VectorNav C++ Library
Functions
UART ASCII Response Packet Parsers

This group of methods allow parsing of ASCII response data packets from VectorNav's sensors. More...

Functions

void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::parseUserTag (char *tag)
 Parses a response from reading the User Tag register. More...
 
void vn::protocol::uart::Packet::parseModelNumber (char *productName)
 Parses a response from reading the Model Number register. More...
 
void vn::protocol::uart::Packet::parseHardwareRevision (uint32_t *revision)
 Parses a response from reading the Hardware Revision register. More...
 
void vn::protocol::uart::Packet::parseSerialNumber (uint32_t *serialNum)
 Parses a response from reading the Serial Number register. More...
 
void vn::protocol::uart::Packet::parseFirmwareVersion (char *firmwareVersion)
 Parses a response from reading the Firmware Version register. More...
 
void vn::protocol::uart::Packet::parseSerialBaudRate (uint32_t *baudrate)
 Parses a response from reading the Serial Baud Rate register. More...
 
void vn::protocol::uart::Packet::parseAsyncDataOutputType (uint32_t *ador)
 Parses a response from reading the Async Data Output Type register. More...
 
void vn::protocol::uart::Packet::parseAsyncDataOutputFrequency (uint32_t *adof)
 Parses a response from reading the Async Data Output Frequency register. More...
 
void vn::protocol::uart::Packet::parseYawPitchRoll (vn::math::vec3f *yawPitchRoll)
 Parses a response from reading the Yaw Pitch Roll register. More...
 
void vn::protocol::uart::Packet::parseAttitudeQuaternion (vn::math::vec4f *quat)
 Parses a response from reading the Attitude Quaternion register. More...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::parseMagneticMeasurements (vn::math::vec3f *mag)
 Parses a response from reading the Magnetic Measurements register. More...
 
void vn::protocol::uart::Packet::parseAccelerationMeasurements (vn::math::vec3f *accel)
 Parses a response from reading the Acceleration Measurements register. More...
 
void vn::protocol::uart::Packet::parseAngularRateMeasurements (vn::math::vec3f *gyro)
 Parses a response from reading the Angular Rate Measurements register. More...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::parseMagneticAndGravityReferenceVectors (vn::math::vec3f *magRef, vn::math::vec3f *accRef)
 Parses a response from reading the Magnetic and Gravity Reference Vectors register. More...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::parseMagnetometerCompensation (vn::math::mat3f *c, vn::math::vec3f *b)
 Parses a response from reading the Magnetometer Compensation register. More...
 
void vn::protocol::uart::Packet::parseFilterActiveTuningParameters (float *magneticDisturbanceGain, float *accelerationDisturbanceGain, float *magneticDisturbanceMemory, float *accelerationDisturbanceMemory)
 Parses a response from reading the Filter Active Tuning Parameters register. More...
 
void vn::protocol::uart::Packet::parseAccelerationCompensation (vn::math::mat3f *c, vn::math::vec3f *b)
 Parses a response from reading the Acceleration Compensation register. More...
 
void vn::protocol::uart::Packet::parseReferenceFrameRotation (vn::math::mat3f *c)
 Parses a response from reading the Reference Frame Rotation register. More...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::parseSynchronizationStatus (uint32_t *syncInCount, uint32_t *syncInTime, uint32_t *syncOutCount)
 Parses a response from reading the Synchronization Status register. More...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::parseVpeBasicControl (uint8_t *enable, uint8_t *headingMode, uint8_t *filteringMode, uint8_t *tuningMode)
 Parses a response from reading the VPE Basic Control register. More...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::parseFilterStartupGyroBias (vn::math::vec3f *bias)
 Parses a response from reading the Filter Startup Gyro Bias register. More...
 
void vn::protocol::uart::Packet::parseMagnetometerCalibrationControl (uint8_t *hsiMode, uint8_t *hsiOutput, uint8_t *convergeRate)
 Parses a response from reading the Magnetometer Calibration Control register. More...
 
void vn::protocol::uart::Packet::parseCalculatedMagnetometerCalibration (vn::math::mat3f *c, vn::math::vec3f *b)
 Parses a response from reading the Calculated Magnetometer Calibration register. More...
 
void vn::protocol::uart::Packet::parseIndoorHeadingModeControl (float *maxRateError)
 Parses a response from reading the Indoor Heading Mode Control register. More...
 
