1 #ifndef _VNSENSORS_REGISTERS_H_
2 #define _VNSENSORS_REGISTERS_H_
36 asyncMode(protocol::uart::ASYNCMODE_NONE),
38 commonField(protocol::uart::COMMONGROUP_NONE),
39 timeField(protocol::uart::TIMEGROUP_NONE),
40 imuField(protocol::uart::IMUGROUP_NONE),
41 gpsField(protocol::uart::GPSGROUP_NONE),
42 attitudeField(protocol::uart::ATTITUDEGROUP_NONE),
43 insField(protocol::uart::INSGROUP_NONE)
57 protocol::uart::AsyncMode asyncModeIn,
58 uint16_t rateDivisorIn,
59 protocol::uart::CommonGroup commonFieldIn,
60 protocol::uart::TimeGroup timeFieldIn,
61 protocol::uart::ImuGroup imuFieldIn,
62 protocol::uart::GpsGroup gpsFieldIn,
63 protocol::uart::AttitudeGroup attitudeFieldIn,
64 protocol::uart::InsGroup insFieldIn) :
65 asyncMode(asyncModeIn),
66 rateDivisor(rateDivisorIn),
67 commonField(commonFieldIn),
68 timeField(timeFieldIn),
71 attitudeField(attitudeFieldIn),
77 uint16_t rateDivisorIn,
78 uint16_t commonFieldIn,
82 uint16_t attitudeFieldIn,
83 uint16_t insFieldIn) :
84 asyncMode(static_cast<protocol::uart::AsyncMode>(asyncModeIn)),
85 rateDivisor(rateDivisorIn),
86 commonField(static_cast<protocol::uart::CommonGroup>(commonFieldIn)),
87 timeField(static_cast<protocol::uart::TimeGroup>(timeFieldIn)),
88 imuField(static_cast<protocol::uart::ImuGroup>(imuFieldIn)),
89 gpsField(static_cast<protocol::uart::GpsGroup>(gpsFieldIn)),
90 attitudeField(static_cast<protocol::uart::AttitudeGroup>(attitudeFieldIn)),
91 insField(static_cast<protocol::uart::InsGroup>(insFieldIn))
187 float angularWalkVarianceIn,
191 angularWalkVariance(angularWalkVarianceIn),
192 angularRateVariance(angularRateVarianceIn),
193 magneticVariance(magneticVarianceIn),
194 accelerationVariance(accelerationVarianceIn)
237 float magneticDisturbanceGainIn,
238 float accelerationDisturbanceGainIn,
239 float magneticDisturbanceMemoryIn,
240 float accelerationDisturbanceMemoryIn) :
241 magneticDisturbanceGain(magneticDisturbanceGainIn),
242 accelerationDisturbanceGain(accelerationDisturbanceGainIn),
243 magneticDisturbanceMemory(magneticDisturbanceMemoryIn),
244 accelerationDisturbanceMemory(accelerationDisturbanceMemoryIn)
291 yawPitchRoll(yawPitchRollIn),
322 protocol::uart::CountMode serialCountIn,
323 protocol::uart::StatusMode serialStatusIn,
324 protocol::uart::CountMode spiCountIn,
325 protocol::uart::StatusMode spiStatusIn,
326 protocol::uart::ChecksumMode serialChecksumIn,
327 protocol::uart::ChecksumMode spiChecksumIn,
328 protocol::uart::ErrorMode errorModeIn) :
329 serialCount(serialCountIn),
330 serialStatus(serialStatusIn),
331 spiCount(spiCountIn),
332 spiStatus(spiStatusIn),
333 serialChecksum(serialChecksumIn),
334 spiChecksum(spiChecksumIn),
335 errorMode(errorModeIn)
363 protocol::uart::SyncInMode syncInModeIn,
364 protocol::uart::SyncInEdge syncInEdgeIn,
365 uint16_t syncInSkipFactorIn,
366 protocol::uart::SyncOutMode syncOutModeIn,
367 protocol::uart::SyncOutPolarity syncOutPolarityIn,
368 uint16_t syncOutSkipFactorIn,
369 uint32_t syncOutPulseWidthIn) :
370 syncInMode(syncInModeIn),
371 syncInEdge(syncInEdgeIn),
372 syncInSkipFactor(syncInSkipFactorIn),
373 syncOutMode(syncOutModeIn),
374 syncOutPolarity(syncOutPolarityIn),
375 syncOutSkipFactor(syncOutSkipFactorIn),
376 syncOutPulseWidth(syncOutPulseWidthIn)
396 uint32_t syncInCountIn,
397 uint32_t syncInTimeIn,
398 uint32_t syncOutCountIn) :
399 syncInCount(syncInCountIn),
400 syncInTime(syncInTimeIn),
401 syncOutCount(syncOutCountIn)
425 protocol::uart::MagneticMode magModeIn,
426 protocol::uart::ExternalSensorMode extMagModeIn,
427 protocol::uart::ExternalSensorMode extAccModeIn,
428 protocol::uart::ExternalSensorMode extGyroModeIn,
431 extMagMode(extMagModeIn),
432 extAccMode(extAccModeIn),
433 extGyroMode(extGyroModeIn),
434 gyroLimit(gyroLimitIn)
456 protocol::uart::VpeEnable enableIn,
457 protocol::uart::HeadingMode headingModeIn,
458 protocol::uart::VpeMode filteringModeIn,
459 protocol::uart::VpeMode tuningModeIn) :
461 headingMode(headingModeIn),
462 filteringMode(filteringModeIn),
463 tuningMode(tuningModeIn)
486 baseTuning(baseTuningIn),
487 adaptiveTuning(adaptiveTuningIn),
488 adaptiveFiltering(adaptiveFilteringIn)
514 float maxAdaptRateIn,
515 float disturbanceWindowIn,
517 minFiltering(minFilteringIn),
518 maxFiltering(maxFilteringIn),
519 maxAdaptRate(maxAdaptRateIn),
520 disturbanceWindow(disturbanceWindowIn),
521 maxTuning(maxTuningIn)
544 baseTuning(baseTuningIn),
545 adaptiveTuning(adaptiveTuningIn),
546 adaptiveFiltering(adaptiveFilteringIn)
572 float maxAdaptRateIn,
573 float disturbanceWindowIn,
575 minFiltering(minFilteringIn),
