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VectorNav C++ Library
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This group of methods provide access to read and write to the sensor's registers. More...
Functions | |
BinaryOutputRegister | vn::sensors::VnSensor::readBinaryOutput1 () |
Reads the Binary Output 1 register. More... | |
void | vn::sensors::VnSensor::writeBinaryOutput1 (BinaryOutputRegister &fields, bool waitForReply=true) |
Writes to the Binary Output 1 register. More... | |
BinaryOutputRegister | vn::sensors::VnSensor::readBinaryOutput2 () |
Reads the Binary Output 2 register. More... | |
void | vn::sensors::VnSensor::writeBinaryOutput2 (BinaryOutputRegister &fields, bool waitForReply=true) |
Writes to the Binary Output 2 register. More... | |
BinaryOutputRegister | vn::sensors::VnSensor::readBinaryOutput3 () |
Reads the Binary Output 3 register. More... | |
void | vn::sensors::VnSensor::writeBinaryOutput3 (BinaryOutputRegister &fields, bool waitForReply=true) |
Writes to the Binary Output 3 register. More... | |
uint32_t | vn::sensors::VnSensor::readSerialBaudRate (uint8_t port) |
Reads the Serial Baud Rate register for the specified port. More... | |
void | vn::sensors::VnSensor::writeSerialBaudRate (const uint32_t &baudrate, uint8_t port, bool waitForReply=true) |
Writes to the Serial Baud Rate register for the specified port. More... | |
protocol::uart::AsciiAsync | vn::sensors::VnSensor::readAsyncDataOutputType (uint8_t port) |
Reads the Async Data Output Type register. More... | |
void | vn::sensors::VnSensor::writeAsyncDataOutputType (protocol::uart::AsciiAsync ador, uint8_t port, bool waitForReply=true) |
Writes to the Async Data Output Type register. More... | |
uint32_t | vn::sensors::VnSensor::readAsyncDataOutputFrequency (uint8_t port) |
Reads the Async Data Output Frequency register. More... | |
void | vn::sensors::VnSensor::writeAsyncDataOutputFrequency (const uint32_t &adof, uint8_t port, bool waitForReply=true) |
Writes to the Async Data Output Frequency register. More... | |
InsBasicConfigurationRegisterVn200 | vn::sensors::VnSensor::readInsBasicConfigurationVn200 () |
Reads the INS Basic Configuration register for a VN-200 sensor. More... | |
void | vn::sensors::VnSensor::writeInsBasicConfigurationVn200 (InsBasicConfigurationRegisterVn200 &fields, bool waitForReply=true) |
Writes to the INS Basic Configuration register for a VN-200 sensor. More... | |
void | vn::sensors::VnSensor::writeInsBasicConfigurationVn200 (protocol::uart::Scenario scenario, const uint8_t &ahrsAiding, bool waitForReply=true) |
Writes to the INS Basic Configuration register for a VN-200 sensor. More... | |
InsBasicConfigurationRegisterVn300 | vn::sensors::VnSensor::readInsBasicConfigurationVn300 () |
Reads the INS Basic Configuration register for a VN-300 sensor. More... | |
void | vn::sensors::VnSensor::writeInsBasicConfigurationVn300 (InsBasicConfigurationRegisterVn300 &fields, bool waitForReply=true) |
Writes to the INS Basic Configuration register for a VN-300 sensor. More... | |
void | vn::sensors::VnSensor::writeInsBasicConfigurationVn300 (protocol::uart::Scenario scenario, const uint8_t &ahrsAiding, const uint8_t &estBaseline, bool waitForReply=true) |
Writes to the INS Basic Configuration register for a VN-300 sensor. More... | |
std::string | vn::sensors::VnSensor::readUserTag () |
Reads the User Tag register. More... | |
void | vn::sensors::VnSensor::writeUserTag (const std::string &tag, bool waitForReply=true) |
Writes to the User Tag register. More... | |
std::string | vn::sensors::VnSensor::readModelNumber () |
Reads the Model Number register. More... | |
uint32_t | vn::sensors::VnSensor::readHardwareRevision () |
Reads the Hardware Revision register. More... | |
uint32_t | vn::sensors::VnSensor::readSerialNumber () |
Reads the Serial Number register. More... | |
std::string | vn::sensors::VnSensor::readFirmwareVersion () |
Reads the Firmware Version register. More... | |
uint32_t | vn::sensors::VnSensor::readSerialBaudRate () |
Reads the Serial Baud Rate register. More... | |
void | vn::sensors::VnSensor::writeSerialBaudRate (const uint32_t &baudrate, bool waitForReply=true) |
Writes to the Serial Baud Rate register. More... | |
protocol::uart::AsciiAsync | vn::sensors::VnSensor::readAsyncDataOutputType () |
Reads the Async Data Output Type register. More... | |
void | vn::sensors::VnSensor::writeAsyncDataOutputType (protocol::uart::AsciiAsync ador, bool waitForReply=true) |
Writes to the Async Data Output Type register. More... | |
uint32_t | vn::sensors::VnSensor::readAsyncDataOutputFrequency () |
Reads the Async Data Output Frequency register. More... | |
void | vn::sensors::VnSensor::writeAsyncDataOutputFrequency (const uint32_t &adof, bool waitForReply=true) |
Writes to the Async Data Output Frequency register. More... | |
vn::math::vec3f | vn::sensors::VnSensor::readYawPitchRoll () |
Reads the Yaw Pitch Roll register. More... | |
vn::math::vec4f | vn::sensors::VnSensor::readAttitudeQuaternion () |
Reads the Attitude Quaternion register. More... | |
QuaternionMagneticAccelerationAndAngularRatesRegister | vn::sensors::VnSensor::readQuaternionMagneticAccelerationAndAngularRates () |
Reads the Quaternion, Magnetic, Acceleration and Angular Rates register. More... | |
vn::math::vec3f | vn::sensors::VnSensor::readMagneticMeasurements () |
Reads the Magnetic Measurements register. More... | |
vn::math::vec3f | vn::sensors::VnSensor::readAccelerationMeasurements () |
Reads the Acceleration Measurements register. More... | |
vn::math::vec3f | vn::sensors::VnSensor::readAngularRateMeasurements () |
Reads the Angular Rate Measurements register. More... | |
MagneticAccelerationAndAngularRatesRegister | vn::sensors::VnSensor::readMagneticAccelerationAndAngularRates () |
Reads the Magnetic, Acceleration and Angular Rates register. More... | |
MagneticAndGravityReferenceVectorsRegister | vn::sensors::VnSensor::readMagneticAndGravityReferenceVectors () |
Reads the Magnetic and Gravity Reference Vectors register. More... | |
void | vn::sensors::VnSensor::writeMagneticAndGravityReferenceVectors (MagneticAndGravityReferenceVectorsRegister &fields, bool waitForReply=true) |
Writes to the Magnetic and Gravity Reference Vectors register. More... | |
void | vn::sensors::VnSensor::writeMagneticAndGravityReferenceVectors (const vn::math::vec3f &magRef, const vn::math::vec3f &accRef, bool waitForReply=true) |
Writes to the Magnetic and Gravity Reference Vectors register. More... | |
FilterMeasurementsVarianceParametersRegister | vn::sensors::VnSensor::readFilterMeasurementsVarianceParameters () |
Reads the Filter Measurements Variance Parameters register. More... | |
void | vn::sensors::VnSensor::writeFilterMeasurementsVarianceParameters (FilterMeasurementsVarianceParametersRegister &fields, bool waitForReply=true) |
Writes to the Filter Measurements Variance Parameters register. More... | |
void | vn::sensors::VnSensor::writeFilterMeasurementsVarianceParameters (const float &angularWalkVariance, const vn::math::vec3f &angularRateVariance, const vn::math::vec3f &magneticVariance, const vn::math::vec3f &accelerationVariance, bool waitForReply=true) |