void vn::protocol::uart::Packet::parseVelocityCompensationMeasurement (vn::math::vec3f *velocity)
 Parses a response from reading the Velocity Compensation Measurement register. More...
 
void vn::protocol::uart::Packet::parseVelocityCompensationControl (uint8_t *mode, float *velocityTuning, float *rateTuning)
 Parses a response from reading the Velocity Compensation Control register. More...
 
void vn::protocol::uart::Packet::parseVelocityCompensationStatus (float *x, float *xDot, vn::math::vec3f *accelOffset, vn::math::vec3f *omega)
 Parses a response from reading the Velocity Compensation Status register. More...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::parseGpsConfiguration (uint8_t *mode, uint8_t *ppsSource)
 Parses a response from reading the GPS Configuration register. More...
 
void vn::protocol::uart::Packet::parseGpsAntennaOffset (vn::math::vec3f *position)
 Parses a response from reading the GPS Antenna Offset register. More...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::parseInsBasicConfiguration (uint8_t *scenario, uint8_t *ahrsAiding)
 Parses a response from reading the INS Basic Configuration register. More...
 
void vn::protocol::uart::Packet::parseInsBasicConfiguration (uint8_t *scenario, uint8_t *ahrsAiding, uint8_t *estBaseline)
 Parses a response from reading the INS Basic Configuration register. More...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::parseStartupFilterBiasEstimate (vn::math::vec3f *gyroBias, vn::math::vec3f *accelBias, float *pressureBias)
 Parses a response from reading the Startup Filter Bias Estimate register. More...
 
void vn::protocol::uart::Packet::parseDeltaThetaAndDeltaVelocity (float *deltaTime, vn::math::vec3f *deltaTheta, vn::math::vec3f *deltaVelocity)
 Parses a response from reading the Delta Theta and Delta Velocity register. More...
 
void vn::protocol::uart::Packet::parseDeltaThetaAndDeltaVelocityConfiguration (uint8_t *integrationFrame, uint8_t *gyroCompensation, uint8_t *accelCompensation)
 Parses a response from reading the Delta Theta and Delta Velocity Configuration register. More...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::parseGyroCompensation (vn::math::mat3f *c, vn::math::vec3f *b)
 Parses a response from reading the Gyro Compensation register. More...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::parseGpsCompassBaseline (vn::math::vec3f *position, vn::math::vec3f *uncertainty)
 Parses a response from reading the GPS Compass Baseline register. More...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::parseImuRateConfiguration (uint16_t *imuRate, uint16_t *navDivisor, float *filterTargetRate, float *filterMinRate)
 Parses a response from reading the IMU Rate Configuration register. More...
 
void vn::protocol::uart::Packet::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...
 
void vn::protocol::uart::Packet::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...
 

Detailed Description

This group of methods allow parsing of ASCII response data packets from VectorNav's sensors.

The units are not specified for the out parameters since these methods do a simple conversion operation from the packet string. Please consult the appropriate user manual for your sensor for details about the units returned by the sensor.

Function Documentation

void vn::protocol::uart::Packet::parseAccelerationCompensation ( vn::math::mat3f c,
vn::math::vec3f b 
)

Parses a response from reading the Acceleration Compensation register.

Parameters
[out]cThe register's C field.
[out]bThe register's B field.
void vn::protocol::uart::Packet::parseAccelerationMeasurements ( vn::math::vec3f accel)

Parses a response from reading the Acceleration Measurements register.

Parameters
[out]accelThe register's Accel field.
void vn::protocol::uart::Packet::parseAngularRateMeasurements ( vn::math::vec3f gyro)

Parses a response from reading the Angular Rate Measurements register.

Parameters
[out]gyroThe register's Gyro field.
void vn::protocol::uart::Packet::parseAsyncDataOutputFrequency ( uint32_t *  adof)

Parses a response from reading the Async Data Output Frequency register.

Parameters
[out]adofThe register's ADOF field.
Examples:
uart_protocol/main.cpp.
void vn::protocol::uart::Packet::parseAsyncDataOutputType ( uint32_t *  ador)

Parses a response from reading the Async Data Output Type register.

Parameters
[out]adorThe register's ADOR field.
void vn::protocol::uart::Packet::parseAttitudeQuaternion ( vn::math::vec4f quat)

Parses a response from reading the Attitude Quaternion register.

Parameters
[out]quatThe register's Quat field.
void vn::protocol::uart::Packet::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.

