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| Packet (char const *packet, size_t length) |
| Creates a new packet based on the provided packet data buffer. A full packet is expected which contains the deliminators (i.e. "$VNRRG,1*XX\r\n"). More...
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| Packet (std::string packet) |
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| Packet (const Packet &toCopy) |
| Copy constructor. More...
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Packet & | operator= (const Packet &from) |
| Assignment operator. More...
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std::string | datastr () |
| Returns the encapsulated data as a string. More...
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Type | type () |
| Returns the type of packet. More...
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bool | isValid () |
| Performs data integrity check on the data packet. More...
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bool | isError () |
| Indicates if the packet is an ASCII error message. More...
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bool | isResponse () |
| Indicates if the packet is a response to a message sent to the sensor. More...
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bool | isAsciiAsync () |
| Indicates if the packet is an ASCII asynchronous message. More...
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AsciiAsync | determineAsciiAsyncType () |
| Determines the type of ASCII asynchronous message this packet is. More...
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bool | isCompatible (CommonGroup commonGroup, TimeGroup timeGroup, ImuGroup imuGroup, GpsGroup gpsGroup, AttitudeGroup attitudeGroup, InsGroup insGroup) |
| Determines if the packet is a compatible match for an expected binary output message type. More...
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SensorError | parseError () |
| Parses an error packet to get the error type. More...
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uint8_t | groups () |
| If the packet is a binary message, this will return the groups field. More...
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uint16_t | groupField (size_t index) |
| This will return the requested group field of a binary packet at the specified index. More...
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uint8_t | extractUint8 () |
| Extracts a uint8_t data type from a binary packet and advances the next extraction point appropriately. More...
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int8_t | extractInt8 () |
| Extracts a int8_t data type from a binary packet and advances the next extraction point appropriately. More...
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uint16_t | extractUint16 () |
| Extracts a uint16_t data type from a binary packet and advances the next extraction point appropriately. More...
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uint32_t | extractUint32 () |
| Extracts a uint32_t data type from a binary packet and advances the next extraction point appropriately. More...
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uint64_t | extractUint64 () |
| Extracts a uint64_t data type from a binary packet and advances the next extraction point appropriately. More...
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float | extractFloat () |
| Extracts a float fdata type from a binary packet and advances the next extraction point appropriately. More...
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vn::math::vec3f | extractVec3f () |
| Extracts a vec3f data type from a binary packet and advances the next extraction point appropriately. More...
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vn::math::vec3d | extractVec3d () |
| Extracts a vec3d data type from a binary packet and advances the next extraction point appropriately. More...
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vn::math::vec4f | extractVec4f () |
| Extracts a vec4f data type from a binary packet and advances the next extraction point appropriately. More...
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vn::math::mat3f | extractMat3f () |
| Extract a mat3f data type from a binary packet and advances the next extraction point appropriately. More...
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void | parseVNYPR (vn::math::vec3f *yawPitchRoll) |
| Parses a VNYPR asynchronous packet. More...
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void | parseVNQTN (vn::math::vec4f *quaternion) |
| Parses a VNQTN asynchronous packet. More...
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void | parseVNQMR (vn::math::vec4f *quaternion, vn::math::vec3f *magnetic, vn::math::vec3f *acceleration, vn::math::vec3f *angularRate) |
| Parses a VNQMR asynchronous packet. More...
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void | parseVNMAG (vn::math::vec3f *magnetic) |
| Parses a VNMAG asynchronous packet. More...
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void | parseVNACC (vn::math::vec3f *acceleration) |
| Parses a VNACC asynchronous packet. More...
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void | parseVNGYR (vn::math::vec3f *angularRate) |
| Parses a VNGYR asynchronous packet. More...
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void | parseVNMAR (vn::math::vec3f *magnetic, vn::math::vec3f *acceleration, vn::math::vec3f *angularRate) |
| Parses a VNMAR asynchronous packet. More...
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void | parseVNYMR (vn::math::vec3f *yawPitchRoll, vn::math::vec3f *magnetic, vn::math::vec3f *acceleration, vn::math::vec3f *angularRate) |
| Parses a VNYMR asynchronous packet. More...
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void | parseVNYBA (vn::math::vec3f *yawPitchRoll, vn::math::vec3f *accelerationBody, vn::math::vec3f *angularRate) |
| Parses a VNYBA asynchronous packet. More...
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void | parseVNYIA (vn::math::vec3f *yawPitchRoll, vn::math::vec3f *accelerationInertial, vn::math::vec3f *angularRate) |
| Parses a VNYIA asynchronous packet. More...
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void | parseVNIMU (vn::math::vec3f *magneticUncompensated, vn::math::vec3f *accelerationUncompensated, vn::math::vec3f *angularRateUncompensated, float *temperature, float *pressure) |
| Parses a VNIMU asynchronous packet. More...
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void | parseVNGPS (double *time, uint16_t *week, uint8_t *gpsFix, uint8_t *numSats, vn::math::vec3d *lla, vn::math::vec3f *nedVel, vn::math::vec3f *nedAcc, float *speedAcc, float *timeAcc) |
| Parses a VNGPS asynchronous packet. More...