Writes to the Filter Measurements Variance Parameters register. More... | |
MagnetometerCompensationRegister | vn::sensors::VnSensor::readMagnetometerCompensation () |
Reads the Magnetometer Compensation register. More... | |
void | vn::sensors::VnSensor::writeMagnetometerCompensation (MagnetometerCompensationRegister &fields, bool waitForReply=true) |
Writes to the Magnetometer Compensation register. More... | |
void | vn::sensors::VnSensor::writeMagnetometerCompensation (const vn::math::mat3f &c, const vn::math::vec3f &b, bool waitForReply=true) |
Writes to the Magnetometer Compensation register. More... | |
FilterActiveTuningParametersRegister | vn::sensors::VnSensor::readFilterActiveTuningParameters () |
Reads the Filter Active Tuning Parameters register. More... | |
void | vn::sensors::VnSensor::writeFilterActiveTuningParameters (FilterActiveTuningParametersRegister &fields, bool waitForReply=true) |
Writes to the Filter Active Tuning Parameters register. More... | |
void | vn::sensors::VnSensor::writeFilterActiveTuningParameters (const float &magneticDisturbanceGain, const float &accelerationDisturbanceGain, const float &magneticDisturbanceMemory, const float &accelerationDisturbanceMemory, bool waitForReply=true) |
Writes to the Filter Active Tuning Parameters register. More... | |
AccelerationCompensationRegister | vn::sensors::VnSensor::readAccelerationCompensation () |
Reads the Acceleration Compensation register. More... | |
void | vn::sensors::VnSensor::writeAccelerationCompensation (AccelerationCompensationRegister &fields, bool waitForReply=true) |
Writes to the Acceleration Compensation register. More... | |
void | vn::sensors::VnSensor::writeAccelerationCompensation (const vn::math::mat3f &c, const vn::math::vec3f &b, bool waitForReply=true) |
Writes to the Acceleration Compensation register. More... | |
vn::math::mat3f | vn::sensors::VnSensor::readReferenceFrameRotation () |
Reads the Reference Frame Rotation register. More... | |
void | vn::sensors::VnSensor::writeReferenceFrameRotation (const vn::math::mat3f &c, bool waitForReply=true) |
Writes to the Reference Frame Rotation register. More... | |
YawPitchRollMagneticAccelerationAndAngularRatesRegister | vn::sensors::VnSensor::readYawPitchRollMagneticAccelerationAndAngularRates () |
Reads the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register. More... | |
CommunicationProtocolControlRegister | vn::sensors::VnSensor::readCommunicationProtocolControl () |
Reads the Communication Protocol Control register. More... | |
void | vn::sensors::VnSensor::writeCommunicationProtocolControl (CommunicationProtocolControlRegister &fields, bool waitForReply=true) |
Writes to the Communication Protocol Control register. More... | |
void | vn::sensors::VnSensor::writeCommunicationProtocolControl (protocol::uart::CountMode serialCount, protocol::uart::StatusMode serialStatus, protocol::uart::CountMode spiCount, protocol::uart::StatusMode spiStatus, protocol::uart::ChecksumMode serialChecksum, protocol::uart::ChecksumMode spiChecksum, protocol::uart::ErrorMode errorMode, bool waitForReply=true) |
Writes to the Communication Protocol Control register. More... | |
SynchronizationControlRegister | vn::sensors::VnSensor::readSynchronizationControl () |
Reads the Synchronization Control register. More... | |
void | vn::sensors::VnSensor::writeSynchronizationControl (SynchronizationControlRegister &fields, bool waitForReply=true) |
Writes to the Synchronization Control register. More... | |
void | vn::sensors::VnSensor::writeSynchronizationControl (protocol::uart::SyncInMode syncInMode, protocol::uart::SyncInEdge syncInEdge, const uint16_t &syncInSkipFactor, protocol::uart::SyncOutMode syncOutMode, protocol::uart::SyncOutPolarity syncOutPolarity, const uint16_t &syncOutSkipFactor, const uint32_t &syncOutPulseWidth, bool waitForReply=true) |
Writes to the Synchronization Control register. More... | |
SynchronizationStatusRegister | vn::sensors::VnSensor::readSynchronizationStatus () |
Reads the Synchronization Status register. More... | |
void | vn::sensors::VnSensor::writeSynchronizationStatus (SynchronizationStatusRegister &fields, bool waitForReply=true) |
Writes to the Synchronization Status register. More... | |
void | vn::sensors::VnSensor::writeSynchronizationStatus (const uint32_t &syncInCount, const uint32_t &syncInTime, const uint32_t &syncOutCount, bool waitForReply=true) |
Writes to the Synchronization Status register. More... | |
FilterBasicControlRegister | vn::sensors::VnSensor::readFilterBasicControl () |
Reads the Filter Basic Control register. More... | |
void | vn::sensors::VnSensor::writeFilterBasicControl (FilterBasicControlRegister &fields, bool waitForReply=true) |
Writes to the Filter Basic Control register. More... | |
void | vn::sensors::VnSensor::writeFilterBasicControl (protocol::uart::MagneticMode magMode, protocol::uart::ExternalSensorMode extMagMode, protocol::uart::ExternalSensorMode extAccMode, protocol::uart::ExternalSensorMode extGyroMode, const vn::math::vec3f &gyroLimit, bool waitForReply=true) |
Writes to the Filter Basic Control register. More... | |
VpeBasicControlRegister | vn::sensors::VnSensor::readVpeBasicControl () |
Reads the VPE Basic Control register. More... | |
void | vn::sensors::VnSensor::writeVpeBasicControl (VpeBasicControlRegister &fields, bool waitForReply=true) |
Writes to the VPE Basic Control register. More... | |
void | vn::sensors::VnSensor::writeVpeBasicControl (protocol::uart::VpeEnable enable, protocol::uart::HeadingMode headingMode, protocol::uart::VpeMode filteringMode, protocol::uart::VpeMode tuningMode, bool waitForReply=true) |
Writes to the VPE Basic Control register. More... | |
VpeMagnetometerBasicTuningRegister | vn::sensors::VnSensor::readVpeMagnetometerBasicTuning () |
Reads the VPE Magnetometer Basic Tuning register. More... | |
void | vn::sensors::VnSensor::writeVpeMagnetometerBasicTuning (VpeMagnetometerBasicTuningRegister &fields, bool waitForReply=true) |
Writes to the VPE Magnetometer Basic Tuning register. More... | |
void | vn::sensors::VnSensor::writeVpeMagnetometerBasicTuning (const vn::math::vec3f &baseTuning, const vn::math::vec3f &adaptiveTuning, const vn::math::vec3f &adaptiveFiltering, bool waitForReply=true) |
Writes to the VPE Magnetometer Basic Tuning register. More... | |
VpeMagnetometerAdvancedTuningRegister | vn::sensors::VnSensor::readVpeMagnetometerAdvancedTuning () |
Reads the VPE Magnetometer Advanced Tuning register. More... | |
void | vn::sensors::VnSensor::writeVpeMagnetometerAdvancedTuning (VpeMagnetometerAdvancedTuningRegister &fields, bool waitForReply=true) |
Writes to the VPE Magnetometer Advanced Tuning register. More... | |
void | vn::sensors::VnSensor::writeVpeMagnetometerAdvancedTuning (const vn::math::vec3f &minFiltering, const vn::math::vec3f &maxFiltering, const float &maxAdaptRate, const float &disturbanceWindow, const float &maxTuning, bool waitForReply=true) |
Writes to the VPE Magnetometer Advanced Tuning register. More... | |
VpeAccelerometerBasicTuningRegister | vn::sensors::VnSensor::readVpeAccelerometerBasicTuning () |
Reads the VPE Accelerometer Basic Tuning register. More... | |