576 maxFiltering(maxFilteringIn),
577 maxAdaptRate(maxAdaptRateIn),
578 disturbanceWindow(disturbanceWindowIn),
579 maxTuning(maxTuningIn)
602 angularWalkVariance(angularWalkVarianceIn),
603 baseTuning(baseTuningIn),
604 adaptiveTuning(adaptiveTuningIn)
624 protocol::uart::HsiMode hsiModeIn,
625 protocol::uart::HsiOutput hsiOutputIn,
626 uint8_t convergeRateIn) :
628 hsiOutput(hsiOutputIn),
629 convergeRate(convergeRateIn)
658 protocol::uart::VelocityCompensationMode
mode;
670 protocol::uart::VelocityCompensationMode modeIn,
671 float velocityTuningIn,
672 float rateTuningIn) :
674 velocityTuning(velocityTuningIn),
675 rateTuning(rateTuningIn)
703 accelOffset(accelOffsetIn),
755 protocol::uart::GpsMode modeIn,
756 protocol::uart::PpsSource ppsSourceIn) :
758 ppsSource(ppsSourceIn)
792 protocol::uart::GpsFix gpsFixIn,
806 speedAcc(speedAccIn),
841 protocol::uart::GpsFix gpsFixIn,
852 position(positionIn),
853 velocity(velocityIn),
855 speedAcc(speedAccIn),
894 float attUncertaintyIn,
895 float posUncertaintyIn,
896 float velUncertaintyIn) :
900 yawPitchRoll(yawPitchRollIn),
901 position(positionIn),
903 attUncertainty(attUncertaintyIn),
904 posUncertainty(posUncertaintyIn),
905 velUncertainty(velUncertaintyIn)
943 float attUncertaintyIn,
944 float posUncertaintyIn,
945 float velUncertaintyIn) :
949 yawPitchRoll(yawPitchRollIn),
950 position(positionIn),
951 velocity(velocityIn),
952 attUncertainty(attUncertaintyIn),
953 posUncertainty(posUncertaintyIn),
954 velUncertainty(velUncertaintyIn)
972 protocol::uart::Scenario scenarioIn,
974 scenario(scenarioIn),
975 ahrsAiding(ahrsAidingIn)
995 protocol::uart::Scenario scenarioIn,
997 bool estBaselineIn) :
998 scenario(scenarioIn),
999 ahrsAiding(ahrsAidingIn),
1000 estBaseline(estBaselineIn)
1049 protocol::uart::FoamInit useFoamIn,
1050 uint8_t gpsCovTypeIn,
1055 float deltaLimitPosIn,
1056 float deltaLimitVelIn,
1057 float minPosUncertaintyIn,
1058 float minVelUncertaintyIn) :
1065 gpsCovType(gpsCovTypeIn),
1066 velCount(velCountIn),
1068 moveOrigin(moveOriginIn),
1069 gpsTimeout(gpsTimeoutIn),
1070 deltaLimitPos(deltaLimitPosIn),
1071 deltaLimitVel(deltaLimitVelIn),
1072 minPosUncertainty(minPosUncertaintyIn),
1073 minVelUncertainty(minVelUncertaintyIn)
1102 yawPitchRoll(yawPitchRollIn),
1103 position(positionIn),
1104 velocity(velocityIn),
1106 angularRate(angularRateIn)
1135 yawPitchRoll(yawPitchRollIn),
1136 position(positionIn),
1137 velocity(velocityIn),
1139 angularRate(angularRateIn)
1161 float pressureBiasIn) :
1162 gyroBias(gyroBiasIn),
1163 accelBias(accelBiasIn),
1164 pressureBias(pressureBiasIn)
1187 deltaTime(deltaTimeIn),
1188 deltaTheta(deltaThetaIn),
1189 deltaVelocity(deltaVelocityIn)
1209 protocol::uart::IntegrationFrame integrationFrameIn,
1210 protocol::uart::CompensationMode gyroCompensationIn,
1211 protocol::uart::CompensationMode accelCompensationIn) :
1212 integrationFrame(integrationFrameIn),
1213 gyroCompensation(gyroCompensationIn),
1214 accelCompensation(accelCompensationIn)
1239 bool useGravityModelIn,
1240 uint32_t recalcThresholdIn,
1243 useMagModel(useMagModelIn),
1244 useGravityModel(useGravityModelIn),
1245 recalcThreshold(recalcThresholdIn),
1247 position(positionIn)
1302 uint16_t magWindowSizeIn,
1303 uint16_t accelWindowSizeIn,
1304 uint16_t gyroWindowSizeIn,
1305 uint16_t tempWindowSizeIn,
1306 uint16_t presWindowSizeIn,
1307 protocol::uart::FilterMode magFilterModeIn,
1308 protocol::uart::FilterMode accelFilterModeIn,
1309 protocol::uart::FilterMode gyroFilterModeIn,
1310 protocol::uart::FilterMode tempFilterModeIn,
1311 protocol::uart::FilterMode presFilterModeIn) :
1312 magWindowSize(magWindowSizeIn),
1313 accelWindowSize(accelWindowSizeIn),
1314 gyroWindowSize(gyroWindowSizeIn),
1315 tempWindowSize(tempWindowSizeIn),
1316 presWindowSize(presWindowSizeIn),
1317 magFilterMode(magFilterModeIn),
1318 accelFilterMode(accelFilterModeIn),
1319 gyroFilterMode(gyroFilterModeIn),
1320 tempFilterMode(tempFilterModeIn),
1321 presFilterMode(presFilterModeIn)
1341 position(positionIn),
1342 uncertainty(uncertaintyIn)
1364 bool estBaselineUsedIn,
1368 estBaselineUsed(estBaselineUsedIn),
1370 position(positionIn),
1371 uncertainty(uncertaintyIn)
1394 uint16_t navDivisorIn,
1395 float filterTargetRateIn,
1396 float filterMinRateIn) :
1398 navDivisor(navDivisorIn),
1399 filterTargetRate(filterTargetRateIn),
1400 filterMinRate(filterMinRateIn)
1423 yawPitchRoll(yawPitchRollIn),
1424 bodyAccel(bodyAccelIn),
1448 yawPitchRoll(yawPitchRollIn),
1449 inertialAccel(inertialAccelIn),
double tow
The tow field.