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void | parseVNINS (double *time, uint16_t *week, uint16_t *status, vn::math::vec3f *yawPitchRoll, vn::math::vec3d *lla, vn::math::vec3f *nedVel, float *attUncertainty, float *posUncertainty, float *velUncertainty) |
| Parses a VNINS asynchronous packet. More...
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void | parseVNINE (double *time, uint16_t *week, uint16_t *status, vn::math::vec3f *ypr, vn::math::vec3d *position, vn::math::vec3f *velocity, float *attUncertainty, float *posUncertainty, float *velUncertainty) |
| Parses a VNINE asynchronous packet. More...
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void | parseVNISL (vn::math::vec3f *ypr, vn::math::vec3d *lla, vn::math::vec3f *velocity, vn::math::vec3f *acceleration, vn::math::vec3f *angularRate) |
| Parses a VNISL asynchronous packet. More...
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void | parseVNISE (vn::math::vec3f *ypr, vn::math::vec3d *position, vn::math::vec3f *velocity, vn::math::vec3f *acceleration, vn::math::vec3f *angularRate) |
| Parses a VNISE asynchronous packet. More...
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void | parseVNGPE (double *tow, uint16_t *week, uint8_t *gpsFix, uint8_t *numSats, vn::math::vec3d *position, vn::math::vec3f *velocity, vn::math::vec3f *posAcc, float *speedAcc, float *timeAcc) |
| Parses a VNGPE asynchronous packet. More...
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void | parseVNDTV (float *deltaTime, vn::math::vec3f *deltaTheta, vn::math::vec3f *deltaVelocity) |
| Parses a VNDTV asynchronous packet. More...
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void | parseBinaryOutput (uint16_t *asyncMode, uint16_t *rateDivisor, uint16_t *outputGroup, uint16_t *commonField, uint16_t *timeField, uint16_t *imuField, uint16_t *gpsField, uint16_t *attitudeField, uint16_t *insField) |
| Parses a response from reading any of the Binary Output registers. More...
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void | parseUserTag (char *tag) |
| Parses a response from reading the User Tag register. More...
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void | parseModelNumber (char *productName) |
| Parses a response from reading the Model Number register. More...
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void | parseHardwareRevision (uint32_t *revision) |
| Parses a response from reading the Hardware Revision register. More...
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void | parseSerialNumber (uint32_t *serialNum) |
| Parses a response from reading the Serial Number register. More...
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void | parseFirmwareVersion (char *firmwareVersion) |
| Parses a response from reading the Firmware Version register. More...
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void | parseSerialBaudRate (uint32_t *baudrate) |
| Parses a response from reading the Serial Baud Rate register. More...
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void | parseAsyncDataOutputType (uint32_t *ador) |
| Parses a response from reading the Async Data Output Type register. More...
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void | parseAsyncDataOutputFrequency (uint32_t *adof) |
| Parses a response from reading the Async Data Output Frequency register. More...
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void | parseYawPitchRoll (vn::math::vec3f *yawPitchRoll) |
| Parses a response from reading the Yaw Pitch Roll register. More...
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void | parseAttitudeQuaternion (vn::math::vec4f *quat) |
| Parses a response from reading the Attitude Quaternion register. More...
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void | parseQuaternionMagneticAccelerationAndAngularRates (vn::math::vec4f *quat, vn::math::vec3f *mag, vn::math::vec3f *accel, vn::math::vec3f *gyro) |
| Parses a response from reading the Quaternion, Magnetic, Acceleration and Angular Rates register. More...
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void | parseMagneticMeasurements (vn::math::vec3f *mag) |
| Parses a response from reading the Magnetic Measurements register. More...
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void | parseAccelerationMeasurements (vn::math::vec3f *accel) |
| Parses a response from reading the Acceleration Measurements register. More...
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void | parseAngularRateMeasurements (vn::math::vec3f *gyro) |
| Parses a response from reading the Angular Rate Measurements register. More...
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void | parseMagneticAccelerationAndAngularRates (vn::math::vec3f *mag, vn::math::vec3f *accel, vn::math::vec3f *gyro) |
| Parses a response from reading the Magnetic, Acceleration and Angular Rates register. More...
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void | parseMagneticAndGravityReferenceVectors (vn::math::vec3f *magRef, vn::math::vec3f *accRef) |
| Parses a response from reading the Magnetic and Gravity Reference Vectors register. More...
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void | parseFilterMeasurementsVarianceParameters (float *angularWalkVariance, vn::math::vec3f *angularRateVariance, vn::math::vec3f *magneticVariance, vn::math::vec3f *accelerationVariance) |
| Parses a response from reading the Filter Measurements Variance Parameters register. More...
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void | parseMagnetometerCompensation (vn::math::mat3f *c, vn::math::vec3f *b) |
| Parses a response from reading the Magnetometer Compensation register. More...
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void | parseFilterActiveTuningParameters (float *magneticDisturbanceGain, float *accelerationDisturbanceGain, float *magneticDisturbanceMemory, float *accelerationDisturbanceMemory) |
| Parses a response from reading the Filter Active Tuning Parameters register. More...
