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0.2.0
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0.2.0
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Binary Group 5 – Attitude Outputs. More...
Public Attributes | |
| 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.
| 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).
| 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.
| 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.
| 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.
| 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.
| 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.
| VpeStatus NAV::vendor::vectornav::AttitudeOutputs::vpeStatus |
VPE Status.
The VPE status bitfield.
| 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°
| 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.
1.10.0