Definition: registers.h:815
vn::math::vec3f magRef
The magRef field.
Definition: registers.h:152
protocol::uart::HsiOutput hsiOutput
The hsiOutput field.
Definition: registers.h:613
protocol::uart::HsiMode hsiMode
The hsiMode field.
Definition: registers.h:612
vn::math::mat3f c
The c field.
Definition: registers.h:1255
Structure representing the Velocity Compensation Status register.
Definition: registers.h:681
float velocityTuning
The velocityTuning field.
Definition: registers.h:659
float rateTuning
The rateTuning field.
Definition: registers.h:660
protocol::uart::FilterMode magFilterMode
The magFilterMode field.
Definition: registers.h:1281
Structure representing the INS Basic Configuration register for a VN-200 sensor.
Definition: registers.h:960
Structure representing the VPE Gyro Basic Tuning register.
Definition: registers.h:585
vn::math::vec3f accel
The accel field.
Definition: registers.h:1117
Structure representing the INS Basic Configuration register for a VN-300 sensor.
Definition: registers.h:981
uint16_t week
The week field.
Definition: registers.h:816
vn::math::vec3f baseTuning
The baseTuning field.
Definition: registers.h:471
protocol::uart::VpeMode filteringMode
The filteringMode field.
Definition: registers.h:444
float angularWalkVariance
The angularWalkVariance field.
Definition: registers.h:173
vn::math::vec3f accel
The accel field.
Definition: registers.h:100
Template for a Euclidean vector.
Definition: vector.h:22
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:1433
float timeAcc
The timeAcc field.
Definition: registers.h:823
VelocityCompensationStatusRegister(float xIn, float xDotIn, vn::math::vec3f accelOffsetIn, vn::math::vec3f omegaIn)
Creates an initializes a new VelocityCompensationStatusRegister structure.
Definition: registers.h:696
vn::math::vec3f position
The position field.
Definition: registers.h:1329
Structure representing the Startup Filter Bias Estimate register.
Definition: registers.h:1145
float accelerationDisturbanceGain
The accelerationDisturbanceGain field.
Definition: registers.h:224
protocol::uart::CompensationMode accelCompensation
The accelCompensation field.
Definition: registers.h:1199
protocol::uart::SyncInMode syncInMode
The syncInMode field.
Definition: registers.h:343
ImuRateConfigurationRegister(uint16_t imuRateIn, uint16_t navDivisorIn, float filterTargetRateIn, float filterMinRateIn)
Creates an initializes a new ImuRateConfigurationRegister structure.
Definition: registers.h:1392
Structure representing the Yaw, Pitch, Roll, True Body Acceleration and Angular Rates register...
Definition: registers.h:1406
protocol::uart::ChecksumMode serialChecksum
The serialChecksum field.
Definition: registers.h:306
vn::math::vec3f accelBias
The accelBias field.
Definition: registers.h:1148
vn::math::vec3f b
The b field.
Definition: registers.h:1256
protocol::uart::IntegrationFrame integrationFrame
The integrationFrame field.
Definition: registers.h:1197
vn::math::vec3f accel
The accel field.
Definition: registers.h:713
uint16_t week
The week field.
Definition: registers.h:865
protocol::uart::StatusMode spiStatus
The spiStatus field.
Definition: registers.h:305
vn::math::vec3f nedVel
The nedVel field.
Definition: registers.h:869
GpsSolutionLlaRegister(double timeIn, uint16_t weekIn, protocol::uart::GpsFix gpsFixIn, uint8_t numSatsIn, vn::math::vec3d llaIn, vn::math::vec3f nedVelIn, vn::math::vec3f nedAccIn, float speedAccIn, float timeAccIn)
Creates an initializes a new GpsSolutionLlaRegister structure.
Definition: registers.h:789
uint16_t magWindowSize
The magWindowSize field.
Definition: registers.h:1276
vn::math::vec3f bodyAccel
The bodyAccel field.
Definition: registers.h:1409
Structure representing the Acceleration Compensation register.
Definition: registers.h:250
uint16_t status
The status field.
Definition: registers.h:915
float speedAcc
The speedAcc field.
Definition: registers.h:773
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:1435
float minPosUncertainty
The minPosUncertainty field.
Definition: registers.h:1021
Structure representing the Magnetometer Compensation register.
Definition: registers.h:200
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:714
VpeBasicControlRegister(protocol::uart::VpeEnable enableIn, protocol::uart::HeadingMode headingModeIn, protocol::uart::VpeMode filteringModeIn, protocol::uart::VpeMode tuningModeIn)
Creates an initializes a new VpeBasicControlRegister structure.
Definition: registers.h:455
vn::math::vec3f gyroBias
The gyroBias field.
Definition: registers.h:1147
MagneticAccelerationAndAngularRatesRegister(vn::math::vec3f magIn, vn::math::vec3f accelIn, vn::math::vec3f gyroIn)
Creates an initializes a new MagneticAccelerationAndAngularRatesRegister structure.
