: // GNSS1::TimeInfo::Status::timeOk
518 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss1Outputs->timeInfo.status.timeOk()); }
519 ✗ break;
520 ✗ case 75: // GNSS1::TimeInfo::Status::dateOk
521 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss1Outputs->timeInfo.status.dateOk()); }
522 ✗ break;
523 ✗ case 76: // GNSS1::TimeInfo::Status::utcTimeValid
524 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss1Outputs->timeInfo.status.utcTimeValid()); }
525 ✗ break;
526 ✗ case 77: // GNSS1::TimeInfo::LeapSeconds
527 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss1Outputs->timeInfo.leapSeconds); }
528 ✗ break;
529 ✗ case 78: // GNSS1::DOP::g
530 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.gDop); }
531 ✗ break;
532 ✗ case 79: // GNSS1::DOP::p
533 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.pDop); }
534 ✗ break;
535 ✗ case 80: // GNSS1::DOP::t
536 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.tDop); }
537 ✗ break;
538 ✗ case 81: // GNSS1::DOP::v
539 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.vDop); }
540 ✗ break;
541 ✗ case 82: // GNSS1::DOP::h
542 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.hDop); }
543 ✗ break;
544 ✗ case 83: // GNSS1::DOP::n
545 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.nDop); }
546 ✗ break;
547 ✗ case 84: // GNSS1::DOP::e
548 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.eDop); }
549 ✗ break;
550 ✗ case 85: // GNSS1::SatInfo::NumSats
551 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO)) { return static_cast<double>(gnss1Outputs->satInfo.numSats); }
552 ✗ break;
553 ✗ case 86: // GNSS1::RawMeas::Tow [s]
554 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return gnss1Outputs->raw.tow; }
555 ✗ break;
556 ✗ case 87: // GNSS1::RawMeas::Week
557 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return static_cast<double>(gnss1Outputs->raw.week); }
558 ✗ break;
559 ✗ case 88: // GNSS1::RawMeas::NumSats
560 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return static_cast<double>(gnss1Outputs->raw.numSats); }
561 ✗ break;
562 // Group 5 (Attitude)
563 ✗ case 89: // Att::VpeStatus::AttitudeQuality
564 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.attitudeQuality()); }
565 ✗ break;
566 ✗ case 90: // Att::VpeStatus::GyroSaturation
567 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.gyroSaturation()); }
568 ✗ break;
569 ✗ case 91: // Att::VpeStatus::GyroSaturationRecovery
570 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.gyroSaturationRecovery()); }
571 ✗ break;
572 ✗ case 92: // Att::VpeStatus::MagDisturbance
573 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.magDisturbance()); }
574 ✗ break;
575 ✗ case 93: // Att::VpeStatus::MagSaturation
576 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.magSaturation()); }
577 ✗ break;
578 ✗ case 94: // Att::VpeStatus::AccDisturbance
579 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.accDisturbance()); }
580 ✗ break;
581 ✗ case 95: // Att::VpeStatus::AccSaturation
582 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.accSaturation()); }
583 ✗ break;
584 ✗ case 96: // Att::VpeStatus::KnownMagDisturbance
585 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.knownMagDisturbance()); }
586 ✗ break;
587 ✗ case 97: // Att::VpeStatus::KnownAccelDisturbance
588 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.knownAccelDisturbance()); }
589 ✗ break;
590 ✗ case 98: // Att::YawPitchRoll::Y [deg]
591 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL)) { return static_cast<double>(attitudeOutputs->ypr(0)); }
592 ✗ break;
593 ✗ case 99: // Att::YawPitchRoll::P [deg]
594 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL)) { return static_cast<double>(attitudeOutputs->ypr(1)); }
595 ✗ break;
596 ✗ case 100: // Att::YawPitchRoll::R [deg]
597 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL)) { return static_cast<double>(attitudeOutputs->ypr(2)); }
598 ✗ break;
599 ✗ case 101: // Att::Quaternion::w
600 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION)) { return static_cast<double>(attitudeOutputs->qtn.w()); }
601 ✗ break;
602 ✗ case 102: // Att::Quaternion::x