void | vn::sensors::VnSensor::writeVpeAccelerometerBasicTuning (VpeAccelerometerBasicTuningRegister &fields, bool waitForReply=true) |
Writes to the VPE Accelerometer Basic Tuning register. More... | |
void | vn::sensors::VnSensor::writeVpeAccelerometerBasicTuning (const vn::math::vec3f &baseTuning, const vn::math::vec3f &adaptiveTuning, const vn::math::vec3f &adaptiveFiltering, bool waitForReply=true) |
Writes to the VPE Accelerometer Basic Tuning register. More... | |
VpeAccelerometerAdvancedTuningRegister | vn::sensors::VnSensor::readVpeAccelerometerAdvancedTuning () |
Reads the VPE Accelerometer Advanced Tuning register. More... | |
void | vn::sensors::VnSensor::writeVpeAccelerometerAdvancedTuning (VpeAccelerometerAdvancedTuningRegister &fields, bool waitForReply=true) |
Writes to the VPE Accelerometer Advanced Tuning register. More... | |
void | vn::sensors::VnSensor::writeVpeAccelerometerAdvancedTuning (const vn::math::vec3f &minFiltering, const vn::math::vec3f &maxFiltering, const float &maxAdaptRate, const float &disturbanceWindow, const float &maxTuning, bool waitForReply=true) |
Writes to the VPE Accelerometer Advanced Tuning register. More... | |
VpeGyroBasicTuningRegister | vn::sensors::VnSensor::readVpeGyroBasicTuning () |
Reads the VPE Gyro Basic Tuning register. More... | |
void | vn::sensors::VnSensor::writeVpeGyroBasicTuning (VpeGyroBasicTuningRegister &fields, bool waitForReply=true) |
Writes to the VPE Gyro Basic Tuning register. More... | |
void | vn::sensors::VnSensor::writeVpeGyroBasicTuning (const vn::math::vec3f &angularWalkVariance, const vn::math::vec3f &baseTuning, const vn::math::vec3f &adaptiveTuning, bool waitForReply=true) |
Writes to the VPE Gyro Basic Tuning register. More... | |
vn::math::vec3f | vn::sensors::VnSensor::readFilterStartupGyroBias () |
Reads the Filter Startup Gyro Bias register. More... | |
void | vn::sensors::VnSensor::writeFilterStartupGyroBias (const vn::math::vec3f &bias, bool waitForReply=true) |
Writes to the Filter Startup Gyro Bias register. More... | |
MagnetometerCalibrationControlRegister | vn::sensors::VnSensor::readMagnetometerCalibrationControl () |
Reads the Magnetometer Calibration Control register. More... | |
void | vn::sensors::VnSensor::writeMagnetometerCalibrationControl (MagnetometerCalibrationControlRegister &fields, bool waitForReply=true) |
Writes to the Magnetometer Calibration Control register. More... | |
void | vn::sensors::VnSensor::writeMagnetometerCalibrationControl (protocol::uart::HsiMode hsiMode, protocol::uart::HsiOutput hsiOutput, const uint8_t &convergeRate, bool waitForReply=true) |
Writes to the Magnetometer Calibration Control register. More... | |
CalculatedMagnetometerCalibrationRegister | vn::sensors::VnSensor::readCalculatedMagnetometerCalibration () |
Reads the Calculated Magnetometer Calibration register. More... | |
float | vn::sensors::VnSensor::readIndoorHeadingModeControl () |
Reads the Indoor Heading Mode Control register. More... | |
void | vn::sensors::VnSensor::writeIndoorHeadingModeControl (const float &maxRateError, bool waitForReply=true) |
Writes to the Indoor Heading Mode Control register. More... | |
vn::math::vec3f | vn::sensors::VnSensor::readVelocityCompensationMeasurement () |
Reads the Velocity Compensation Measurement register. More... | |
void | vn::sensors::VnSensor::writeVelocityCompensationMeasurement (const vn::math::vec3f &velocity, bool waitForReply=true) |
Writes to the Velocity Compensation Measurement register. More... | |
VelocityCompensationControlRegister | vn::sensors::VnSensor::readVelocityCompensationControl () |
Reads the Velocity Compensation Control register. More... | |
void | vn::sensors::VnSensor::writeVelocityCompensationControl (VelocityCompensationControlRegister &fields, bool waitForReply=true) |
Writes to the Velocity Compensation Control register. More... | |
void | vn::sensors::VnSensor::writeVelocityCompensationControl (protocol::uart::VelocityCompensationMode mode, const float &velocityTuning, const float &rateTuning, bool waitForReply=true) |
Writes to the Velocity Compensation Control register. More... | |
VelocityCompensationStatusRegister | vn::sensors::VnSensor::readVelocityCompensationStatus () |
Reads the Velocity Compensation Status register. More... | |
ImuMeasurementsRegister | vn::sensors::VnSensor::readImuMeasurements () |
Reads the IMU Measurements register. More... | |
GpsConfigurationRegister | vn::sensors::VnSensor::readGpsConfiguration () |
Reads the GPS Configuration register. More... | |
void | vn::sensors::VnSensor::writeGpsConfiguration (GpsConfigurationRegister &fields, bool waitForReply=true) |
Writes to the GPS Configuration register. More... | |
void | vn::sensors::VnSensor::writeGpsConfiguration (protocol::uart::GpsMode mode, protocol::uart::PpsSource ppsSource, bool waitForReply=true) |
Writes to the GPS Configuration register. More... | |
vn::math::vec3f | vn::sensors::VnSensor::readGpsAntennaOffset () |
Reads the GPS Antenna Offset register. More... | |
void | vn::sensors::VnSensor::writeGpsAntennaOffset (const vn::math::vec3f &position, bool waitForReply=true) |
Writes to the GPS Antenna Offset register. More... | |
GpsSolutionLlaRegister | vn::sensors::VnSensor::readGpsSolutionLla () |
Reads the GPS Solution - LLA register. More... | |
GpsSolutionEcefRegister | vn::sensors::VnSensor::readGpsSolutionEcef () |
Reads the GPS Solution - ECEF register. More... | |
InsSolutionLlaRegister | vn::sensors::VnSensor::readInsSolutionLla () |
Reads the INS Solution - LLA register. More... | |
InsSolutionEcefRegister | vn::sensors::VnSensor::readInsSolutionEcef () |
Reads the INS Solution - ECEF register. More... | |
InsAdvancedConfigurationRegister | vn::sensors::VnSensor::readInsAdvancedConfiguration () |
Reads the INS Advanced Configuration register. More... | |
void | vn::sensors::VnSensor::writeInsAdvancedConfiguration (InsAdvancedConfigurationRegister &fields, bool waitForReply=true) |
Writes to the INS Advanced Configuration register. More... | |
void | vn::sensors::VnSensor::writeInsAdvancedConfiguration (const uint8_t &useMag, const uint8_t &usePres, const uint8_t &posAtt, const uint8_t &velAtt, const uint8_t &velBias, protocol::uart::FoamInit useFoam, const uint8_t &gpsCovType, const uint8_t &velCount, const float &velInit, const float &moveOrigin, const float &gpsTimeout, const float &deltaLimitPos, const float &deltaLimitVel, const float &minPosUncertainty, const float &minVelUncertainty, bool waitForReply=true) |
Writes to the INS Advanced Configuration register. More... | |
InsStateLlaRegister | vn::sensors::VnSensor::readInsStateLla () |
Reads the INS State - LLA register. More... | |
InsStateEcefRegister | vn::sensors::VnSensor::readInsStateEcef () |
Reads the INS State - ECEF register. More... | |
StartupFilterBiasEstimateRegister | vn::sensors::VnSensor::readStartupFilterBiasEstimate () |
Reads the Startup Filter Bias Estimate register. More... | |
void | vn::sensors::VnSensor::writeStartupFilterBiasEstimate (StartupFilterBiasEstimateRegister &fields, bool waitForReply=true) |
Writes to the Startup Filter Bias Estimate register. More... | |
