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0.4.1
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0.4.1
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Binary Group 5 - Attitude Outputs. More...
Data Fields | |
| Eigen::Vector3f | accelNed |
| Compensated acceleration (NED) | |
| vn::protocol::uart::AttitudeGroup | attitudeField |
| Available data in this struct. | |
| Eigen::Matrix3f | dcm |
| Directional Cosine Matrix. | |
| Eigen::Vector3f | linearAccelBody |
| Compensated linear acceleration (no gravity) | |
| Eigen::Vector3f | linearAccelNed |
| Compensated linear acceleration (no gravity) (NED) | |
| Eigen::Vector3f | magNed |
| Compensated magnetic (NED) | |
| Eigen::Quaternionf | qtn |
| Quaternion. | |
| VpeStatus | vpeStatus |
| VPE Status. | |
| Eigen::Vector3f | ypr |
| Yaw Pitch Roll. | |
| Eigen::Vector3f | yprU |
| Yaw Pitch Roll uncertainty. | |
Binary Group 5 - Attitude Outputs.
Definition at line 25 of file AttitudeOutputs.hpp.
| Eigen::Vector3f NAV::vendor::vectornav::AttitudeOutputs::accelNed |
Compensated acceleration (NED)
The estimated acceleration (with gravity) reported in m/s^2, given in the North East Down (NED) frame. The acceleration measurement has been bias compensated by the onboard INS filter. This measurement is attitude dependent, since the attitude is used to map the measurement from the body frame into the inertial (NED) frame. If the device is stationary and the INS filter is tracking, the measurement should be nominally equivalent to the gravity reference vector in the inertial frame (NED).
Definition at line 71 of file AttitudeOutputs.hpp.
| vn::protocol::uart::AttitudeGroup NAV::vendor::vectornav::AttitudeOutputs::attitudeField |
Available data in this struct.
Definition at line 28 of file AttitudeOutputs.hpp.
| Eigen::Matrix3f NAV::vendor::vectornav::AttitudeOutputs::dcm |
Directional Cosine Matrix.
The estimated attitude directional cosine matrix given in column major order. The DCM maps vectors from the North East Down (NED) frame into the body frame.
Definition at line 54 of file AttitudeOutputs.hpp.
| Eigen::Vector3f NAV::vendor::vectornav::AttitudeOutputs::linearAccelBody |
Compensated linear acceleration (no gravity)
The estimated linear acceleration (without gravity) reported in m/s^2, and given in the body frame. The acceleration measurement has been bias compensated by the onboard INS filter, and the gravity component has been removed using the current gravity reference vector model. This measurement is attitude dependent, since the attitude solution is required to map the gravity reference vector (known in the inertial NED frame), into the body frame so that it can be removed from the measurement. If the device is stationary and the onboard INS filter is tracking, the measurement nominally will read 0 in all three axes.
Definition at line 81 of file AttitudeOutputs.hpp.
| Eigen::Vector3f NAV::vendor::vectornav::AttitudeOutputs::linearAccelNed |
Compensated linear acceleration (no gravity) (NED)
The estimated linear acceleration (without gravity) reported in m/s^2, and given in the North East Down (NED) frame. This measurement is attitude dependent as the attitude solution is used to map the measurement from the body frame into the inertial (NED) frame. This acceleration measurement has been bias compensated by the onboard INS filter, and the gravity component has been removed using the current gravity reference vector estimate. If the device is stationary and the onboard INS filter is tracking, the measurement nominally will read 0 in all three axes.
Definition at line 91 of file AttitudeOutputs.hpp.
| Eigen::Vector3f NAV::vendor::vectornav::AttitudeOutputs::magNed |
Compensated magnetic (NED)
The current estimated magnetic field (Gauss), given in the North East Down (NED) frame. The current attitude solution is used to map the measurement from the measured body frame to the inertial (NED) frame. This measurement is compensated by both the static calibration (individual factory calibration stored in flash), and the dynamic calibration such as the user or onboard Hard/Soft Iron compensation registers.
Definition at line 62 of file AttitudeOutputs.hpp.
| Eigen::Quaternionf NAV::vendor::vectornav::AttitudeOutputs::qtn |
Quaternion.
The estimated attitude quaternion. The last term is the scalar value. The attitude is given as the body frame with respect to the local North East Down (NED) frame.
Definition at line 48 of file AttitudeOutputs.hpp.
| VpeStatus NAV::vendor::vectornav::AttitudeOutputs::vpeStatus |
| Eigen::Vector3f NAV::vendor::vectornav::AttitudeOutputs::ypr |
Yaw Pitch Roll.
The estimated attitude Yaw, Pitch, and Roll angles measured in degrees. The attitude is given as a 3,2,1 Euler angle sequence describing the body frame with respect to the local North East Down (NED) frame. Yaw +/- 180° Pitch +/- 90° Roll +/- 180°
Definition at line 42 of file AttitudeOutputs.hpp.
| Eigen::Vector3f NAV::vendor::vectornav::AttitudeOutputs::yprU |
Yaw Pitch Roll uncertainty.
The estimated attitude (Yaw, Pitch, Roll) uncertainty (1 Sigma), reported in degrees.
The estimated attitude (YprU) field is not valid when the INS Scenario mode in the INS Basic Configuration register is set to AHRS mode. See the INS Basic Configuration Register in the INS section for more details.
Definition at line 100 of file AttitudeOutputs.hpp.
1.13.2