Definition: registers.h:138
vn::math::vec3f b
The b field.
Definition: registers.h:203
protocol::uart::VpeEnable enable
The enable field.
Definition: registers.h:442
BinaryOutputRegister(protocol::uart::AsyncMode asyncModeIn, uint16_t rateDivisorIn, protocol::uart::CommonGroup commonFieldIn, protocol::uart::TimeGroup timeFieldIn, protocol::uart::ImuGroup imuFieldIn, protocol::uart::GpsGroup gpsFieldIn, protocol::uart::AttitudeGroup attitudeFieldIn, protocol::uart::InsGroup insFieldIn)
Creates an initializes a new BinaryOutputRegister structure.
Definition: registers.h:56
vn::math::vec3f angularRateVariance
The angularRateVariance field.
Definition: registers.h:174
InsStateEcefRegister(vn::math::vec3f yawPitchRollIn, vn::math::vec3d positionIn, vn::math::vec3f velocityIn, vn::math::vec3f accelIn, vn::math::vec3f angularRateIn)
Creates an initializes a new InsStateEcefRegister structure.
Definition: registers.h:1129
protocol::uart::Scenario scenario
The scenario field.
Definition: registers.h:962
float timeAcc
The timeAcc field.
Definition: registers.h:774
protocol::uart::HeadingMode headingMode
The headingMode field.
Definition: registers.h:443
protocol::uart::FilterMode tempFilterMode
The tempFilterMode field.
Definition: registers.h:1284
vn::math::vec3d position
The position field.
Definition: registers.h:1226
InsStateLlaRegister(vn::math::vec3f yawPitchRollIn, vn::math::vec3d positionIn, vn::math::vec3f velocityIn, vn::math::vec3f accelIn, vn::math::vec3f angularRateIn)
Creates an initializes a new InsStateLlaRegister structure.
Definition: registers.h:1096
YawPitchRollTrueInertialAccelerationAndAngularRatesRegister(vn::math::vec3f yawPitchRollIn, vn::math::vec3f inertialAccelIn, vn::math::vec3f gyroIn)
Creates an initializes a new YawPitchRollTrueInertialAccelerationAndAngularRatesRegister structure...
Definition: registers.h:1444
uint16_t status
The status field.
Definition: registers.h:866
Structure representing the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register...
Definition: registers.h:1431
Structure representing the Synchronization Status register.
Definition: registers.h:382
vn::math::vec3d position
The position field.
Definition: registers.h:868
uint16_t navDivisor
The navDivisor field.
Definition: registers.h:1380
vn::math::vec3f mag
The mag field.
Definition: registers.h:99
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:273
bool useMagModel
The useMagModel field.
Definition: registers.h:1222
float magneticDisturbanceGain
The magneticDisturbanceGain field.
Definition: registers.h:223
double time
The time field.
Definition: registers.h:913
Structure representing the Filter Measurements Variance Parameters register.
Definition: registers.h:171
float gpsTimeout
The gpsTimeout field.
Definition: registers.h:1018
ReferenceVectorConfigurationRegister(bool useMagModelIn, bool useGravityModelIn, uint32_t recalcThresholdIn, float yearIn, vn::math::vec3d positionIn)
Creates an initializes a new ReferenceVectorConfigurationRegister structure.
Definition: registers.h:1237
vn::math::vec3f angularRate
The angularRate field.
Definition: registers.h:1118
MagnetometerCalibrationControlRegister(protocol::uart::HsiMode hsiModeIn, protocol::uart::HsiOutput hsiOutputIn, uint8_t convergeRateIn)
Creates an initializes a new MagnetometerCalibrationControlRegister structure.
Definition: registers.h:623
Structure representing the GPS Compass Estimated Baseline register.
Definition: registers.h:1348
vn::math::vec3f mag
The mag field.
Definition: registers.h:274
bool velBias
The velBias field.
Definition: registers.h:1012
Structure representing the VPE Accelerometer Basic Tuning register.
Definition: registers.h:527
uint8_t gpsCovType
The gpsCovType field.
Definition: registers.h:1014
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:1408
vn::math::vec3f velocity
The velocity field.
Definition: registers.h:820
AccelerationCompensationRegister(vn::math::mat3f cIn, vn::math::vec3f bIn)
Creates an initializes a new AccelerationCompensationRegister structure.
Definition: registers.h:261
float accelerationDisturbanceMemory
The accelerationDisturbanceMemory field.
Definition: registers.h:226
protocol::uart::VpeMode tuningMode
The tuningMode field.
Definition: registers.h:445
vn::math::vec3f accelerationVariance
The accelerationVariance field.
Definition: registers.h:176
protocol::uart::ChecksumMode spiChecksum
The spiChecksum field.
Definition: registers.h:307
bool ahrsAiding
The ahrsAiding field.
Definition: registers.h:963
uint16_t rateDivisor
The rateDivisor field.
Definition: registers.h:27
CalculatedMagnetometerCalibrationRegister(vn::math::mat3f cIn, vn::math::vec3f bIn)
Creates an initializes a new CalculatedMagnetometerCalibrationRegister structure. ...
Definition: registers.h:646
vn::math::vec3f posAcc
The posAcc field.
Definition: registers.h:821
DeltaThetaAndDeltaVelocityRegister(float deltaTimeIn, vn::math::vec3f deltaThetaIn, vn::math::vec3f deltaVelocityIn)
Creates an initializes a new DeltaThetaAndDeltaVelocityRegister structure.
Definition: registers.h:1183
vn::math::vec3f mag
The mag field.
Definition: registers.h:127
VpeAccelerometerAdvancedTuningRegister(vn::math::vec3f minFilteringIn, vn::math::vec3f maxFilteringIn, float maxAdaptRateIn, float disturbanceWindowIn, float maxTuningIn)
Creates an initializes a new VpeAccelerometerAdvancedTuningRegister structure.