void | vn::sensors::VnSensor::writeStartupFilterBiasEstimate (const vn::math::vec3f &gyroBias, const vn::math::vec3f &accelBias, const float &pressureBias, bool waitForReply=true) |
Writes to the Startup Filter Bias Estimate register. More... | |
DeltaThetaAndDeltaVelocityRegister | vn::sensors::VnSensor::readDeltaThetaAndDeltaVelocity () |
Reads the Delta Theta and Delta Velocity register. More... | |
DeltaThetaAndDeltaVelocityConfigurationRegister | vn::sensors::VnSensor::readDeltaThetaAndDeltaVelocityConfiguration () |
Reads the Delta Theta and Delta Velocity Configuration register. More... | |
void | vn::sensors::VnSensor::writeDeltaThetaAndDeltaVelocityConfiguration (DeltaThetaAndDeltaVelocityConfigurationRegister &fields, bool waitForReply=true) |
Writes to the Delta Theta and Delta Velocity Configuration register. More... | |
void | vn::sensors::VnSensor::writeDeltaThetaAndDeltaVelocityConfiguration (protocol::uart::IntegrationFrame integrationFrame, protocol::uart::CompensationMode gyroCompensation, protocol::uart::CompensationMode accelCompensation, bool waitForReply=true) |
Writes to the Delta Theta and Delta Velocity Configuration register. More... | |
ReferenceVectorConfigurationRegister | vn::sensors::VnSensor::readReferenceVectorConfiguration () |
Reads the Reference Vector Configuration register. More... | |
void | vn::sensors::VnSensor::writeReferenceVectorConfiguration (ReferenceVectorConfigurationRegister &fields, bool waitForReply=true) |
Writes to the Reference Vector Configuration register. More... | |
void | vn::sensors::VnSensor::writeReferenceVectorConfiguration (const uint8_t &useMagModel, const uint8_t &useGravityModel, const uint32_t &recalcThreshold, const float &year, const vn::math::vec3d &position, bool waitForReply=true) |
Writes to the Reference Vector Configuration register. More... | |
GyroCompensationRegister | vn::sensors::VnSensor::readGyroCompensation () |
Reads the Gyro Compensation register. More... | |
void | vn::sensors::VnSensor::writeGyroCompensation (GyroCompensationRegister &fields, bool waitForReply=true) |
Writes to the Gyro Compensation register. More... | |
void | vn::sensors::VnSensor::writeGyroCompensation (const vn::math::mat3f &c, const vn::math::vec3f &b, bool waitForReply=true) |
Writes to the Gyro Compensation register. More... | |
ImuFilteringConfigurationRegister | vn::sensors::VnSensor::readImuFilteringConfiguration () |
Reads the IMU Filtering Configuration register. More... | |
void | vn::sensors::VnSensor::writeImuFilteringConfiguration (ImuFilteringConfigurationRegister &fields, bool waitForReply=true) |
Writes to the IMU Filtering Configuration register. More... | |
void | vn::sensors::VnSensor::writeImuFilteringConfiguration (const uint16_t &magWindowSize, const uint16_t &accelWindowSize, const uint16_t &gyroWindowSize, const uint16_t &tempWindowSize, const uint16_t &presWindowSize, protocol::uart::FilterMode magFilterMode, protocol::uart::FilterMode accelFilterMode, protocol::uart::FilterMode gyroFilterMode, protocol::uart::FilterMode tempFilterMode, protocol::uart::FilterMode presFilterMode, bool waitForReply=true) |
Writes to the IMU Filtering Configuration register. More... | |
GpsCompassBaselineRegister | vn::sensors::VnSensor::readGpsCompassBaseline () |
Reads the GPS Compass Baseline register. More... | |
void | vn::sensors::VnSensor::writeGpsCompassBaseline (GpsCompassBaselineRegister &fields, bool waitForReply=true) |
Writes to the GPS Compass Baseline register. More... | |
void | vn::sensors::VnSensor::writeGpsCompassBaseline (const vn::math::vec3f &position, const vn::math::vec3f &uncertainty, bool waitForReply=true) |
Writes to the GPS Compass Baseline register. More... | |
GpsCompassEstimatedBaselineRegister | vn::sensors::VnSensor::readGpsCompassEstimatedBaseline () |
Reads the GPS Compass Estimated Baseline register. More... | |
ImuRateConfigurationRegister | vn::sensors::VnSensor::readImuRateConfiguration () |
Reads the IMU Rate Configuration register. More... | |
void | vn::sensors::VnSensor::writeImuRateConfiguration (ImuRateConfigurationRegister &fields, bool waitForReply=true) |
Writes to the IMU Rate Configuration register. More... | |
void | vn::sensors::VnSensor::writeImuRateConfiguration (const uint16_t &imuRate, const uint16_t &navDivisor, const float &filterTargetRate, const float &filterMinRate, bool waitForReply=true) |
Writes to the IMU Rate Configuration register. More... | |
YawPitchRollTrueBodyAccelerationAndAngularRatesRegister | vn::sensors::VnSensor::readYawPitchRollTrueBodyAccelerationAndAngularRates () |
Reads the Yaw, Pitch, Roll, True Body Acceleration and Angular Rates register. More... | |
YawPitchRollTrueInertialAccelerationAndAngularRatesRegister | vn::sensors::VnSensor::readYawPitchRollTrueInertialAccelerationAndAngularRates () |
Reads the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register. More... | |
This group of methods provide access to read and write to the sensor's registers.
AccelerationCompensationRegister vn::sensors::VnSensor::readAccelerationCompensation | ( | ) |
Reads the Acceleration Compensation register.
vn::math::vec3f vn::sensors::VnSensor::readAccelerationMeasurements | ( | ) |
Reads the Acceleration Measurements register.
vn::math::vec3f vn::sensors::VnSensor::readAngularRateMeasurements | ( | ) |
Reads the Angular Rate Measurements register.
uint32_t vn::sensors::VnSensor::readAsyncDataOutputFrequency | ( | uint8_t | port | ) |
Reads the Async Data Output Frequency register.
[in] | port | The port number to read from. |
uint32_t vn::sensors::VnSensor::readAsyncDataOutputFrequency | ( | ) |
Reads the Async Data Output Frequency register.
protocol::uart::AsciiAsync vn::sensors::VnSensor::readAsyncDataOutputType | ( | uint8_t | port | ) |
Reads the Async Data Output Type register.
[in] | port | The port number to read from. |
protocol::uart::AsciiAsync vn::sensors::VnSensor::readAsyncDataOutputType | ( | ) |
Reads the Async Data Output Type register.
vn::math::vec4f vn::sensors::VnSensor::readAttitudeQuaternion | ( | ) |
Reads the Attitude Quaternion register.
BinaryOutputRegister vn::sensors::VnSensor::readBinaryOutput1 | ( | ) |
Reads the Binary Output 1 register.
BinaryOutputRegister vn::sensors::VnSensor::readBinaryOutput2 | ( | ) |
Reads the Binary Output 2 register.
BinaryOutputRegister vn::sensors::VnSensor::readBinaryOutput3 | ( | ) |
Reads the Binary Output 3 register.
CalculatedMagnetometerCalibrationRegister vn::sensors::VnSensor::readCalculatedMagnetometerCalibration | ( | ) |
Reads the Calculated Magnetometer Calibration register.
CommunicationProtocolControlRegister vn::sensors::VnSensor::readCommunicationProtocolControl | ( | ) |
Reads the Communication Protocol Control register.
DeltaThetaAndDeltaVelocityRegister vn::sensors::VnSensor::readDeltaThetaAndDeltaVelocity | ( | ) |
Reads the Delta Theta and Delta Velocity register.
DeltaThetaAndDeltaVelocityConfigurationRegister vn::sensors::VnSensor::readDeltaThetaAndDeltaVelocityConfiguration | ( | ) |
Reads the Delta Theta and Delta Velocity Configuration register.
FilterActiveTuningParametersRegister vn::sensors::VnSensor::readFilterActiveTuningParameters | ( | ) |
Reads the Filter Active Tuning Parameters register.