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void | parseAccelerationCompensation (vn::math::mat3f *c, vn::math::vec3f *b) |
| Parses a response from reading the Acceleration Compensation register. More...
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void | parseReferenceFrameRotation (vn::math::mat3f *c) |
| Parses a response from reading the Reference Frame Rotation register. More...
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void | parseYawPitchRollMagneticAccelerationAndAngularRates (vn::math::vec3f *yawPitchRoll, vn::math::vec3f *mag, vn::math::vec3f *accel, vn::math::vec3f *gyro) |
| Parses a response from reading the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register. More...
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void | parseCommunicationProtocolControl (uint8_t *serialCount, uint8_t *serialStatus, uint8_t *spiCount, uint8_t *spiStatus, uint8_t *serialChecksum, uint8_t *spiChecksum, uint8_t *errorMode) |
| Parses a response from reading the Communication Protocol Control register. More...
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void | parseSynchronizationControl (uint8_t *syncInMode, uint8_t *syncInEdge, uint16_t *syncInSkipFactor, uint8_t *syncOutMode, uint8_t *syncOutPolarity, uint16_t *syncOutSkipFactor, uint32_t *syncOutPulseWidth) |
| Parses a response from reading the Synchronization Control register. More...
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void | parseSynchronizationStatus (uint32_t *syncInCount, uint32_t *syncInTime, uint32_t *syncOutCount) |
| Parses a response from reading the Synchronization Status register. More...
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void | parseFilterBasicControl (uint8_t *magMode, uint8_t *extMagMode, uint8_t *extAccMode, uint8_t *extGyroMode, vn::math::vec3f *gyroLimit) |
| Parses a response from reading the Filter Basic Control register. More...
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void | parseVpeBasicControl (uint8_t *enable, uint8_t *headingMode, uint8_t *filteringMode, uint8_t *tuningMode) |
| Parses a response from reading the VPE Basic Control register. More...
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void | parseVpeMagnetometerBasicTuning (vn::math::vec3f *baseTuning, vn::math::vec3f *adaptiveTuning, vn::math::vec3f *adaptiveFiltering) |
| Parses a response from reading the VPE Magnetometer Basic Tuning register. More...
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void | parseVpeMagnetometerAdvancedTuning (vn::math::vec3f *minFiltering, vn::math::vec3f *maxFiltering, float *maxAdaptRate, float *disturbanceWindow, float *maxTuning) |
| Parses a response from reading the VPE Magnetometer Advanced Tuning register. More...
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void | parseVpeAccelerometerBasicTuning (vn::math::vec3f *baseTuning, vn::math::vec3f *adaptiveTuning, vn::math::vec3f *adaptiveFiltering) |
| Parses a response from reading the VPE Accelerometer Basic Tuning register. More...
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void | parseVpeAccelerometerAdvancedTuning (vn::math::vec3f *minFiltering, vn::math::vec3f *maxFiltering, float *maxAdaptRate, float *disturbanceWindow, float *maxTuning) |
| Parses a response from reading the VPE Accelerometer Advanced Tuning register. More...
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void | parseVpeGyroBasicTuning (vn::math::vec3f *angularWalkVariance, vn::math::vec3f *baseTuning, vn::math::vec3f *adaptiveTuning) |
| Parses a response from reading the VPE Gyro Basic Tuning register. More...
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void | parseFilterStartupGyroBias (vn::math::vec3f *bias) |
| Parses a response from reading the Filter Startup Gyro Bias register. More...
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void | parseMagnetometerCalibrationControl (uint8_t *hsiMode, uint8_t *hsiOutput, uint8_t *convergeRate) |
| Parses a response from reading the Magnetometer Calibration Control register. More...
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void | parseCalculatedMagnetometerCalibration (vn::math::mat3f *c, vn::math::vec3f *b) |
| Parses a response from reading the Calculated Magnetometer Calibration register. More...
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void | parseIndoorHeadingModeControl (float *maxRateError) |
| Parses a response from reading the Indoor Heading Mode Control register. More...
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void | parseVelocityCompensationMeasurement (vn::math::vec3f *velocity) |
| Parses a response from reading the Velocity Compensation Measurement register. More...
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void | parseVelocityCompensationControl (uint8_t *mode, float *velocityTuning, float *rateTuning) |
| Parses a response from reading the Velocity Compensation Control register. More...
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void | parseVelocityCompensationStatus (float *x, float *xDot, vn::math::vec3f *accelOffset, vn::math::vec3f *omega) |
| Parses a response from reading the Velocity Compensation Status register. More...
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void | parseImuMeasurements (vn::math::vec3f *mag, vn::math::vec3f *accel, vn::math::vec3f *gyro, float *temp, float *pressure) |
| Parses a response from reading the IMU Measurements register. More...
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void | parseGpsConfiguration (uint8_t *mode, uint8_t *ppsSource) |
| Parses a response from reading the GPS Configuration register. More...
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void | parseGpsAntennaOffset (vn::math::vec3f *position) |
| Parses a response from reading the GPS Antenna Offset register. More...