Definition: registers.h:569
MagnetometerCompensationRegister(vn::math::mat3f cIn, vn::math::vec3f bIn)
Creates an initializes a new MagnetometerCompensationRegister structure.
Definition: registers.h:211
vn::math::vec3f velocity
The velocity field.
Definition: registers.h:1116
float magneticDisturbanceMemory
The magneticDisturbanceMemory field.
Definition: registers.h:225
protocol::uart::MagneticMode magMode
The magMode field.
Definition: registers.h:409
vn::math::vec3f adaptiveTuning
The adaptiveTuning field.
Definition: registers.h:472
SynchronizationStatusRegister(uint32_t syncInCountIn, uint32_t syncInTimeIn, uint32_t syncOutCountIn)
Creates an initializes a new SynchronizationStatusRegister structure.
Definition: registers.h:395
uint16_t syncOutSkipFactor
The syncOutSkipFactor field.
Definition: registers.h:348
vn::math::vec3f adaptiveTuning
The adaptiveTuning field.
Definition: registers.h:589
Structure representing the INS Advanced Configuration register.
Definition: registers.h:1006
protocol::uart::FilterMode accelFilterMode
The accelFilterMode field.
Definition: registers.h:1282
Structure representing the INS State - ECEF register.
Definition: registers.h:1112
Structure representing the INS Solution - ECEF register.
Definition: registers.h:911
Structure representing the GPS Solution - LLA register.
Definition: registers.h:764
Structure representing the GPS Compass Baseline register.
Definition: registers.h:1327
vn::math::vec3d position
The position field.
Definition: registers.h:1115
vn::math::vec3f baseTuning
The baseTuning field.
Definition: registers.h:529
vn::math::vec3f maxFiltering
The maxFiltering field.
Definition: registers.h:555
YawPitchRollTrueBodyAccelerationAndAngularRatesRegister(vn::math::vec3f yawPitchRollIn, vn::math::vec3f bodyAccelIn, vn::math::vec3f gyroIn)
Creates an initializes a new YawPitchRollTrueBodyAccelerationAndAngularRatesRegister structure...
Definition: registers.h:1419
uint16_t week
The week field.
Definition: registers.h:767
uint16_t numMeas
The numMeas field.
Definition: registers.h:1351
vn::math::mat3f c
The c field.
Definition: registers.h:637
protocol::uart::InsGroup insField
Group 6 (INS)
Definition: registers.h:33
Template for a matrix.
Definition: matrix.h:20
protocol::uart::GpsFix gpsFix
The gpsFix field.
Definition: registers.h:817
vn::math::vec3d position
The position field.
Definition: registers.h:819
vn::math::vec3f uncertainty
The uncertainty field.
Definition: registers.h:1353
Structure representing the IMU Rate Configuration register.
Definition: registers.h:1377
uint32_t syncInCount
The syncInCount field.
Definition: registers.h:384
vn::math::vec3f mag
The mag field.
Definition: registers.h:712
uint32_t syncOutCount
The syncOutCount field.
Definition: registers.h:386
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:101
Structure representing the INS Solution - LLA register.
Definition: registers.h:862
uint16_t week
The week field.
Definition: registers.h:914
vn::math::vec3f deltaTheta
The deltaTheta field.
Definition: registers.h:1173
Structure representing the IMU Filtering Configuration register.
Definition: registers.h:1274
float x
The x field.
Definition: registers.h:683
MagneticAndGravityReferenceVectorsRegister(vn::math::vec3f magRefIn, vn::math::vec3f accRefIn)
Creates an initializes a new MagneticAndGravityReferenceVectorsRegister structure.
Definition: registers.h:161
vn::math::vec3f b
The b field.
Definition: registers.h:253
float deltaLimitPos
The deltaLimitPos field.
Definition: registers.h:1019
float velInit
The velInit field.
Definition: registers.h:1016
Structure representing the Magnetic and Gravity Reference Vectors register.
Definition: registers.h:150
vn::math::vec3f baseTuning
The baseTuning field.
Definition: registers.h:588
protocol::uart::CommonGroup commonField
Group 1 (Common)
Definition: registers.h:28
vn::math::vec3f minFiltering
The minFiltering field.
Definition: registers.h:496
protocol::uart::ExternalSensorMode extAccMode
The extAccMode field.
Definition: registers.h:411
VpeGyroBasicTuningRegister(vn::math::vec3f angularWalkVarianceIn, vn::math::vec3f baseTuningIn, vn::math::vec3f adaptiveTuningIn)
Creates an initializes a new VpeGyroBasicTuningRegister structure.
Definition: registers.h:598
Structure representing the Filter Basic Control register.
Definition: registers.h:407
vn::math::vec3d lla
The lla field.
Definition: registers.h:770
protocol::uart::Scenario scenario
The scenario field.
Definition: registers.h:983
protocol::uart::TimeGroup timeField
Group 2 (Time)
Definition: registers.h:29
float filterMinRate
The filterMinRate field.
Definition: registers.h:1382
float xDot
The xDot field.
Definition: registers.h:684
vn::math::vec3f omega
The omega field.
Definition: registers.h:686
double time
The time field.
Definition: registers.h:766
float speedAcc
The speedAcc field.
Definition: registers.h:822
float maxTuning
The maxTuning field.
Definition: registers.h:558
uint32_t syncOutPulseWidth
The syncOutPulseWidth field.
Definition: registers.h:349
uint8_t convergeRate
The convergeRate field.
Definition: registers.h:614
VelocityCompensationControlRegister(protocol::uart::VelocityCompensationMode modeIn, float velocityTuningIn, float rateTuningIn)
Creates an initializes a new VelocityCompensationControlRegister structure.
Definition: registers.h:669
vn::math::vec3d position
The position field.