FilterBasicControlRegister vn::sensors::VnSensor::readFilterBasicControl | ( | ) |
Reads the Filter Basic Control register.
FilterMeasurementsVarianceParametersRegister vn::sensors::VnSensor::readFilterMeasurementsVarianceParameters | ( | ) |
Reads the Filter Measurements Variance Parameters register.
vn::math::vec3f vn::sensors::VnSensor::readFilterStartupGyroBias | ( | ) |
Reads the Filter Startup Gyro Bias register.
std::string vn::sensors::VnSensor::readFirmwareVersion | ( | ) |
Reads the Firmware Version register.
vn::math::vec3f vn::sensors::VnSensor::readGpsAntennaOffset | ( | ) |
Reads the GPS Antenna Offset register.
GpsCompassBaselineRegister vn::sensors::VnSensor::readGpsCompassBaseline | ( | ) |
Reads the GPS Compass Baseline register.
GpsCompassEstimatedBaselineRegister vn::sensors::VnSensor::readGpsCompassEstimatedBaseline | ( | ) |
Reads the GPS Compass Estimated Baseline register.
GpsConfigurationRegister vn::sensors::VnSensor::readGpsConfiguration | ( | ) |
Reads the GPS Configuration register.
GpsSolutionEcefRegister vn::sensors::VnSensor::readGpsSolutionEcef | ( | ) |
Reads the GPS Solution - ECEF register.
GpsSolutionLlaRegister vn::sensors::VnSensor::readGpsSolutionLla | ( | ) |
Reads the GPS Solution - LLA register.
GyroCompensationRegister vn::sensors::VnSensor::readGyroCompensation | ( | ) |
Reads the Gyro Compensation register.
uint32_t vn::sensors::VnSensor::readHardwareRevision | ( | ) |
Reads the Hardware Revision register.
ImuFilteringConfigurationRegister vn::sensors::VnSensor::readImuFilteringConfiguration | ( | ) |
Reads the IMU Filtering Configuration register.
ImuMeasurementsRegister vn::sensors::VnSensor::readImuMeasurements | ( | ) |
Reads the IMU Measurements register.
ImuRateConfigurationRegister vn::sensors::VnSensor::readImuRateConfiguration | ( | ) |
Reads the IMU Rate Configuration register.
float vn::sensors::VnSensor::readIndoorHeadingModeControl | ( | ) |
Reads the Indoor Heading Mode Control register.
InsAdvancedConfigurationRegister vn::sensors::VnSensor::readInsAdvancedConfiguration | ( | ) |
Reads the INS Advanced Configuration register.
InsBasicConfigurationRegisterVn200 vn::sensors::VnSensor::readInsBasicConfigurationVn200 | ( | ) |
Reads the INS Basic Configuration register for a VN-200 sensor.
InsBasicConfigurationRegisterVn300 vn::sensors::VnSensor::readInsBasicConfigurationVn300 | ( | ) |
Reads the INS Basic Configuration register for a VN-300 sensor.
InsSolutionEcefRegister vn::sensors::VnSensor::readInsSolutionEcef | ( | ) |
Reads the INS Solution - ECEF register.
InsSolutionLlaRegister vn::sensors::VnSensor::readInsSolutionLla | ( | ) |
Reads the INS Solution - LLA register.
InsStateEcefRegister vn::sensors::VnSensor::readInsStateEcef | ( | ) |
Reads the INS State - ECEF register.
InsStateLlaRegister vn::sensors::VnSensor::readInsStateLla | ( | ) |
Reads the INS State - LLA register.
MagneticAccelerationAndAngularRatesRegister vn::sensors::VnSensor::readMagneticAccelerationAndAngularRates | ( | ) |
Reads the Magnetic, Acceleration and Angular Rates register.
MagneticAndGravityReferenceVectorsRegister vn::sensors::VnSensor::readMagneticAndGravityReferenceVectors | ( | ) |
Reads the Magnetic and Gravity Reference Vectors register.
vn::math::vec3f vn::sensors::VnSensor::readMagneticMeasurements | ( | ) |
Reads the Magnetic Measurements register.
MagnetometerCalibrationControlRegister vn::sensors::VnSensor::readMagnetometerCalibrationControl | ( | ) |
Reads the Magnetometer Calibration Control register.
MagnetometerCompensationRegister vn::sensors::VnSensor::readMagnetometerCompensation | ( | ) |
Reads the Magnetometer Compensation register.
std::string vn::sensors::VnSensor::readModelNumber | ( | ) |
QuaternionMagneticAccelerationAndAngularRatesRegister vn::sensors::VnSensor::readQuaternionMagneticAccelerationAndAngularRates | ( | ) |
Reads the Quaternion, Magnetic, Acceleration and Angular Rates register.
vn::math::mat3f vn::sensors::VnSensor::readReferenceFrameRotation | ( | ) |
Reads the Reference Frame Rotation register.
ReferenceVectorConfigurationRegister vn::sensors::VnSensor::readReferenceVectorConfiguration | ( | ) |
Reads the Reference Vector Configuration register.
uint32_t vn::sensors::VnSensor::readSerialBaudRate | ( | uint8_t | port | ) |
Reads the Serial Baud Rate register for the specified port.
[in] | port | The port number to read from. |
uint32_t vn::sensors::VnSensor::readSerialBaudRate | ( | ) |
Reads the Serial Baud Rate register.
uint32_t vn::sensors::VnSensor::readSerialNumber | ( | ) |
Reads the Serial Number register.
StartupFilterBiasEstimateRegister vn::sensors::VnSensor::readStartupFilterBiasEstimate | ( | ) |
Reads the Startup Filter Bias Estimate register.
SynchronizationControlRegister vn::sensors::VnSensor::readSynchronizationControl | ( | ) |
Reads the Synchronization Control register.
SynchronizationStatusRegister vn::sensors::VnSensor::readSynchronizationStatus | ( | ) |
Reads the Synchronization Status register.
std::string vn::sensors::VnSensor::readUserTag | ( | ) |
Reads the User Tag register.
VelocityCompensationControlRegister vn::sensors::VnSensor::readVelocityCompensationControl | ( | ) |
Reads the Velocity Compensation Control register.
vn::math::vec3f vn::sensors::VnSensor::readVelocityCompensationMeasurement | ( | ) |
Reads the Velocity Compensation Measurement register.
VelocityCompensationStatusRegister vn::sensors::VnSensor::readVelocityCompensationStatus | ( | ) |
Reads the Velocity Compensation Status register.
VpeAccelerometerAdvancedTuningRegister vn::sensors::VnSensor::readVpeAccelerometerAdvancedTuning | ( | ) |
Reads the VPE Accelerometer Advanced Tuning register.
VpeAccelerometerBasicTuningRegister vn::sensors::VnSensor::readVpeAccelerometerBasicTuning | ( | ) |
Reads the VPE Accelerometer Basic Tuning register.
VpeBasicControlRegister vn::sensors::VnSensor::readVpeBasicControl | ( | ) |
Reads the VPE Basic Control register.
VpeGyroBasicTuningRegister vn::sensors::VnSensor::readVpeGyroBasicTuning | ( | ) |
Reads the VPE Gyro Basic Tuning register.
VpeMagnetometerAdvancedTuningRegister vn::sensors::VnSensor::readVpeMagnetometerAdvancedTuning | ( | ) |
Reads the VPE Magnetometer Advanced Tuning register.
VpeMagnetometerBasicTuningRegister vn::sensors::VnSensor::readVpeMagnetometerBasicTuning | ( | ) |
Reads the VPE Magnetometer Basic Tuning register.
vn::math::vec3f vn::sensors::VnSensor::readYawPitchRoll | ( | ) |
Reads the Yaw Pitch Roll register.
YawPitchRollMagneticAccelerationAndAngularRatesRegister vn::sensors::VnSensor::readYawPitchRollMagneticAccelerationAndAngularRates | ( | ) |
Reads the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register.