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void | parseGpsSolutionLla (double *time, uint16_t *week, uint8_t *gpsFix, uint8_t *numSats, vn::math::vec3d *lla, vn::math::vec3f *nedVel, vn::math::vec3f *nedAcc, float *speedAcc, float *timeAcc) |
| Parses a response from reading the GPS Solution - LLA register. More...
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void | parseGpsSolutionEcef (double *tow, uint16_t *week, uint8_t *gpsFix, uint8_t *numSats, vn::math::vec3d *position, vn::math::vec3f *velocity, vn::math::vec3f *posAcc, float *speedAcc, float *timeAcc) |
| Parses a response from reading the GPS Solution - ECEF register. More...
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void | parseInsSolutionLla (double *time, uint16_t *week, uint16_t *status, vn::math::vec3f *yawPitchRoll, vn::math::vec3d *position, vn::math::vec3f *nedVel, float *attUncertainty, float *posUncertainty, float *velUncertainty) |
| Parses a response from reading the INS Solution - LLA register. More...
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void | parseInsSolutionEcef (double *time, uint16_t *week, uint16_t *status, vn::math::vec3f *yawPitchRoll, vn::math::vec3d *position, vn::math::vec3f *velocity, float *attUncertainty, float *posUncertainty, float *velUncertainty) |
| Parses a response from reading the INS Solution - ECEF register. More...
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void | parseInsBasicConfiguration (uint8_t *scenario, uint8_t *ahrsAiding) |
| Parses a response from reading the INS Basic Configuration register. More...
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void | parseInsBasicConfiguration (uint8_t *scenario, uint8_t *ahrsAiding, uint8_t *estBaseline) |
| Parses a response from reading the INS Basic Configuration register. More...
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void | parseInsAdvancedConfiguration (uint8_t *useMag, uint8_t *usePres, uint8_t *posAtt, uint8_t *velAtt, uint8_t *velBias, uint8_t *useFoam, uint8_t *gpsCovType, uint8_t *velCount, float *velInit, float *moveOrigin, float *gpsTimeout, float *deltaLimitPos, float *deltaLimitVel, float *minPosUncertainty, float *minVelUncertainty) |
| Parses a response from reading the INS Advanced Configuration register. More...
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void | parseInsStateLla (vn::math::vec3f *yawPitchRoll, vn::math::vec3d *position, vn::math::vec3f *velocity, vn::math::vec3f *accel, vn::math::vec3f *angularRate) |
| Parses a response from reading the INS State - LLA register. More...
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void | parseInsStateEcef (vn::math::vec3f *yawPitchRoll, vn::math::vec3d *position, vn::math::vec3f *velocity, vn::math::vec3f *accel, vn::math::vec3f *angularRate) |
| Parses a response from reading the INS State - ECEF register. More...
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void | parseStartupFilterBiasEstimate (vn::math::vec3f *gyroBias, vn::math::vec3f *accelBias, float *pressureBias) |
| Parses a response from reading the Startup Filter Bias Estimate register. More...
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void | parseDeltaThetaAndDeltaVelocity (float *deltaTime, vn::math::vec3f *deltaTheta, vn::math::vec3f *deltaVelocity) |
| Parses a response from reading the Delta Theta and Delta Velocity register. More...
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void | parseDeltaThetaAndDeltaVelocityConfiguration (uint8_t *integrationFrame, uint8_t *gyroCompensation, uint8_t *accelCompensation) |
| Parses a response from reading the Delta Theta and Delta Velocity Configuration register. More...
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void | parseReferenceVectorConfiguration (uint8_t *useMagModel, uint8_t *useGravityModel, uint32_t *recalcThreshold, float *year, vn::math::vec3d *position) |
| Parses a response from reading the Reference Vector Configuration register. More...
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void | parseGyroCompensation (vn::math::mat3f *c, vn::math::vec3f *b) |
| Parses a response from reading the Gyro Compensation register. More...
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void | parseImuFilteringConfiguration (uint16_t *magWindowSize, uint16_t *accelWindowSize, uint16_t *gyroWindowSize, uint16_t *tempWindowSize, uint16_t *presWindowSize, uint8_t *magFilterMode, uint8_t *accelFilterMode, uint8_t *gyroFilterMode, uint8_t *tempFilterMode, uint8_t *presFilterMode) |
| Parses a response from reading the IMU Filtering Configuration register. More...
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void | parseGpsCompassBaseline (vn::math::vec3f *position, vn::math::vec3f *uncertainty) |
| Parses a response from reading the GPS Compass Baseline register. More...
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void | parseGpsCompassEstimatedBaseline (uint8_t *estBaselineUsed, uint16_t *numMeas, vn::math::vec3f *position, vn::math::vec3f *uncertainty) |
| Parses a response from reading the GPS Compass Estimated Baseline register. More...
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void | parseImuRateConfiguration (uint16_t *imuRate, uint16_t *navDivisor, float *filterTargetRate, float *filterMinRate) |
| Parses a response from reading the IMU Rate Configuration register. More...
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void | parseYawPitchRollTrueBodyAccelerationAndAngularRates (vn::math::vec3f *yawPitchRoll, vn::math::vec3f *bodyAccel, vn::math::vec3f *gyro) |
| Parses a response from reading the Yaw, Pitch, Roll, True Body Acceleration and Angular Rates register. More...