Definition: registers.h:917
vn::math::vec3f adaptiveFiltering
The adaptiveFiltering field.
Definition: registers.h:473
vn::math::vec3f adaptiveFiltering
The adaptiveFiltering field.
Definition: registers.h:531
float posUncertainty
The posUncertainty field.
Definition: registers.h:920
protocol::uart::CountMode spiCount
The spiCount field.
Definition: registers.h:304
InsBasicConfigurationRegisterVn200(protocol::uart::Scenario scenarioIn, bool ahrsAidingIn)
Creates an initializes a new InsBasicConfigurationRegisterVn200 structure.
Definition: registers.h:971
float temp
The temp field.
Definition: registers.h:715
Structure representing the Gyro Compensation register.
Definition: registers.h:1253
protocol::uart::SyncInEdge syncInEdge
The syncInEdge field.
Definition: registers.h:344
Structure representing the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register...
Definition: registers.h:271
vn::math::vec3f accRef
The accRef field.
Definition: registers.h:153
vn::math::vec3f angularWalkVariance
The angularWalkVariance field.
Definition: registers.h:587
vn::math::vec3f magneticVariance
The magneticVariance field.
Definition: registers.h:175
vn::math::vec3f velocity
The velocity field.
Definition: registers.h:1083
protocol::uart::FilterMode gyroFilterMode
The gyroFilterMode field.
Definition: registers.h:1283
float maxTuning
The maxTuning field.
Definition: registers.h:500
uint16_t tempWindowSize
The tempWindowSize field.
Definition: registers.h:1279
protocol::uart::GpsGroup gpsField
Group 4 (GPS)
Definition: registers.h:31
protocol::uart::PpsSource ppsSource
The ppsSource field.
Definition: registers.h:746
protocol::uart::ErrorMode errorMode
The errorMode field.
Definition: registers.h:308
uint16_t accelWindowSize
The accelWindowSize field.
Definition: registers.h:1277
float posUncertainty
The posUncertainty field.
Definition: registers.h:871
float maxAdaptRate
The maxAdaptRate field.
Definition: registers.h:556
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:916
FilterActiveTuningParametersRegister(float magneticDisturbanceGainIn, float accelerationDisturbanceGainIn, float magneticDisturbanceMemoryIn, float accelerationDisturbanceMemoryIn)
Creates an initializes a new FilterActiveTuningParametersRegister structure.
Definition: registers.h:236
vn::math::vec3d position
The position field.
Definition: registers.h:1082
protocol::uart::ExternalSensorMode extGyroMode
The extGyroMode field.
Definition: registers.h:412
Structure representing the VPE Magnetometer Advanced Tuning register.
Definition: registers.h:494
vn::math::vec3f minFiltering
The minFiltering field.
Definition: registers.h:554
float pressureBias
The pressureBias field.
Definition: registers.h:1149
protocol::uart::SyncOutMode syncOutMode
The syncOutMode field.
Definition: registers.h:346
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:129
QuaternionMagneticAccelerationAndAngularRatesRegister(vn::math::vec4f quatIn, vn::math::vec3f magIn, vn::math::vec3f accelIn, vn::math::vec3f gyroIn)
Creates an initializes a new QuaternionMagneticAccelerationAndAngularRatesRegister structure...
Definition: registers.h:111
InsAdvancedConfigurationRegister(bool useMagIn, bool usePresIn, bool posAttIn, bool velAttIn, bool velBiasIn, protocol::uart::FoamInit useFoamIn, uint8_t gpsCovTypeIn, uint8_t velCountIn, float velInitIn, float moveOriginIn, float gpsTimeoutIn, float deltaLimitPosIn, float deltaLimitVelIn, float minPosUncertaintyIn, float minVelUncertaintyIn)
Creates an initializes a new InsAdvancedConfigurationRegister structure.
Definition: registers.h:1043
protocol::uart::CountMode serialCount
The serialCount field.
Definition: registers.h:302
float attUncertainty
The attUncertainty field.
Definition: registers.h:919
vn::math::vec3f gyroLimit
The gyroLimit field.
Definition: registers.h:413
bool ahrsAiding
The ahrsAiding field.
Definition: registers.h:984
VpeMagnetometerAdvancedTuningRegister(vn::math::vec3f minFilteringIn, vn::math::vec3f maxFilteringIn, float maxAdaptRateIn, float disturbanceWindowIn, float maxTuningIn)
Creates an initializes a new VpeMagnetometerAdvancedTuningRegister structure.
Definition: registers.h:511
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:1081
float year
The year field.
Definition: registers.h:1225
bool estBaseline
The estBaseline field.
Definition: registers.h:985
vn::math::vec3f inertialAccel
The inertialAccel field.
Definition: registers.h:1434
DeltaThetaAndDeltaVelocityConfigurationRegister(protocol::uart::IntegrationFrame integrationFrameIn, protocol::uart::CompensationMode gyroCompensationIn, protocol::uart::CompensationMode accelCompensationIn)
Creates an initializes a new DeltaThetaAndDeltaVelocityConfigurationRegister structure.
Definition: registers.h:1208
vn::math::vec3f nedVel
The nedVel field.
Definition: registers.h:771
vn::math::vec3f adaptiveTuning
The adaptiveTuning field.
Definition: registers.h:530
InsSolutionLlaRegister(double timeIn, uint16_t weekIn, uint16_t statusIn, vn::math::vec3f yawPitchRollIn, vn::math::vec3d positionIn, vn::math::vec3f nedVelIn, float attUncertaintyIn, float posUncertaintyIn, float velUncertaintyIn)
Creates an initializes a new InsSolutionLlaRegister structure.
Definition: registers.h:887
protocol::uart::FoamInit useFoam
The useFoam field.