Parameters
[out]asyncModeThe register's AsyncMode field.
[out]rateDivisorThe register's RateDivisor field.
[out]outputGroupThe register's OutputGroup field.
[out]commonFieldThe set fields of Output Group 1 (Common) if present.
[out]timeFieldThe set fields of Output Group 2 (Time) if present.
[out]imuFieldThe set fields of Output Group 3 (IMU) if present.
[out]gpsFieldThe set fields of Output Group 4 (GPS) if present.
[out]attitudeFieldThe set fields of Output Group 5 (Attitude) if present.
[out]insFieldThe set fields of Output Group 6 (INS) if present.
void vn::protocol::uart::Packet::parseCalculatedMagnetometerCalibration ( vn::math::mat3f c,
vn::math::vec3f b 
)

Parses a response from reading the Calculated Magnetometer Calibration register.

Parameters
[out]cThe register's C field.
[out]bThe register's B field.
void vn::protocol::uart::Packet::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.

Parameters
[out]serialCountThe register's SerialCount field.
[out]serialStatusThe register's SerialStatus field.
[out]spiCountThe register's SPICount field.
[out]spiStatusThe register's SPIStatus field.
[out]serialChecksumThe register's SerialChecksum field.
[out]spiChecksumThe register's SPIChecksum field.
[out]errorModeThe register's ErrorMode field.
void vn::protocol::uart::Packet::parseDeltaThetaAndDeltaVelocity ( float *  deltaTime,
vn::math::vec3f deltaTheta,
vn::math::vec3f deltaVelocity 
)

Parses a response from reading the Delta Theta and Delta Velocity register.

Parameters
[out]deltaTimeThe register's DeltaTime field.
[out]deltaThetaThe register's DeltaTheta field.
[out]deltaVelocityThe register's DeltaVelocity field.
void vn::protocol::uart::Packet::parseDeltaThetaAndDeltaVelocityConfiguration ( uint8_t *  integrationFrame,
uint8_t *  gyroCompensation,
uint8_t *  accelCompensation 
)

Parses a response from reading the Delta Theta and Delta Velocity Configuration register.

Parameters
[out]integrationFrameThe register's IntegrationFrame field.
[out]gyroCompensationThe register's GyroCompensation field.
[out]accelCompensationThe register's AccelCompensation field.
void vn::protocol::uart::Packet::parseFilterActiveTuningParameters ( float *  magneticDisturbanceGain,
float *  accelerationDisturbanceGain,
float *  magneticDisturbanceMemory,
float *  accelerationDisturbanceMemory 
)

Parses a response from reading the Filter Active Tuning Parameters register.

Parameters
[out]magneticDisturbanceGainThe register's Magnetic Disturbance Gain field.
[out]accelerationDisturbanceGainThe register's Acceleration Disturbance Gain field.
[out]magneticDisturbanceMemoryThe register's Magnetic Disturbance Memory field.
[out]accelerationDisturbanceMemoryThe register's Acceleration Disturbance Memory field.
void vn::protocol::uart::Packet::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.

Parameters
[out]magModeThe register's MagMode field.
[out]extMagModeThe register's ExtMagMode field.
[out]extAccModeThe register's ExtAccMode field.
[out]extGyroModeThe register's ExtGyroMode field.
[out]gyroLimitThe register's GyroLimit field.
void vn::protocol::uart::Packet::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.

Parameters
[out]angularWalkVarianceThe register's Angular Walk Variance field.
[out]angularRateVarianceThe register's Angular Rate Variance field.
[out]magneticVarianceThe register's Magnetic Variance field.
[out]accelerationVarianceThe register's Acceleration Variance field.
void vn::protocol::uart::Packet::parseFilterStartupGyroBias ( vn::math::vec3f bias)

Parses a response from reading the Filter Startup Gyro Bias register.

Parameters
[out]biasThe register's Bias field.
void vn::protocol::uart::Packet::parseFirmwareVersion ( char *  firmwareVersion)

Parses a response from reading the Firmware Version register.

Parameters
[out]firmwareVersionThe register's Firmware Version field.
void vn::protocol::uart::Packet::parseGpsAntennaOffset ( vn::math::vec3f position)

Parses a response from reading the GPS Antenna Offset register.

Parameters
[out]positionThe register's Position field.
void vn::protocol::uart::Packet::parseGpsCompassBaseline ( vn::math::vec3f position,
vn::math::vec3f uncertainty 
)

Parses a response from reading the GPS Compass Baseline register.