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void | parseYawPitchRollTrueInertialAccelerationAndAngularRates (vn::math::vec3f *yawPitchRoll, vn::math::vec3f *inertialAccel, vn::math::vec3f *gyro) |
| Parses a response from reading the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register. More...
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static size_t | computeBinaryPacketLength (const char *startOfPossibleBinaryPacket) |
| Computes the expected number of bytes for a possible binary packet. More...
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static size_t | computeNumOfBytesForBinaryGroupPayload (BinaryGroup group, uint16_t groupField) |
| Computes the number of bytes expected for a binary group field. More...
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static size_t | finalizeCommand (ErrorDetectionMode errorDetectionMode, char *packet, size_t length) |
| Appends astrick (*), checksum, and newlines to command. More...
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static size_t | genReadBinaryOutput1 (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Binary Output 1 register on a VectorNav sensor. More...
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static size_t | genReadBinaryOutput2 (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Binary Output 2 register on a VectorNav sensor. More...
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static size_t | genReadBinaryOutput3 (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Binary Output 13 register on a VectorNav sensor. More...
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static size_t | genWriteBinaryOutput1 (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint16_t asyncMode, uint16_t rateDivisor, uint16_t commonField, uint16_t timeField, uint16_t imuField, uint16_t gpsField, uint16_t attitudeField, uint16_t insField) |
| Generates a command to write to the Binary Output 1 register on a VectorNav sensor. More...
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static size_t | genWriteBinaryOutput2 (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint16_t asyncMode, uint16_t rateDivisor, uint16_t commonField, uint16_t timeField, uint16_t imuField, uint16_t gpsField, uint16_t attitudeField, uint16_t insField) |
| Generates a command to write to the Binary Output 2 register on a VectorNav sensor. More...
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static size_t | genWriteBinaryOutput3 (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint16_t asyncMode, uint16_t rateDivisor, uint16_t commonField, uint16_t timeField, uint16_t imuField, uint16_t gpsField, uint16_t attitudeField, uint16_t insField) |
| Generates a command to write to the Binary Output 3 register on a VectorNav sensor. More...
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static size_t | genWriteSettings (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to write sensor settings to non-volatile memory. More...
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static size_t | genTare (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to tare the sensor. More...
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static size_t | genKnownMagneticDisturbance (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, bool isMagneticDisturbancePresent) |
| Generates a command to alert the sensor of a known magnetic disturbance. More...
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static size_t | genKnownAccelerationDisturbance (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, bool isAccelerationDisturbancePresent) |
| Generates a command to alert the sensor of a known acceleration disturbance. More...
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static size_t | genSetGyroBias (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to set the gyro bias. More...
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static size_t | genRestoreFactorySettings (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to retore factory settings. More...
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static size_t | genReset (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to reset the sensor. More...
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static size_t | genReadSerialBaudRate (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint8_t port) |
| Generates a command to read the Serial Baud Rate register on a VectorNav sensor. More...
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static size_t | genWriteSerialBaudRate (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint32_t baudrate, uint8_t port) |
| Generates a command to write to the Serial Baud Rate register on a VectorNav sensor. More...
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static size_t | genReadAsyncDataOutputType (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint8_t port) |
| Generates a command to read the Async Data Output Type register on a VectorNav sensor. More...
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static size_t | genWriteAsyncDataOutputType (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint32_t ador, uint8_t port) |
| Generates a command to write to the Async Data Output Type register on a VectorNav sensor. More...
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static size_t | genReadAsyncDataOutputFrequency (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint8_t port) |
| Generates a command to read the Async Data Output Frequency register on a VectorNav sensor. More...
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static size_t | genWriteAsyncDataOutputFrequency (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint32_t adof, uint8_t port) |
| Generates a command to write to the Async Data Output Frequency register on a VectorNav sensor. More...
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static size_t | genReadUserTag (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the User Tag register on a VectorNav sensor. More...
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static size_t | genWriteUserTag (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, std::string tag) |
| Generates a command to write to the User Tag register on a VectorNav sensor. More...
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static size_t | genReadModelNumber (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Model Number register on a VectorNav sensor. More...
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static size_t | genReadHardwareRevision (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Hardware Revision register on a VectorNav sensor. More...
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static size_t | genReadSerialNumber (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Serial Number register on a VectorNav sensor. More...
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static size_t | genReadFirmwareVersion (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Firmware Version register on a VectorNav sensor. More...
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static size_t | genReadSerialBaudRate (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Serial Baud Rate register on a VectorNav sensor. More...
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static size_t | genWriteSerialBaudRate (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint32_t baudrate) |
| Generates a command to write to the Serial Baud Rate register on a VectorNav sensor. More...
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static size_t | genReadAsyncDataOutputType (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Async Data Output Type register on a VectorNav sensor. More...
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static size_t | genWriteAsyncDataOutputType (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint32_t ador) |
| Generates a command to write to the Async Data Output Type register on a VectorNav sensor. More...
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static size_t | genReadAsyncDataOutputFrequency (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Async Data Output Frequency register on a VectorNav sensor. More...