Definition: registers.h:1013
ImuFilteringConfigurationRegister(uint16_t magWindowSizeIn, uint16_t accelWindowSizeIn, uint16_t gyroWindowSizeIn, uint16_t tempWindowSizeIn, uint16_t presWindowSizeIn, protocol::uart::FilterMode magFilterModeIn, protocol::uart::FilterMode accelFilterModeIn, protocol::uart::FilterMode gyroFilterModeIn, protocol::uart::FilterMode tempFilterModeIn, protocol::uart::FilterMode presFilterModeIn)
Creates an initializes a new ImuFilteringConfigurationRegister structure.
Definition: registers.h:1301
uint16_t presWindowSize
The presWindowSize field.
Definition: registers.h:1280
vn::math::vec3f velocity
The velocity field.
Definition: registers.h:918
protocol::uart::GpsFix gpsFix
The gpsFix field.
Definition: registers.h:768
uint16_t gyroWindowSize
The gyroWindowSize field.
Definition: registers.h:1278
uint32_t syncInTime
The syncInTime field.
Definition: registers.h:385
bool usePres
The usePres field.
Definition: registers.h:1009
protocol::uart::ImuGroup imuField
Group 3 (IMU)
Definition: registers.h:30
uint32_t recalcThreshold
The recalcThreshold field.
Definition: registers.h:1224
protocol::uart::StatusMode serialStatus
The serialStatus field.
Definition: registers.h:303
Structure representing the VPE Basic Control register.
Definition: registers.h:440
protocol::uart::VelocityCompensationMode mode
The mode field.
Definition: registers.h:658
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:276
vn::math::vec3f maxFiltering
The maxFiltering field.
Definition: registers.h:497
Structure representing the Synchronization Control register.
Definition: registers.h:341
protocol::uart::ExternalSensorMode extMagMode
The extMagMode field.
Definition: registers.h:410
float moveOrigin
The moveOrigin field.
Definition: registers.h:1017
FilterMeasurementsVarianceParametersRegister(float angularWalkVarianceIn, vn::math::vec3f angularRateVarianceIn, vn::math::vec3f magneticVarianceIn, vn::math::vec3f accelerationVarianceIn)
Creates an initializes a new FilterMeasurementsVarianceParametersRegister structure.
Definition: registers.h:186
Structure representing the GPS Configuration register.
Definition: registers.h:743
vn::math::vec3f nedAcc
The nedAcc field.
Definition: registers.h:772
float velUncertainty
The velUncertainty field.
Definition: registers.h:921
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:1410
GpsCompassBaselineRegister(vn::math::vec3f positionIn, vn::math::vec3f uncertaintyIn)
Creates an initializes a new GpsCompassBaselineRegister structure.
Definition: registers.h:1338
GpsSolutionEcefRegister(double towIn, uint16_t weekIn, protocol::uart::GpsFix gpsFixIn, uint8_t numSatsIn, vn::math::vec3d positionIn, vn::math::vec3f velocityIn, vn::math::vec3f posAccIn, float speedAccIn, float timeAccIn)
Creates an initializes a new GpsSolutionEcefRegister structure.
Definition: registers.h:838
vn::math::vec3f accelOffset
The accelOffset field.
Definition: registers.h:685
bool estBaselineUsed
The estBaselineUsed field.
Definition: registers.h:1350
float minVelUncertainty
The minVelUncertainty field.
Definition: registers.h:1022
InsBasicConfigurationRegisterVn300(protocol::uart::Scenario scenarioIn, bool ahrsAidingIn, bool estBaselineIn)
Creates an initializes a new InsBasicConfigurationRegisterVn300 structure.
Definition: registers.h:994
uint8_t numSats
The numSats field.
Definition: registers.h:769
StartupFilterBiasEstimateRegister(vn::math::vec3f gyroBiasIn, vn::math::vec3f accelBiasIn, float pressureBiasIn)
Creates an initializes a new StartupFilterBiasEstimateRegister structure.
Definition: registers.h:1158
vn::math::vec3f accel
The accel field.
Definition: registers.h:1084
uint16_t syncInSkipFactor
The syncInSkipFactor field.
Definition: registers.h:345
vn::math::vec3f uncertainty
The uncertainty field.
Definition: registers.h:1330
vn::math::mat3f c
The c field.
Definition: registers.h:202
Structure representing the GPS Solution - ECEF register.
Definition: registers.h:813
protocol::uart::SyncOutPolarity syncOutPolarity
The syncOutPolarity field.
Definition: registers.h:347
Structure representing the Quaternion, Magnetic, Acceleration and Angular Rates register.
Definition: registers.h:96
protocol::uart::FilterMode presFilterMode
The presFilterMode field.
Definition: registers.h:1285
Structure representing the Magnetic, Acceleration and Angular Rates register.
Definition: registers.h:125
bool posAtt
The posAtt field.
Definition: registers.h:1010
Structure representing the Velocity Compensation Control register.
Definition: registers.h:656
Structure representing the Calculated Magnetometer Calibration register.
Definition: registers.h:635
double time
The time field.
Definition: registers.h:864
float deltaLimitVel
The deltaLimitVel field.
Definition: registers.h:1020
CommunicationProtocolControlRegister(protocol::uart::CountMode serialCountIn, protocol::uart::StatusMode serialStatusIn, protocol::uart::CountMode spiCountIn, protocol::uart::StatusMode spiStatusIn, protocol::uart::ChecksumMode serialChecksumIn, protocol::uart::ChecksumMode spiChecksumIn, protocol::uart::ErrorMode errorModeIn)
Creates an initializes a new CommunicationProtocolControlRegister structure.
Definition: registers.h:321
vn::math::vec3f position
The position field.
Definition: registers.h:1352
float deltaTime
The deltaTime field.
Definition: registers.h:1172
Structure representing the Reference Vector Configuration register.
Definition: registers.h:1220
float velUncertainty
The velUncertainty field.