YawPitchRollTrueBodyAccelerationAndAngularRatesRegister vn::sensors::VnSensor::readYawPitchRollTrueBodyAccelerationAndAngularRates | ( | ) |
Reads the Yaw, Pitch, Roll, True Body Acceleration and Angular Rates register.
YawPitchRollTrueInertialAccelerationAndAngularRatesRegister vn::sensors::VnSensor::readYawPitchRollTrueInertialAccelerationAndAngularRates | ( | ) |
Reads the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register.
void vn::sensors::VnSensor::writeAccelerationCompensation | ( | AccelerationCompensationRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Acceleration Compensation register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeAccelerationCompensation | ( | const vn::math::mat3f & | c, |
const vn::math::vec3f & | b, | ||
bool | waitForReply = true |
||
) |
Writes to the Acceleration Compensation register.
[in] | c | Value for the C field. |
[in] | b | Value for the B field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeAsyncDataOutputFrequency | ( | const uint32_t & | adof, |
uint8_t | port, | ||
bool | waitForReply = true |
||
) |
Writes to the Async Data Output Frequency register.
[in] | adof | The register's ADOF field. |
[in] | port | The port number to write to. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeAsyncDataOutputFrequency | ( | const uint32_t & | adof, |
bool | waitForReply = true |
||
) |
Writes to the Async Data Output Frequency register.
[in] | adof | The register's ADOF field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeAsyncDataOutputType | ( | protocol::uart::AsciiAsync | ador, |
uint8_t | port, | ||
bool | waitForReply = true |
||
) |
Writes to the Async Data Output Type register.
[in] | ador | The register's ADOR field. |
[in] | port | The port number to write to. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeAsyncDataOutputType | ( | protocol::uart::AsciiAsync | ador, |
bool | waitForReply = true |
||
) |
Writes to the Async Data Output Type register.
[in] | ador | The register's ADOR field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeBinaryOutput1 | ( | BinaryOutputRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Binary Output 1 register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeBinaryOutput2 | ( | BinaryOutputRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Binary Output 2 register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeBinaryOutput3 | ( | BinaryOutputRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Binary Output 3 register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeCommunicationProtocolControl | ( | CommunicationProtocolControlRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Communication Protocol Control register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeCommunicationProtocolControl | ( | protocol::uart::CountMode | serialCount, |
protocol::uart::StatusMode | serialStatus, | ||
protocol::uart::CountMode | spiCount, | ||
protocol::uart::StatusMode | spiStatus, | ||
protocol::uart::ChecksumMode | serialChecksum, | ||
protocol::uart::ChecksumMode | spiChecksum, | ||
protocol::uart::ErrorMode | errorMode, | ||
bool | waitForReply = true |
||
) |
Writes to the Communication Protocol Control register.
[in] | serialCount | Value for the SerialCount field. |
[in] | serialStatus | Value for the SerialStatus field. |
[in] | spiCount | Value for the SPICount field. |
[in] | spiStatus | Value for the SPIStatus field. |
[in] | serialChecksum | Value for the SerialChecksum field. |
[in] | spiChecksum | Value for the SPIChecksum field. |
[in] | errorMode | Value for the ErrorMode field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeDeltaThetaAndDeltaVelocityConfiguration | ( | DeltaThetaAndDeltaVelocityConfigurationRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Delta Theta and Delta Velocity Configuration register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeDeltaThetaAndDeltaVelocityConfiguration | ( | protocol::uart::IntegrationFrame | integrationFrame, |
protocol::uart::CompensationMode | gyroCompensation, | ||
protocol::uart::CompensationMode | accelCompensation, | ||
bool | waitForReply = true |
||
) |
Writes to the Delta Theta and Delta Velocity Configuration register.
[in] | integrationFrame | Value for the IntegrationFrame field. |
[in] | gyroCompensation | Value for the GyroCompensation field. |
[in] | accelCompensation | Value for the AccelCompensation field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeFilterActiveTuningParameters | ( | FilterActiveTuningParametersRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Filter Active Tuning Parameters register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeFilterActiveTuningParameters | ( | const float & | magneticDisturbanceGain, |
const float & | accelerationDisturbanceGain, | ||
const float & | magneticDisturbanceMemory, | ||
const float & | accelerationDisturbanceMemory, | ||
bool | waitForReply = true |
||
) |
Writes to the Filter Active Tuning Parameters register.
[in] | magneticDisturbanceGain | Value for the Magnetic Disturbance Gain field. |
[in] | accelerationDisturbanceGain | Value for the Acceleration Disturbance Gain field. |
[in] | magneticDisturbanceMemory | Value for the Magnetic Disturbance Memory field. |
[in] | accelerationDisturbanceMemory | Value for the Acceleration Disturbance Memory field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeFilterBasicControl | ( | FilterBasicControlRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Filter Basic Control register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeFilterBasicControl | ( | protocol::uart::MagneticMode | magMode, |
protocol::uart::ExternalSensorMode | extMagMode, | ||
protocol::uart::ExternalSensorMode | extAccMode, | ||
protocol::uart::ExternalSensorMode | extGyroMode, | ||
const vn::math::vec3f & | gyroLimit, | ||
bool | waitForReply = true |
||
) |
Writes to the Filter Basic Control register.
[in] | magMode | Value for the MagMode field. |
[in] | extMagMode | Value for the ExtMagMode field. |
[in] | extAccMode | Value for the ExtAccMode field. |
[in] | extGyroMode | Value for the ExtGyroMode field. |
[in] | gyroLimit | Value for the GyroLimit field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeFilterMeasurementsVarianceParameters | ( | FilterMeasurementsVarianceParametersRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Filter Measurements Variance Parameters register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeFilterMeasurementsVarianceParameters | ( | const float & | angularWalkVariance, |
const vn::math::vec3f & | angularRateVariance, | ||
const vn::math::vec3f & | magneticVariance, | ||
const vn::math::vec3f & | accelerationVariance, | ||
bool | waitForReply = true |
||
) |
Writes to the Filter Measurements Variance Parameters register.
[in] | angularWalkVariance | Value for the Angular Walk Variance field. |
[in] | angularRateVariance | Value for the Angular Rate Variance field. |
[in] | magneticVariance | Value for the Magnetic Variance field. |
[in] | accelerationVariance | Value for the Acceleration Variance field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeFilterStartupGyroBias | ( | const vn::math::vec3f & | bias, |
bool | waitForReply = true |
||
) |
Writes to the Filter Startup Gyro Bias register.
[in] | bias | The register's Bias field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeGpsAntennaOffset | ( | const vn::math::vec3f & | position, |
bool | waitForReply = true |
||
) |
Writes to the GPS Antenna Offset register.
[in] | position | The register's Position field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeGpsCompassBaseline | ( | GpsCompassBaselineRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the GPS Compass Baseline register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeGpsCompassBaseline | ( | const vn::math::vec3f & | position, |
const vn::math::vec3f & | uncertainty, | ||
bool | waitForReply = true |
||
) |
Writes to the GPS Compass Baseline register.
[in] | position | Value for the Position field. |
[in] | uncertainty | Value for the Uncertainty field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeGpsConfiguration | ( | GpsConfigurationRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the GPS Configuration register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeGpsConfiguration | ( | protocol::uart::GpsMode | mode, |
protocol::uart::PpsSource | ppsSource, | ||
bool | waitForReply = true |
||
) |
Writes to the GPS Configuration register.
[in] | mode | Value for the Mode field. |
[in] | ppsSource | Value for the PpsSource field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeGyroCompensation | ( | GyroCompensationRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Gyro Compensation register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeGyroCompensation | ( | const vn::math::mat3f & | c, |
const vn::math::vec3f & | b, | ||
bool | waitForReply = true |
||
) |
Writes to the Gyro Compensation register.