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static size_t | genWriteAsyncDataOutputFrequency (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint32_t adof) |
| Generates a command to write to the Async Data Output Frequency register on a VectorNav sensor. More...
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static size_t | genReadYawPitchRoll (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Yaw Pitch Roll register on a VectorNav sensor. More...
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static size_t | genReadAttitudeQuaternion (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Attitude Quaternion register on a VectorNav sensor. More...
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static size_t | genReadQuaternionMagneticAccelerationAndAngularRates (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Quaternion, Magnetic, Acceleration and Angular Rates register on a VectorNav sensor. More...
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static size_t | genReadMagneticMeasurements (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Magnetic Measurements register on a VectorNav sensor. More...
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static size_t | genReadAccelerationMeasurements (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Acceleration Measurements register on a VectorNav sensor. More...
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static size_t | genReadAngularRateMeasurements (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Angular Rate Measurements register on a VectorNav sensor. More...
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static size_t | genReadMagneticAccelerationAndAngularRates (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Magnetic, Acceleration and Angular Rates register on a VectorNav sensor. More...
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static size_t | genReadMagneticAndGravityReferenceVectors (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Magnetic and Gravity Reference Vectors register on a VectorNav sensor. More...
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static size_t | genWriteMagneticAndGravityReferenceVectors (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, vn::math::vec3f magRef, vn::math::vec3f accRef) |
| Generates a command to write to the Magnetic and Gravity Reference Vectors register on a VectorNav sensor. More...
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static size_t | genReadFilterMeasurementsVarianceParameters (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Filter Measurements Variance Parameters register on a VectorNav sensor. More...
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static size_t | genWriteFilterMeasurementsVarianceParameters (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, float angularWalkVariance, vn::math::vec3f angularRateVariance, vn::math::vec3f magneticVariance, vn::math::vec3f accelerationVariance) |
| Generates a command to write to the Filter Measurements Variance Parameters register on a VectorNav sensor. More...
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static size_t | genReadMagnetometerCompensation (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Magnetometer Compensation register on a VectorNav sensor. More...
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static size_t | genWriteMagnetometerCompensation (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, vn::math::mat3f c, vn::math::vec3f b) |
| Generates a command to write to the Magnetometer Compensation register on a VectorNav sensor. More...
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static size_t | genReadFilterActiveTuningParameters (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Filter Active Tuning Parameters register on a VectorNav sensor. More...
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static size_t | genWriteFilterActiveTuningParameters (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, float magneticDisturbanceGain, float accelerationDisturbanceGain, float magneticDisturbanceMemory, float accelerationDisturbanceMemory) |
| Generates a command to write to the Filter Active Tuning Parameters register on a VectorNav sensor. More...
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static size_t | genReadAccelerationCompensation (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Acceleration Compensation register on a VectorNav sensor. More...
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static size_t | genWriteAccelerationCompensation (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, vn::math::mat3f c, vn::math::vec3f b) |
| Generates a command to write to the Acceleration Compensation register on a VectorNav sensor. More...
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static size_t | genReadReferenceFrameRotation (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Reference Frame Rotation register on a VectorNav sensor. More...
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static size_t | genWriteReferenceFrameRotation (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, vn::math::mat3f c) |
| Generates a command to write to the Reference Frame Rotation register on a VectorNav sensor. More...
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static size_t | genReadYawPitchRollMagneticAccelerationAndAngularRates (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register on a VectorNav sensor. More...
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static size_t | genReadCommunicationProtocolControl (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Communication Protocol Control register on a VectorNav sensor. More...
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static size_t | genWriteCommunicationProtocolControl (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint8_t serialCount, uint8_t serialStatus, uint8_t spiCount, uint8_t spiStatus, uint8_t serialChecksum, uint8_t spiChecksum, uint8_t errorMode) |
| Generates a command to write to the Communication Protocol Control register on a VectorNav sensor. More...
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static size_t | genReadSynchronizationControl (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Synchronization Control register on a VectorNav sensor. More...
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static size_t | genWriteSynchronizationControl (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint8_t syncInMode, uint8_t syncInEdge, uint16_t syncInSkipFactor, uint8_t syncOutMode, uint8_t syncOutPolarity, uint16_t syncOutSkipFactor, uint32_t syncOutPulseWidth) |
| Generates a command to write to the Synchronization Control register on a VectorNav sensor. More...
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static size_t | genReadSynchronizationStatus (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Synchronization Status register on a VectorNav sensor. More...
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static size_t | genWriteSynchronizationStatus (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint32_t syncInCount, uint32_t syncInTime, uint32_t syncOutCount) |
| Generates a command to write to the Synchronization Status register on a VectorNav sensor. More...
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static size_t | genReadFilterBasicControl (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Filter Basic Control register on a VectorNav sensor. More...
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static size_t | genWriteFilterBasicControl (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint8_t magMode, uint8_t extMagMode, uint8_t extAccMode, uint8_t extGyroMode, vn::math::vec3f gyroLimit) |
| Generates a command to write to the Filter Basic Control register on a VectorNav sensor. More...
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static size_t | genReadVpeBasicControl (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the VPE Basic Control register on a VectorNav sensor. More...