603 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION)) { return static_cast<double>(attitudeOutputs->qtn.x()); }
604 ✗ break;
605 ✗ case 103: // Att::Quaternion::y
606 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION)) { return static_cast<double>(attitudeOutputs->qtn.y()); }
607 ✗ break;
608 ✗ case 104: // Att::Quaternion::z
609 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION)) { return static_cast<double>(attitudeOutputs->qtn.z()); }
610 ✗ break;
611 ✗ case 105: // Att::DCM::0-0
612 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(0, 0)); }
613 ✗ break;
614 ✗ case 106: // Att::DCM::0-1
615 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(0, 1)); }
616 ✗ break;
617 ✗ case 107: // Att::DCM::0-2
618 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(0, 2)); }
619 ✗ break;
620 ✗ case 108: // Att::DCM::1-0
621 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(1, 0)); }
622 ✗ break;
623 ✗ case 109: // Att::DCM::1-1
624 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(1, 1)); }
625 ✗ break;
626 ✗ case 110: // Att::DCM::1-2
627 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(1, 2)); }
628 ✗ break;
629 ✗ case 111: // Att::DCM::2-0
630 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(2, 0)); }
631 ✗ break;
632 ✗ case 112: // Att::DCM::2-1
633 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(2, 1)); }
634 ✗ break;
635 ✗ case 113: // Att::DCM::2-2
636 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(2, 2)); }
637 ✗ break;
638 ✗ case 114: // Att::MagNed::N [Gauss]
639 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED)) { return static_cast<double>(attitudeOutputs->magNed(0)); }
640 ✗ break;
641 ✗ case 115: // Att::MagNed::E [Gauss]
642 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED)) { return static_cast<double>(attitudeOutputs->magNed(1)); }
643 ✗ break;
644 ✗ case 116: // Att::MagNed::D [Gauss]
645 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED)) { return static_cast<double>(attitudeOutputs->magNed(2)); }
646 ✗ break;
647 ✗ case 117: // Att::AccelNed::N [m/s^2]
648 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED)) { return static_cast<double>(attitudeOutputs->accelNed(0)); }
649 ✗ break;
650 ✗ case 118: // Att::AccelNed::E [m/s^2]
651 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED)) { return static_cast<double>(attitudeOutputs->accelNed(1)); }
652 ✗ break;
653 ✗ case 119: // Att::AccelNed::D [m/s^2]
654 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED)) { return static_cast<double>(attitudeOutputs->accelNed(2)); }
655 ✗ break;
656 ✗ case 120: // Att::LinearAccelBody::X [m/s^2]
657 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY)) { return static_cast<double>(attitudeOutputs->linearAccelBody(0)); }
658 ✗ break;
659 ✗ case 121: // Att::LinearAccelBody::Y [m/s^2]
660 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY)) { return static_cast<double>(attitudeOutputs->linearAccelBody(1)); }
661 ✗ break;
662 ✗ case 122: // Att::LinearAccelBody::Z [m/s^2]
663 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY)) { return static_cast<double>(attitudeOutputs->linearAccelBody(2)); }
664 ✗ break;
665 ✗ case 123: // Att::LinearAccelNed::N [m/s^2]
666 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED)) { return static_cast<double>(attitudeOutputs->linearAccelNed(0)); }
667 ✗ break;
668 ✗ case 124: // Att::LinearAccelNed::E [m/s^2]
669 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED)) { return static_cast<double>(attitudeOutputs->linearAccelNed(1)); }
670 ✗ break;
671 ✗ case 125: // Att::LinearAccelNed::D [m/s^2]
672 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED)) { return static_cast<double>(attitudeOutputs->linearAccelNed(2)); }
673 ✗ break;
674 ✗ case 126: // Att::YprU::Y [deg]
675 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU)) { return static_cast<double>(attitudeOutputs->yprU(0)); }
676 ✗ break;
677 ✗ case 127: // Att::YprU::P [deg]
678 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU)) { return static_cast<double>(attitudeOutputs->yprU(1)); }
679 ✗ break;
680 ✗ case 128: // Att::YprU::R [deg]