[in] | c | Value for the C field. |
[in] | b | Value for the B field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeImuFilteringConfiguration | ( | ImuFilteringConfigurationRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the IMU Filtering Configuration register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeImuFilteringConfiguration | ( | const uint16_t & | magWindowSize, |
const uint16_t & | accelWindowSize, | ||
const uint16_t & | gyroWindowSize, | ||
const uint16_t & | tempWindowSize, | ||
const uint16_t & | presWindowSize, | ||
protocol::uart::FilterMode | magFilterMode, | ||
protocol::uart::FilterMode | accelFilterMode, | ||
protocol::uart::FilterMode | gyroFilterMode, | ||
protocol::uart::FilterMode | tempFilterMode, | ||
protocol::uart::FilterMode | presFilterMode, | ||
bool | waitForReply = true |
||
) |
Writes to the IMU Filtering Configuration register.
[in] | magWindowSize | Value for the MagWindowSize field. |
[in] | accelWindowSize | Value for the AccelWindowSize field. |
[in] | gyroWindowSize | Value for the GyroWindowSize field. |
[in] | tempWindowSize | Value for the TempWindowSize field. |
[in] | presWindowSize | Value for the PresWindowSize field. |
[in] | magFilterMode | Value for the MagFilterMode field. |
[in] | accelFilterMode | Value for the AccelFilterMode field. |
[in] | gyroFilterMode | Value for the GyroFilterMode field. |
[in] | tempFilterMode | Value for the TempFilterMode field. |
[in] | presFilterMode | Value for the PresFilterMode field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeImuRateConfiguration | ( | ImuRateConfigurationRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the IMU Rate Configuration register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeImuRateConfiguration | ( | const uint16_t & | imuRate, |
const uint16_t & | navDivisor, | ||
const float & | filterTargetRate, | ||
const float & | filterMinRate, | ||
bool | waitForReply = true |
||
) |
Writes to the IMU Rate Configuration register.
[in] | imuRate | Value for the imuRate field. |
[in] | navDivisor | Value for the NavDivisor field. |
[in] | filterTargetRate | Value for the filterTargetRate field. |
[in] | filterMinRate | Value for the filterMinRate field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeIndoorHeadingModeControl | ( | const float & | maxRateError, |
bool | waitForReply = true |
||
) |
Writes to the Indoor Heading Mode Control register.
[in] | maxRateError | The register's Max Rate Error field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeInsAdvancedConfiguration | ( | InsAdvancedConfigurationRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the INS Advanced Configuration register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeInsAdvancedConfiguration | ( | const uint8_t & | useMag, |
const uint8_t & | usePres, | ||
const uint8_t & | posAtt, | ||
const uint8_t & | velAtt, | ||
const uint8_t & | velBias, | ||
protocol::uart::FoamInit | useFoam, | ||
const uint8_t & | gpsCovType, | ||
const uint8_t & | velCount, | ||
const float & | velInit, | ||
const float & | moveOrigin, | ||
const float & | gpsTimeout, | ||
const float & | deltaLimitPos, | ||
const float & | deltaLimitVel, | ||
const float & | minPosUncertainty, | ||
const float & | minVelUncertainty, | ||
bool | waitForReply = true |
||
) |
Writes to the INS Advanced Configuration register.
[in] | useMag | Value for the UseMag field. |
[in] | usePres | Value for the UsePres field. |
[in] | posAtt | Value for the PosAtt field. |
[in] | velAtt | Value for the VelAtt field. |
[in] | velBias | Value for the VelBias field. |
[in] | useFoam | Value for the UseFoam field. |
[in] | gpsCovType | Value for the GPSCovType field. |
[in] | velCount | Value for the VelCount field. |
[in] | velInit | Value for the VelInit field. |
[in] | moveOrigin | Value for the MoveOrigin field. |
[in] | gpsTimeout | Value for the GPSTimeout field. |
[in] | deltaLimitPos | Value for the DeltaLimitPos field. |
[in] | deltaLimitVel | Value for the DeltaLimitVel field. |
[in] | minPosUncertainty | Value for the MinPosUncertainty field. |
[in] | minVelUncertainty | Value for the MinVelUncertainty field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeInsBasicConfigurationVn200 | ( | InsBasicConfigurationRegisterVn200 & | fields, |
bool | waitForReply = true |
||
) |
Writes to the INS Basic Configuration register for a VN-200 sensor.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeInsBasicConfigurationVn200 | ( | protocol::uart::Scenario | scenario, |
const uint8_t & | ahrsAiding, | ||
bool | waitForReply = true |
||
) |
Writes to the INS Basic Configuration register for a VN-200 sensor.
[in] | scenario | Value for the Scenario field. |
[in] | ahrsAiding | Value for the AhrsAiding field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeInsBasicConfigurationVn300 | ( | InsBasicConfigurationRegisterVn300 & | fields, |
bool | waitForReply = true |
||
) |
Writes to the INS Basic Configuration register for a VN-300 sensor.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeInsBasicConfigurationVn300 | ( | protocol::uart::Scenario | scenario, |
const uint8_t & | ahrsAiding, | ||
const uint8_t & | estBaseline, | ||
bool | waitForReply = true |
||
) |
Writes to the INS Basic Configuration register for a VN-300 sensor.
[in] | scenario | Value for the Scenario field. |
[in] | ahrsAiding | Value for the AhrsAiding field. |
[in] | estBaseline | Value for the EstBaseline field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeMagneticAndGravityReferenceVectors | ( | MagneticAndGravityReferenceVectorsRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Magnetic and Gravity Reference Vectors register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeMagneticAndGravityReferenceVectors | ( | const vn::math::vec3f & | magRef, |
const vn::math::vec3f & | accRef, | ||
bool | waitForReply = true |
||
) |
Writes to the Magnetic and Gravity Reference Vectors register.
[in] | magRef | Value for the MagRef field. |
[in] | accRef | Value for the AccRef field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeMagnetometerCalibrationControl | ( | MagnetometerCalibrationControlRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Magnetometer Calibration Control register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeMagnetometerCalibrationControl | ( | protocol::uart::HsiMode | hsiMode, |
protocol::uart::HsiOutput | hsiOutput, | ||
const uint8_t & | convergeRate, | ||
bool | waitForReply = true |
||
) |
Writes to the Magnetometer Calibration Control register.
[in] | hsiMode | Value for the HSIMode field. |
[in] | hsiOutput | Value for the HSIOutput field. |
[in] | convergeRate | Value for the ConvergeRate field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeMagnetometerCompensation | ( | MagnetometerCompensationRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Magnetometer Compensation register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeMagnetometerCompensation | ( | const vn::math::mat3f & | c, |
const vn::math::vec3f & | b, | ||
bool | waitForReply = true |
||
) |
Writes to the Magnetometer Compensation register.
[in] | c | Value for the C field. |
[in] | b | Value for the B field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeReferenceFrameRotation | ( | const vn::math::mat3f & | c, |
bool | waitForReply = true |
||
) |
Writes to the Reference Frame Rotation register.
[in] | c | The register's C field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeReferenceVectorConfiguration | ( | ReferenceVectorConfigurationRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Reference Vector Configuration register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeReferenceVectorConfiguration | ( | const uint8_t & | useMagModel, |
const uint8_t & | useGravityModel, | ||
const uint32_t & | recalcThreshold, | ||
const float & | year, | ||
const vn::math::vec3d & | position, | ||
bool | waitForReply = true |
||
) |
Writes to the Reference Vector Configuration register.
[in] | useMagModel | Value for the UseMagModel field. |
[in] | useGravityModel | Value for the UseGravityModel field. |
[in] | recalcThreshold | Value for the RecalcThreshold field. |
[in] | year | Value for the Year field. |
[in] | position | Value for the Position field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeSerialBaudRate | ( | const uint32_t & | baudrate, |
uint8_t | port, | ||
bool | waitForReply = true |
||
) |
Writes to the Serial Baud Rate register for the specified port.