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static size_t | genWriteVpeBasicControl (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint8_t enable, uint8_t headingMode, uint8_t filteringMode, uint8_t tuningMode) |
| Generates a command to write to the VPE Basic Control register on a VectorNav sensor. More...
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static size_t | genReadVpeMagnetometerBasicTuning (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the VPE Magnetometer Basic Tuning register on a VectorNav sensor. More...
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static size_t | genWriteVpeMagnetometerBasicTuning (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, vn::math::vec3f baseTuning, vn::math::vec3f adaptiveTuning, vn::math::vec3f adaptiveFiltering) |
| Generates a command to write to the VPE Magnetometer Basic Tuning register on a VectorNav sensor. More...
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static size_t | genReadVpeMagnetometerAdvancedTuning (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the VPE Magnetometer Advanced Tuning register on a VectorNav sensor. More...
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static size_t | genWriteVpeMagnetometerAdvancedTuning (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, vn::math::vec3f minFiltering, vn::math::vec3f maxFiltering, float maxAdaptRate, float disturbanceWindow, float maxTuning) |
| Generates a command to write to the VPE Magnetometer Advanced Tuning register on a VectorNav sensor. More...
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static size_t | genReadVpeAccelerometerBasicTuning (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the VPE Accelerometer Basic Tuning register on a VectorNav sensor. More...
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static size_t | genWriteVpeAccelerometerBasicTuning (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, vn::math::vec3f baseTuning, vn::math::vec3f adaptiveTuning, vn::math::vec3f adaptiveFiltering) |
| Generates a command to write to the VPE Accelerometer Basic Tuning register on a VectorNav sensor. More...
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static size_t | genReadVpeAccelerometerAdvancedTuning (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the VPE Accelerometer Advanced Tuning register on a VectorNav sensor. More...
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static size_t | genWriteVpeAccelerometerAdvancedTuning (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, vn::math::vec3f minFiltering, vn::math::vec3f maxFiltering, float maxAdaptRate, float disturbanceWindow, float maxTuning) |
| Generates a command to write to the VPE Accelerometer Advanced Tuning register on a VectorNav sensor. More...
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static size_t | genReadVpeGyroBasicTuning (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the VPE Gyro Basic Tuning register on a VectorNav sensor. More...
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static size_t | genWriteVpeGyroBasicTuning (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, vn::math::vec3f angularWalkVariance, vn::math::vec3f baseTuning, vn::math::vec3f adaptiveTuning) |
| Generates a command to write to the VPE Gyro Basic Tuning register on a VectorNav sensor. More...
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static size_t | genReadFilterStartupGyroBias (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Filter Startup Gyro Bias register on a VectorNav sensor. More...
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static size_t | genWriteFilterStartupGyroBias (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, vn::math::vec3f bias) |
| Generates a command to write to the Filter Startup Gyro Bias register on a VectorNav sensor. More...
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static size_t | genReadMagnetometerCalibrationControl (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Magnetometer Calibration Control register on a VectorNav sensor. More...
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static size_t | genWriteMagnetometerCalibrationControl (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint8_t hsiMode, uint8_t hsiOutput, uint8_t convergeRate) |
| Generates a command to write to the Magnetometer Calibration Control register on a VectorNav sensor. More...
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static size_t | genReadCalculatedMagnetometerCalibration (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Calculated Magnetometer Calibration register on a VectorNav sensor. More...
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static size_t | genReadIndoorHeadingModeControl (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Indoor Heading Mode Control register on a VectorNav sensor. More...
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static size_t | genWriteIndoorHeadingModeControl (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, float maxRateError) |
| Generates a command to write to the Indoor Heading Mode Control register on a VectorNav sensor. More...
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static size_t | genReadVelocityCompensationMeasurement (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Velocity Compensation Measurement register on a VectorNav sensor. More...
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static size_t | genWriteVelocityCompensationMeasurement (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, vn::math::vec3f velocity) |
| Generates a command to write to the Velocity Compensation Measurement register on a VectorNav sensor. More...
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static size_t | genReadVelocityCompensationControl (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Velocity Compensation Control register on a VectorNav sensor. More...
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static size_t | genWriteVelocityCompensationControl (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint8_t mode, float velocityTuning, float rateTuning) |
| Generates a command to write to the Velocity Compensation Control register on a VectorNav sensor. More...
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static size_t | genReadVelocityCompensationStatus (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Velocity Compensation Status register on a VectorNav sensor. More...
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static size_t | genReadImuMeasurements (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the IMU Measurements register on a VectorNav sensor. More...
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static size_t | genReadGpsConfiguration (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the GPS Configuration register on a VectorNav sensor. More...
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static size_t | genWriteGpsConfiguration (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint8_t mode, uint8_t ppsSource) |
| Generates a command to write to the GPS Configuration register on a VectorNav sensor. More...
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static size_t | genReadGpsAntennaOffset (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the GPS Antenna Offset register on a VectorNav sensor. More...
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static size_t | genWriteGpsAntennaOffset (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, vn::math::vec3f position) |
| Generates a command to write to the GPS Antenna Offset register on a VectorNav sensor. More...