681 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU)) { return static_cast<double>(attitudeOutputs->yprU(2)); }
682 ✗ break;
683 // Group 6 (INS)
684 ✗ case 129: // INS::InsStatus::Mode
685 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.mode()); }
686 ✗ break;
687 ✗ case 130: // INS::InsStatus::GpsFix
688 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.gpsFix()); }
689 ✗ break;
690 ✗ case 131: // INS::InsStatus::Error::IMU
691 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.errorIMU()); }
692 ✗ break;
693 ✗ case 132: // INS::InsStatus::Error::MagPres
694 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.errorMagPres()); }
695 ✗ break;
696 ✗ case 133: // INS::InsStatus::Error::GNSS
697 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.errorGnss()); }
698 ✗ break;
699 ✗ case 134: // INS::InsStatus::GpsHeadingIns
700 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.gpsHeadingIns()); }
701 ✗ break;
702 ✗ case 135: // INS::InsStatus::GpsCompass
703 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.gpsCompass()); }
704 ✗ break;
705 ✗ case 136: // INS::PosLla::latitude [deg]
706 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA)) { return insOutputs->posLla(0); }
707 ✗ break;
708 ✗ case 137: // INS::PosLla::longitude [deg]
709 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA)) { return insOutputs->posLla(1); }
710 ✗ break;
711 ✗ case 138: // INS::PosLla::altitude [m]
712 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA)) { return insOutputs->posLla(2); }
713 ✗ break;
714 ✗ case 139: // INS::PosEcef::X [m]
715 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF)) { return insOutputs->posEcef(0); }
716 ✗ break;
717 ✗ case 140: // INS::PosEcef::Y [m]
718 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF)) { return insOutputs->posEcef(1); }
719 ✗ break;
720 ✗ case 141: // INS::PosEcef::Z [m]
721 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF)) { return insOutputs->posEcef(2); }
722 ✗ break;
723 ✗ case 142: // INS::VelBody::X [m/s]
724 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY)) { return static_cast<double>(insOutputs->velBody(0)); }
725 ✗ break;
726 ✗ case 143: // INS::VelBody::Y [m/s]
727 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY)) { return static_cast<double>(insOutputs->velBody(1)); }
728 ✗ break;
729 ✗ case 144: // INS::VelBody::Z [m/s]
730 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY)) { return static_cast<double>(insOutputs->velBody(2)); }
731 ✗ break;
732 ✗ case 145: // INS::VelNed::N [m/s]
733 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED)) { return static_cast<double>(insOutputs->velNed(0)); }
734 ✗ break;
735 ✗ case 146: // INS::VelNed::E [m/s]
736 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED)) { return static_cast<double>(insOutputs->velNed(1)); }
737 ✗ break;
738 ✗ case 147: // INS::VelNed::D [m/s]
739 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED)) { return static_cast<double>(insOutputs->velNed(2)); }
740 ✗ break;
741 ✗ case 148: // INS::VelEcef::X [m/s]
742 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF)) { return static_cast<double>(insOutputs->velEcef(0)); }
743 ✗ break;
744 ✗ case 149: // INS::VelEcef::Y [m/s]
745 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF)) { return static_cast<double>(insOutputs->velEcef(1)); }
746 ✗ break;
747 ✗ case 150: // INS::VelEcef::Z [m/s]
748 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF)) { return static_cast<double>(insOutputs->velEcef(2)); }
749 ✗ break;
750 ✗ case 151: // INS::MagEcef::X [Gauss}
751 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF)) { return static_cast<double>(insOutputs->magEcef(0)); }
752 ✗ break;
753 ✗ case 152: // INS::MagEcef::Y [Gauss}
754 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF)) { return static_cast<double>(insOutputs->magEcef(1)); }
755 ✗ break;
756 ✗ case 153: // INS::MagEcef::Z [Gauss}
757 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF)) { return static_cast<double>(insOutputs->magEcef(2)); }
758 ✗ break;
759 ✗ case 154: // INS::AccelEcef::X [m/s^2]