Parameters
[out]positionThe register's Position field.
[out]uncertaintyThe register's Uncertainty field.
void vn::protocol::uart::Packet::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.

Parameters
[out]estBaselineUsedThe register's EstBaselineUsed field.
[out]numMeasThe register's NumMeas field.
[out]positionThe register's Position field.
[out]uncertaintyThe register's Uncertainty field.
void vn::protocol::uart::Packet::parseGpsConfiguration ( uint8_t *  mode,
uint8_t *  ppsSource 
)

Parses a response from reading the GPS Configuration register.

Parameters
[out]modeThe register's Mode field.
[out]ppsSourceThe register's PpsSource field.
void vn::protocol::uart::Packet::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.

Parameters
[out]towThe register's Tow field.
[out]weekThe register's Week field.
[out]gpsFixThe register's GpsFix field.
[out]numSatsThe register's NumSats field.
[out]positionThe register's Position field.
[out]velocityThe register's Velocity field.
[out]posAccThe register's PosAcc field.
[out]speedAccThe register's SpeedAcc field.
[out]timeAccThe register's TimeAcc field.
void vn::protocol::uart::Packet::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.

Parameters
[out]timeThe register's Time field.
[out]weekThe register's Week field.
[out]gpsFixThe register's GpsFix field.
[out]numSatsThe register's NumSats field.
[out]llaThe register's Lla field.
[out]nedVelThe register's NedVel field.
[out]nedAccThe register's NedAcc field.
[out]speedAccThe register's SpeedAcc field.
[out]timeAccThe register's TimeAcc field.
void vn::protocol::uart::Packet::parseGyroCompensation ( vn::math::mat3f c,
vn::math::vec3f b 
)

Parses a response from reading the Gyro Compensation register.

Parameters
[out]cThe register's C field.
[out]bThe register's B field.
void vn::protocol::uart::Packet::parseHardwareRevision ( uint32_t *  revision)

Parses a response from reading the Hardware Revision register.

Parameters
[out]revisionThe register's Revision field.
void vn::protocol::uart::Packet::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.

Parameters
[out]magWindowSizeThe register's MagWindowSize field.
[out]accelWindowSizeThe register's AccelWindowSize field.
[out]gyroWindowSizeThe register's GyroWindowSize field.
[out]tempWindowSizeThe register's TempWindowSize field.
[out]presWindowSizeThe register's PresWindowSize field.
[out]magFilterModeThe register's MagFilterMode field.
[out]accelFilterModeThe register's AccelFilterMode field.
[out]gyroFilterModeThe register's GyroFilterMode field.
[out]tempFilterModeThe register's TempFilterMode field.
[out]presFilterModeThe register's PresFilterMode field.
void vn::protocol::uart::Packet::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.

Parameters
[out]magThe register's Mag field.
[out]accelThe register's Accel field.
[out]gyroThe register's Gyro field.
[out]tempThe register's Temp field.
[out]pressureThe register's Pressure field.
void vn::protocol::uart::Packet::parseImuRateConfiguration ( uint16_t *  imuRate,
uint16_t *  navDivisor,
float *  filterTargetRate,
float *  filterMinRate 
)

Parses a response from reading the IMU Rate Configuration register.

Parameters
[out]imuRateThe register's imuRate field.
[out]navDivisorThe register's NavDivisor field.
[out]filterTargetRateThe register's filterTargetRate field.
[out]filterMinRateThe register's filterMinRate field.
void vn::protocol::uart::Packet::parseIndoorHeadingModeControl ( float *  maxRateError)

Parses a response from reading the Indoor Heading Mode Control register.

Parameters
[out]maxRateErrorThe register's Max Rate Error field.
void vn::protocol::uart::Packet::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.

Parameters
[out]useMagThe register's UseMag field.
[out]usePresThe register's UsePres field.
[out]posAttThe register's PosAtt field.
[out]velAttThe register's VelAtt field.
[out]velBiasThe register's VelBias field.
[out]useFoamThe register's UseFoam field.
[out]gpsCovTypeThe register's GPSCovType field.
[out]velCountThe register's VelCount field.
[out]velInitThe register's VelInit field.
[out]moveOriginThe register's MoveOrigin field.
[out]gpsTimeoutThe register's GPSTimeout field.
[out]deltaLimitPosThe register's DeltaLimitPos field.
[out]deltaLimitVelThe register's DeltaLimitVel field.
[out]minPosUncertaintyThe register's MinPosUncertainty field.
[out]minVelUncertaintyThe register's MinVelUncertainty field.
void vn::protocol::uart::Packet::parseInsBasicConfiguration ( uint8_t *  scenario,
uint8_t *  ahrsAiding 
)

Parses a response from reading the INS Basic Configuration register.