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static size_t | genReadGpsSolutionLla (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the GPS Solution - LLA register on a VectorNav sensor. More...
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static size_t | genReadGpsSolutionEcef (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the GPS Solution - ECEF register on a VectorNav sensor. More...
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static size_t | genReadInsSolutionLla (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the INS Solution - LLA register on a VectorNav sensor. More...
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static size_t | genReadInsSolutionEcef (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the INS Solution - ECEF register on a VectorNav sensor. More...
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static size_t | genReadInsBasicConfiguration (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the INS Basic Configuration register on a VectorNav sensor. More...
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static size_t | genWriteInsBasicConfiguration (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint8_t scenario, uint8_t ahrsAiding, uint8_t estBaseline) |
| Generates a command to write to the INS Basic Configuration register on a VectorNav sensor. More...
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static size_t | genReadInsAdvancedConfiguration (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the INS Advanced Configuration register on a VectorNav sensor. More...
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static size_t | genWriteInsAdvancedConfiguration (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint8_t useMag, uint8_t usePres, uint8_t posAtt, uint8_t velAtt, uint8_t velBias, uint8_t useFoam, uint8_t gpsCovType, uint8_t velCount, float velInit, float moveOrigin, float gpsTimeout, float deltaLimitPos, float deltaLimitVel, float minPosUncertainty, float minVelUncertainty) |
| Generates a command to write to the INS Advanced Configuration register on a VectorNav sensor. More...
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static size_t | genReadInsStateLla (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the INS State - LLA register on a VectorNav sensor. More...
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static size_t | genReadInsStateEcef (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the INS State - ECEF register on a VectorNav sensor. More...
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static size_t | genReadStartupFilterBiasEstimate (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Startup Filter Bias Estimate register on a VectorNav sensor. More...
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static size_t | genWriteStartupFilterBiasEstimate (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, vn::math::vec3f gyroBias, vn::math::vec3f accelBias, float pressureBias) |
| Generates a command to write to the Startup Filter Bias Estimate register on a VectorNav sensor. More...
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static size_t | genReadDeltaThetaAndDeltaVelocity (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Delta Theta and Delta Velocity register on a VectorNav sensor. More...
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static size_t | genReadDeltaThetaAndDeltaVelocityConfiguration (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Delta Theta and Delta Velocity Configuration register on a VectorNav sensor. More...
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static size_t | genWriteDeltaThetaAndDeltaVelocityConfiguration (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint8_t integrationFrame, uint8_t gyroCompensation, uint8_t accelCompensation) |
| Generates a command to write to the Delta Theta and Delta Velocity Configuration register on a VectorNav sensor. More...
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static size_t | genReadReferenceVectorConfiguration (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Reference Vector Configuration register on a VectorNav sensor. More...
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static size_t | genWriteReferenceVectorConfiguration (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint8_t useMagModel, uint8_t useGravityModel, uint32_t recalcThreshold, float year, vn::math::vec3d position) |
| Generates a command to write to the Reference Vector Configuration register on a VectorNav sensor. More...
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static size_t | genReadGyroCompensation (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Gyro Compensation register on a VectorNav sensor. More...
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static size_t | genWriteGyroCompensation (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, vn::math::mat3f c, vn::math::vec3f b) |
| Generates a command to write to the Gyro Compensation register on a VectorNav sensor. More...
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static size_t | genReadImuFilteringConfiguration (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the IMU Filtering Configuration register on a VectorNav sensor. More...
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static size_t | genWriteImuFilteringConfiguration (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint16_t magWindowSize, uint16_t accelWindowSize, uint16_t gyroWindowSize, uint16_t tempWindowSize, uint16_t presWindowSize, uint8_t magFilterMode, uint8_t accelFilterMode, uint8_t gyroFilterMode, uint8_t tempFilterMode, uint8_t presFilterMode) |
| Generates a command to write to the IMU Filtering Configuration register on a VectorNav sensor. More...
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static size_t | genReadGpsCompassBaseline (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the GPS Compass Baseline register on a VectorNav sensor. More...
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static size_t | genWriteGpsCompassBaseline (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, vn::math::vec3f position, vn::math::vec3f uncertainty) |
| Generates a command to write to the GPS Compass Baseline register on a VectorNav sensor. More...
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static size_t | genReadGpsCompassEstimatedBaseline (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the GPS Compass Estimated Baseline register on a VectorNav sensor. More...
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static size_t | genReadImuRateConfiguration (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the IMU Rate Configuration register on a VectorNav sensor. More...
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static size_t | genWriteImuRateConfiguration (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size, uint16_t imuRate, uint16_t navDivisor, float filterTargetRate, float filterMinRate) |
| Generates a command to write to the IMU Rate Configuration register on a VectorNav sensor. More...
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static size_t | genReadYawPitchRollTrueBodyAccelerationAndAngularRates (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Yaw, Pitch, Roll, True Body Acceleration and Angular Rates register on a VectorNav sensor. More...
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static size_t | genReadYawPitchRollTrueInertialAccelerationAndAngularRates (ErrorDetectionMode errorDetectionMode, char *buffer, size_t size) |
| Generates a command to read the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register on a VectorNav sensor. More...
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