[in] | baudrate | The register's Baud Rate field. |
[in] | port | The port number to write to. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeSerialBaudRate | ( | const uint32_t & | baudrate, |
bool | waitForReply = true |
||
) |
Writes to the Serial Baud Rate register.
[in] | baudrate | The register's Baud Rate field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeStartupFilterBiasEstimate | ( | StartupFilterBiasEstimateRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Startup Filter Bias Estimate register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeStartupFilterBiasEstimate | ( | const vn::math::vec3f & | gyroBias, |
const vn::math::vec3f & | accelBias, | ||
const float & | pressureBias, | ||
bool | waitForReply = true |
||
) |
Writes to the Startup Filter Bias Estimate register.
[in] | gyroBias | Value for the GyroBias field. |
[in] | accelBias | Value for the AccelBias field. |
[in] | pressureBias | Value for the PressureBias field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeSynchronizationControl | ( | SynchronizationControlRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Synchronization Control register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeSynchronizationControl | ( | protocol::uart::SyncInMode | syncInMode, |
protocol::uart::SyncInEdge | syncInEdge, | ||
const uint16_t & | syncInSkipFactor, | ||
protocol::uart::SyncOutMode | syncOutMode, | ||
protocol::uart::SyncOutPolarity | syncOutPolarity, | ||
const uint16_t & | syncOutSkipFactor, | ||
const uint32_t & | syncOutPulseWidth, | ||
bool | waitForReply = true |
||
) |
Writes to the Synchronization Control register.
[in] | syncInMode | Value for the SyncInMode field. |
[in] | syncInEdge | Value for the SyncInEdge field. |
[in] | syncInSkipFactor | Value for the SyncInSkipFactor field. |
[in] | syncOutMode | Value for the SyncOutMode field. |
[in] | syncOutPolarity | Value for the SyncOutPolarity field. |
[in] | syncOutSkipFactor | Value for the SyncOutSkipFactor field. |
[in] | syncOutPulseWidth | Value for the SyncOutPulseWidth field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeSynchronizationStatus | ( | SynchronizationStatusRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Synchronization Status register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeSynchronizationStatus | ( | const uint32_t & | syncInCount, |
const uint32_t & | syncInTime, | ||
const uint32_t & | syncOutCount, | ||
bool | waitForReply = true |
||
) |
Writes to the Synchronization Status register.
[in] | syncInCount | Value for the SyncInCount field. |
[in] | syncInTime | Value for the SyncInTime field. |
[in] | syncOutCount | Value for the SyncOutCount field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeUserTag | ( | const std::string & | tag, |
bool | waitForReply = true |
||
) |
Writes to the User Tag register.
[in] | tag | The register's Tag field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeVelocityCompensationControl | ( | VelocityCompensationControlRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the Velocity Compensation Control register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeVelocityCompensationControl | ( | protocol::uart::VelocityCompensationMode | mode, |
const float & | velocityTuning, | ||
const float & | rateTuning, | ||
bool | waitForReply = true |
||
) |
Writes to the Velocity Compensation Control register.
[in] | mode | Value for the Mode field. |
[in] | velocityTuning | Value for the VelocityTuning field. |
[in] | rateTuning | Value for the RateTuning field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeVelocityCompensationMeasurement | ( | const vn::math::vec3f & | velocity, |
bool | waitForReply = true |
||
) |
Writes to the Velocity Compensation Measurement register.
[in] | velocity | The register's Velocity field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeVpeAccelerometerAdvancedTuning | ( | VpeAccelerometerAdvancedTuningRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the VPE Accelerometer Advanced Tuning register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeVpeAccelerometerAdvancedTuning | ( | const vn::math::vec3f & | minFiltering, |
const vn::math::vec3f & | maxFiltering, | ||
const float & | maxAdaptRate, | ||
const float & | disturbanceWindow, | ||
const float & | maxTuning, | ||
bool | waitForReply = true |
||
) |
Writes to the VPE Accelerometer Advanced Tuning register.
[in] | minFiltering | Value for the MinFiltering field. |
[in] | maxFiltering | Value for the MaxFiltering field. |
[in] | maxAdaptRate | Value for the MaxAdaptRate field. |
[in] | disturbanceWindow | Value for the DisturbanceWindow field. |
[in] | maxTuning | Value for the MaxTuning field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeVpeAccelerometerBasicTuning | ( | VpeAccelerometerBasicTuningRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the VPE Accelerometer Basic Tuning register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeVpeAccelerometerBasicTuning | ( | const vn::math::vec3f & | baseTuning, |
const vn::math::vec3f & | adaptiveTuning, | ||
const vn::math::vec3f & | adaptiveFiltering, | ||
bool | waitForReply = true |
||
) |
Writes to the VPE Accelerometer Basic Tuning register.
[in] | baseTuning | Value for the BaseTuning field. |
[in] | adaptiveTuning | Value for the AdaptiveTuning field. |
[in] | adaptiveFiltering | Value for the AdaptiveFiltering field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeVpeBasicControl | ( | VpeBasicControlRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the VPE Basic Control register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeVpeBasicControl | ( | protocol::uart::VpeEnable | enable, |
protocol::uart::HeadingMode | headingMode, | ||
protocol::uart::VpeMode | filteringMode, | ||
protocol::uart::VpeMode | tuningMode, | ||
bool | waitForReply = true |
||
) |
Writes to the VPE Basic Control register.
[in] | enable | Value for the Enable field. |
[in] | headingMode | Value for the HeadingMode field. |
[in] | filteringMode | Value for the FilteringMode field. |
[in] | tuningMode | Value for the TuningMode field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeVpeGyroBasicTuning | ( | VpeGyroBasicTuningRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the VPE Gyro Basic Tuning register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeVpeGyroBasicTuning | ( | const vn::math::vec3f & | angularWalkVariance, |
const vn::math::vec3f & | baseTuning, | ||
const vn::math::vec3f & | adaptiveTuning, | ||
bool | waitForReply = true |
||
) |
Writes to the VPE Gyro Basic Tuning register.
[in] | angularWalkVariance | Value for the AngularWalkVariance field. |
[in] | baseTuning | Value for the BaseTuning field. |
[in] | adaptiveTuning | Value for the AdaptiveTuning field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeVpeMagnetometerAdvancedTuning | ( | VpeMagnetometerAdvancedTuningRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the VPE Magnetometer Advanced Tuning register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeVpeMagnetometerAdvancedTuning | ( | const vn::math::vec3f & | minFiltering, |
const vn::math::vec3f & | maxFiltering, | ||
const float & | maxAdaptRate, | ||
const float & | disturbanceWindow, | ||
const float & | maxTuning, | ||
bool | waitForReply = true |
||
) |
Writes to the VPE Magnetometer Advanced Tuning register.
[in] | minFiltering | Value for the MinFiltering field. |
[in] | maxFiltering | Value for the MaxFiltering field. |
[in] | maxAdaptRate | Value for the MaxAdaptRate field. |
[in] | disturbanceWindow | Value for the DisturbanceWindow field. |
[in] | maxTuning | Value for the MaxTuning field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeVpeMagnetometerBasicTuning | ( | VpeMagnetometerBasicTuningRegister & | fields, |
bool | waitForReply = true |
||
) |
Writes to the VPE Magnetometer Basic Tuning register.
[in] | fields | The register's fields. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |
void vn::sensors::VnSensor::writeVpeMagnetometerBasicTuning | ( | const vn::math::vec3f & | baseTuning, |
const vn::math::vec3f & | adaptiveTuning, | ||
const vn::math::vec3f & | adaptiveFiltering, | ||
bool | waitForReply = true |
||
) |
Writes to the VPE Magnetometer Basic Tuning register.
[in] | baseTuning | Value for the BaseTuning field. |
[in] | adaptiveTuning | Value for the AdaptiveTuning field. |
[in] | adaptiveFiltering | Value for the AdaptiveFiltering field. |
[in] | waitForReply | Indicates if the method should wait for a response from the sensor. |