760 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF)) { return static_cast<double>(insOutputs->accelEcef(0)); }
761 ✗ break;
762 ✗ case 155: // INS::AccelEcef::Y [m/s^2]
763 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF)) { return static_cast<double>(insOutputs->accelEcef(1)); }
764 ✗ break;
765 ✗ case 156: // INS::AccelEcef::Z [m/s^2]
766 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF)) { return static_cast<double>(insOutputs->accelEcef(2)); }
767 ✗ break;
768 ✗ case 157: // INS::LinearAccelEcef::X [m/s^2]
769 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF)) { return static_cast<double>(insOutputs->linearAccelEcef(0)); }
770 ✗ break;
771 ✗ case 158: // INS::LinearAccelEcef::Y [m/s^2]
772 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF)) { return static_cast<double>(insOutputs->linearAccelEcef(1)); }
773 ✗ break;
774 ✗ case 159: // INS::LinearAccelEcef::Z [m/s^2]
775 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF)) { return static_cast<double>(insOutputs->linearAccelEcef(2)); }
776 ✗ break;
777 ✗ case 160: // INS::PosU [m]
778 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSU)) { return static_cast<double>(insOutputs->posU); }
779 ✗ break;
780 ✗ case 161: // INS::VelU [m/s]
781 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELU)) { return static_cast<double>(insOutputs->velU); }
782 ✗ break;
783 // Group 7 (GNSS2)
784 ✗ case 162: // GNSS2::UTC::year
785 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.year); }
786 ✗ break;
787 ✗ case 163: // GNSS2::UTC::month
788 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.month); }
789 ✗ break;
790 ✗ case 164: // GNSS2::UTC::day
791 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.day); }
792 ✗ break;
793 ✗ case 165: // GNSS2::UTC::hour
794 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.hour); }
795 ✗ break;
796 ✗ case 166: // GNSS2::UTC::min
797 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.min); }
798 ✗ break;
799 ✗ case 167: // GNSS2::UTC::sec
800 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.sec); }
801 ✗ break;
802 ✗ case 168: // GNSS2::UTC::ms
803 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.ms); }
804 ✗ break;
805 ✗ case 169: // GNSS2::Tow [ns]
806 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW)) { return static_cast<double>(gnss2Outputs->tow); }
807 ✗ break;
808 ✗ case 170: // GNSS2::Week
809 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK)) { return static_cast<double>(gnss2Outputs->week); }
810 ✗ break;
811 ✗ case 171: // GNSS2::NumSats
812 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS)) { return static_cast<double>(gnss2Outputs->numSats); }
813 ✗ break;
814 ✗ case 172: // GNSS2::Fix
815 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX)) { return static_cast<double>(gnss2Outputs->fix); }
816 ✗ break;
817 ✗ case 173: // GNSS2::PosLla::latitude [deg]
818 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss2Outputs->posLla(0); }
819 ✗ break;
820 ✗ case 174: // GNSS2::PosLla::longitude [deg]
821 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss2Outputs->posLla(1); }
822 ✗ break;
823 ✗ case 175: // GNSS2::PosLla::altitude [m]
824 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss2Outputs->posLla(2); }
825 ✗ break;
826 ✗ case 176: // GNSS2::PosEcef::X [m]
827 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss2Outputs->posEcef(0); }
828 ✗ break;
829 ✗ case 177: // GNSS2::PosEcef::Y [m]
830 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss2Outputs->posEcef(1); }
831 ✗ break;
832 ✗ case 178: // GNSS2::PosEcef::Z [m]
833 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss2Outputs->posEcef(2); }
834 ✗ break;
835 ✗ case 179: // GNSS2::VelNed::N [m/s]
836 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss2Outputs->velNed(0)); }
837 ✗ break;
838 ✗ case 180: // GNSS2::VelNed::E [m/s]
839 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss2Outputs->velNed(1)); }
840 ✗ break;
841 ✗ case 181: // GNSS2::VelNed::D [m/s]
842 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss2Outputs->velNed(2)); }
843 ✗ break;
844 ✗ case 182: // GNSS2::VelEcef::X [m/s]
845 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss2Outputs->velEcef(0)); }