Parameters
[out]scenarioThe register's Scenario field.
[out]ahrsAidingThe register's AhrsAiding field.
void vn::protocol::uart::Packet::parseInsBasicConfiguration ( uint8_t *  scenario,
uint8_t *  ahrsAiding,
uint8_t *  estBaseline 
)

Parses a response from reading the INS Basic Configuration register.

Parameters
[out]scenarioThe register's Scenario field.
[out]ahrsAidingThe register's AhrsAiding field.
[out]estBaselineThe register's EstBaseline field.
void vn::protocol::uart::Packet::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.

Parameters
[out]timeThe register's Time field.
[out]weekThe register's Week field.
[out]statusThe register's Status field.
[out]yawPitchRollThe register's YawPitchRoll field.
[out]positionThe register's Position field.
[out]velocityThe register's Velocity field.
[out]attUncertaintyThe register's AttUncertainty field.
[out]posUncertaintyThe register's PosUncertainty field.
[out]velUncertaintyThe register's VelUncertainty field.
void vn::protocol::uart::Packet::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.

Parameters
[out]timeThe register's Time field.
[out]weekThe register's Week field.
[out]statusThe register's Status field.
[out]yawPitchRollThe register's YawPitchRoll field.
[out]positionThe register's Position field.
[out]nedVelThe register's NedVel field.
[out]attUncertaintyThe register's AttUncertainty field.
[out]posUncertaintyThe register's PosUncertainty field.
[out]velUncertaintyThe register's VelUncertainty field.
void vn::protocol::uart::Packet::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.

Parameters
[out]yawPitchRollThe register's YawPitchRoll field.
[out]positionThe register's Position field.
[out]velocityThe register's Velocity field.
[out]accelThe register's Accel field.
[out]angularRateThe register's AngularRate field.
void vn::protocol::uart::Packet::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.

Parameters
[out]yawPitchRollThe register's YawPitchRoll field.
[out]positionThe register's Position field.
[out]velocityThe register's Velocity field.
[out]accelThe register's Accel field.
[out]angularRateThe register's AngularRate field.
void vn::protocol::uart::Packet::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.

Parameters
[out]magThe register's Mag field.
[out]accelThe register's Accel field.
[out]gyroThe register's Gyro field.
void vn::protocol::uart::Packet::parseMagneticAndGravityReferenceVectors ( vn::math::vec3f magRef,
vn::math::vec3f accRef 
)

Parses a response from reading the Magnetic and Gravity Reference Vectors register.

Parameters
[out]magRefThe register's MagRef field.
[out]accRefThe register's AccRef field.
void vn::protocol::uart::Packet::parseMagneticMeasurements ( vn::math::vec3f mag)

Parses a response from reading the Magnetic Measurements register.

Parameters
[out]magThe register's Mag field.
void vn::protocol::uart::Packet::parseMagnetometerCalibrationControl ( uint8_t *  hsiMode,
uint8_t *  hsiOutput,
uint8_t *  convergeRate 
)

Parses a response from reading the Magnetometer Calibration Control register.

Parameters
[out]hsiModeThe register's HSIMode field.
[out]hsiOutputThe register's HSIOutput field.
[out]convergeRateThe register's ConvergeRate field.
void vn::protocol::uart::Packet::parseMagnetometerCompensation ( vn::math::mat3f c,
vn::math::vec3f b 
)

Parses a response from reading the Magnetometer Compensation register.

Parameters
[out]cThe register's C field.
[out]bThe register's B field.
void vn::protocol::uart::Packet::parseModelNumber ( char *  productName)

Parses a response from reading the Model Number register.

Parameters
[out]productNameThe register's Product Name field.
Examples:
uart_protocol/main.cpp.
void vn::protocol::uart::Packet::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.

Parameters
[out]quatThe register's Quat field.
[out]magThe register's Mag field.
[out]accelThe register's Accel field.
[out]gyroThe register's Gyro field.
void vn::protocol::uart::Packet::parseReferenceFrameRotation ( vn::math::mat3f c)

Parses a response from reading the Reference Frame Rotation register.

Parameters
[out]cThe register's C field.
void vn::protocol::uart::Packet::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.