Definition: registers.h:872
protocol::uart::CompensationMode gyroCompensation
The gyroCompensation field.
Definition: registers.h:1198
Structure representing a Binary Output register.
Definition: registers.h:24
Structure representing the Communication Protocol Control register.
Definition: registers.h:300
uint8_t velCount
The velCount field.
Definition: registers.h:1015
float pressure
The pressure field.
Definition: registers.h:716
protocol::uart::AttitudeGroup attitudeField
Group 5 (Attitude)
Definition: registers.h:32
FilterBasicControlRegister(protocol::uart::MagneticMode magModeIn, protocol::uart::ExternalSensorMode extMagModeIn, protocol::uart::ExternalSensorMode extAccModeIn, protocol::uart::ExternalSensorMode extGyroModeIn, vn::math::vec3f gyroLimitIn)
Creates an initializes a new FilterBasicControlRegister structure.
Definition: registers.h:424
Structure representing the Delta Theta and Delta Velocity Configuration register. ...
Definition: registers.h:1195
GpsConfigurationRegister(protocol::uart::GpsMode modeIn, protocol::uart::PpsSource ppsSourceIn)
Creates an initializes a new GpsConfigurationRegister structure.
Definition: registers.h:754
VpeAccelerometerBasicTuningRegister(vn::math::vec3f baseTuningIn, vn::math::vec3f adaptiveTuningIn, vn::math::vec3f adaptiveFilteringIn)
Creates an initializes a new VpeAccelerometerBasicTuningRegister structure.
Definition: registers.h:540
GpsCompassEstimatedBaselineRegister(bool estBaselineUsedIn, uint16_t numMeasIn, vn::math::vec3f positionIn, vn::math::vec3f uncertaintyIn)
Creates an initializes a new GpsCompassEstimatedBaselineRegister structure.
Definition: registers.h:1363
bool velAtt
The velAtt field.
Definition: registers.h:1011
YawPitchRollMagneticAccelerationAndAngularRatesRegister(vn::math::vec3f yawPitchRollIn, vn::math::vec3f magIn, vn::math::vec3f accelIn, vn::math::vec3f gyroIn)
Creates an initializes a new YawPitchRollMagneticAccelerationAndAngularRatesRegister structure...
Definition: registers.h:286
InsSolutionEcefRegister(double timeIn, uint16_t weekIn, uint16_t statusIn, vn::math::vec3f yawPitchRollIn, vn::math::vec3d positionIn, vn::math::vec3f velocityIn, float attUncertaintyIn, float posUncertaintyIn, float velUncertaintyIn)
Creates an initializes a new InsSolutionEcefRegister structure.
Definition: registers.h:936
float maxAdaptRate
The maxAdaptRate field.
Definition: registers.h:498
vn::math::mat3f c
The c field.
Definition: registers.h:252
uint16_t imuRate
The imuRate field.
Definition: registers.h:1379
bool useGravityModel
The useGravityModel field.
Definition: registers.h:1223
VpeMagnetometerBasicTuningRegister(vn::math::vec3f baseTuningIn, vn::math::vec3f adaptiveTuningIn, vn::math::vec3f adaptiveFilteringIn)
Creates an initializes a new VpeMagnetometerBasicTuningRegister structure.
Definition: registers.h:482
vn::math::vec3f b
The b field.
Definition: registers.h:638
protocol::uart::AsyncMode asyncMode
The asyncMode field.
Definition: registers.h:26
GyroCompensationRegister(vn::math::mat3f cIn, vn::math::vec3f bIn)
Creates an initializes a new GyroCompensationRegister structure.
Definition: registers.h:1264
float attUncertainty
The attUncertainty field.
Definition: registers.h:870
Structure representing the VPE Accelerometer Advanced Tuning register.
Definition: registers.h:552
Structure representing the VPE Magnetometer Basic Tuning register.
Definition: registers.h:469
Structure representing the Magnetometer Calibration Control register.
Definition: registers.h:610
Structure representing the INS State - LLA register.
Definition: registers.h:1079
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:867
float disturbanceWindow
The disturbanceWindow field.
Definition: registers.h:499
Structure representing the Delta Theta and Delta Velocity register.
Definition: registers.h:1170
vn::math::vec3f accel
The accel field.
Definition: registers.h:275
protocol::uart::GpsMode mode
The mode field.
Definition: registers.h:745
float filterTargetRate
The filterTargetRate field.
Definition: registers.h:1381
float disturbanceWindow
The disturbanceWindow field.
Definition: registers.h:557
ImuMeasurementsRegister(vn::math::vec3f magIn, vn::math::vec3f accelIn, vn::math::vec3f gyroIn, float tempIn, float pressureIn)
Creates an initializes a new ImuMeasurementsRegister structure.
Definition: registers.h:727
vn::math::vec3f accel
The accel field.
Definition: registers.h:128
bool useMag
The useMag field.
Definition: registers.h:1008
uint8_t numSats
The numSats field.
Definition: registers.h:818
vn::math::vec3f angularRate
The angularRate field.
Definition: registers.h:1085
Structure representing the Filter Active Tuning Parameters register.
Definition: registers.h:221
vn::math::vec3f deltaVelocity
The deltaVelocity field.
Definition: registers.h:1174
SynchronizationControlRegister(protocol::uart::SyncInMode syncInModeIn, protocol::uart::SyncInEdge syncInEdgeIn, uint16_t syncInSkipFactorIn, protocol::uart::SyncOutMode syncOutModeIn, protocol::uart::SyncOutPolarity syncOutPolarityIn, uint16_t syncOutSkipFactorIn, uint32_t syncOutPulseWidthIn)
Creates an initializes a new SynchronizationControlRegister structure.
Definition: registers.h:362
vn::math::vec4f quat
The quat field.
Definition: registers.h:98
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:1114
Structure representing the IMU Measurements register.
Definition: registers.h:710