846 ✗ break;
847 ✗ case 183: // GNSS2::VelEcef::Y [m/s]
848 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss2Outputs->velEcef(1)); }
849 ✗ break;
850 ✗ case 184: // GNSS2::VelEcef::Z [m/s]
851 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss2Outputs->velEcef(2)); }
852 ✗ break;
853 ✗ case 185: // GNSS2::PosU::N [m]
854 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss2Outputs->posU(0)); }
855 ✗ break;
856 ✗ case 186: // GNSS2::PosU::E [m]
857 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss2Outputs->posU(1)); }
858 ✗ break;
859 ✗ case 187: // GNSS2::PosU::D [m]
860 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss2Outputs->posU(2)); }
861 ✗ break;
862 ✗ case 188: // GNSS2::VelU [m/s]
863 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU)) { return static_cast<double>(gnss2Outputs->velU); }
864 ✗ break;
865 ✗ case 189: // GNSS2::TimeU [s]
866 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU)) { return static_cast<double>(gnss2Outputs->timeU); }
867 ✗ break;
868 ✗ case 190: // GNSS2::TimeInfo::Status::timeOk
869 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss2Outputs->timeInfo.status.timeOk()); }
870 ✗ break;
871 ✗ case 191: // GNSS2::TimeInfo::Status::dateOk
872 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss2Outputs->timeInfo.status.dateOk()); }
873 ✗ break;
874 ✗ case 192: // GNSS2::TimeInfo::Status::utcTimeValid
875 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss2Outputs->timeInfo.status.utcTimeValid()); }
876 ✗ break;
877 ✗ case 193: // GNSS2::TimeInfo::LeapSeconds
878 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss2Outputs->timeInfo.leapSeconds); }
879 ✗ break;
880 ✗ case 194: // GNSS2::DOP::g
881 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.gDop); }
882 ✗ break;
883 ✗ case 195: // GNSS2::DOP::p
884 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.pDop); }
885 ✗ break;
886 ✗ case 196: // GNSS2::DOP::t
887 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.tDop); }
888 ✗ break;
889 ✗ case 197: // GNSS2::DOP::v
890 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.vDop); }
891 ✗ break;
892 ✗ case 198: // GNSS2::DOP::h
893 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.hDop); }
894 ✗ break;
895 ✗ case 199: // GNSS2::DOP::n
896 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.nDop); }
897 ✗ break;
898 ✗ case 200: // GNSS2::DOP::e
899 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.eDop); }
900 ✗ break;
901 ✗ case 201: // GNSS2::SatInfo::NumSats
902 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO)) { return static_cast<double>(gnss2Outputs->satInfo.numSats); }
903 ✗ break;
904 ✗ case 202: // GNSS2::RawMeas::Tow [s]
905 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return gnss2Outputs->raw.tow; }
906 ✗ break;
907 ✗ case 203: // GNSS2::RawMeas::Week
908 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return static_cast<double>(gnss2Outputs->raw.week); }
909 ✗ break;
910 ✗ case 204: // GNSS2::RawMeas::NumSats
911 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return static_cast<double>(gnss2Outputs->raw.numSats); }
912 ✗ break;
913 ✗ default:
914 ✗ return std::nullopt;
915 }
916 ✗ return std::nullopt;
917 }
918
919 /// @brief Binary Group 2 – Time Outputs
920 std::shared_ptr<vendor::vectornav::TimeOutputs> timeOutputs = nullptr;
921
922 /// @brief Binary Group 3 – IMU Outputs
923 std::shared_ptr<vendor::vectornav::ImuOutputs> imuOutputs = nullptr;
924
925 /// @brief Binary Group 4 – GNSS1 Outputs
926 std::shared_ptr<vendor::vectornav::GnssOutputs> gnss1Outputs = nullptr;
927
928 /// @brief Binary Group 5 – Attitude Outputs
929 std::shared_ptr<vendor::vectornav::AttitudeOutputs> attitudeOutputs = nullptr;
930
931 /// @brief Binary Group 6 – INS Outputs
932 std::shared_ptr<vendor::vectornav::InsOutputs> insOutputs = nullptr;
933
934 /// @brief Binary Group 7 – GNSS2 Outputs
935 std::shared_ptr<vendor::vectornav::GnssOutputs> gnss2Outputs = nullptr;
936
937 /// Position and rotation information for conversion from platform to body frame
938 const ImuPos& imuPos;
939 };
940
941 } // namespace NAV
942