Parameters
[out]useMagModelThe register's UseMagModel field.
[out]useGravityModelThe register's UseGravityModel field.
[out]recalcThresholdThe register's RecalcThreshold field.
[out]yearThe register's Year field.
[out]positionThe register's Position field.
void vn::protocol::uart::Packet::parseSerialBaudRate ( uint32_t *  baudrate)

Parses a response from reading the Serial Baud Rate register.

Parameters
[out]baudrateThe register's Baud Rate field.
void vn::protocol::uart::Packet::parseSerialNumber ( uint32_t *  serialNum)

Parses a response from reading the Serial Number register.

Parameters
[out]serialNumThe register's SerialNum field.
void vn::protocol::uart::Packet::parseStartupFilterBiasEstimate ( vn::math::vec3f gyroBias,
vn::math::vec3f accelBias,
float *  pressureBias 
)

Parses a response from reading the Startup Filter Bias Estimate register.

Parameters
[out]gyroBiasThe register's GyroBias field.
[out]accelBiasThe register's AccelBias field.
[out]pressureBiasThe register's PressureBias field.
void vn::protocol::uart::Packet::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.

Parameters
[out]syncInModeThe register's SyncInMode field.
[out]syncInEdgeThe register's SyncInEdge field.
[out]syncInSkipFactorThe register's SyncInSkipFactor field.
[out]syncOutModeThe register's SyncOutMode field.
[out]syncOutPolarityThe register's SyncOutPolarity field.
[out]syncOutSkipFactorThe register's SyncOutSkipFactor field.
[out]syncOutPulseWidthThe register's SyncOutPulseWidth field.
void vn::protocol::uart::Packet::parseSynchronizationStatus ( uint32_t *  syncInCount,
uint32_t *  syncInTime,
uint32_t *  syncOutCount 
)

Parses a response from reading the Synchronization Status register.

Parameters
[out]syncInCountThe register's SyncInCount field.
[out]syncInTimeThe register's SyncInTime field.
[out]syncOutCountThe register's SyncOutCount field.
void vn::protocol::uart::Packet::parseUserTag ( char *  tag)

Parses a response from reading the User Tag register.

Parameters
[out]tagThe register's Tag field.
void vn::protocol::uart::Packet::parseVelocityCompensationControl ( uint8_t *  mode,
float *  velocityTuning,
float *  rateTuning 
)

Parses a response from reading the Velocity Compensation Control register.

Parameters
[out]modeThe register's Mode field.
[out]velocityTuningThe register's VelocityTuning field.
[out]rateTuningThe register's RateTuning field.
void vn::protocol::uart::Packet::parseVelocityCompensationMeasurement ( vn::math::vec3f velocity)

Parses a response from reading the Velocity Compensation Measurement register.

Parameters
[out]velocityThe register's Velocity field.
void vn::protocol::uart::Packet::parseVelocityCompensationStatus ( float *  x,
float *  xDot,
vn::math::vec3f accelOffset,
vn::math::vec3f omega 
)

Parses a response from reading the Velocity Compensation Status register.

Parameters
[out]xThe register's x field.
[out]xDotThe register's xDot field.
[out]accelOffsetThe register's accelOffset field.
[out]omegaThe register's omega field.
void vn::protocol::uart::Packet::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.

Parameters
[out]minFilteringThe register's MinFiltering field.
[out]maxFilteringThe register's MaxFiltering field.
[out]maxAdaptRateThe register's MaxAdaptRate field.
[out]disturbanceWindowThe register's DisturbanceWindow field.
[out]maxTuningThe register's MaxTuning field.
void vn::protocol::uart::Packet::parseVpeAccelerometerBasicTuning ( vn::math::vec3f baseTuning,
vn::math::vec3f adaptiveTuning,
vn::math::vec3f adaptiveFiltering 
)

Parses a response from reading the VPE Accelerometer Basic Tuning register.

Parameters
[out]baseTuningThe register's BaseTuning field.
[out]adaptiveTuningThe register's AdaptiveTuning field.
[out]adaptiveFilteringThe register's AdaptiveFiltering field.
void vn::protocol::uart::Packet::parseVpeBasicControl ( uint8_t *  enable,
uint8_t *  headingMode,
uint8_t *  filteringMode,
uint8_t *  tuningMode 
)

Parses a response from reading the VPE Basic Control register.

Parameters
[out]enableThe register's Enable field.
[out]headingModeThe register's HeadingMode field.
[out]filteringModeThe register's FilteringMode field.
[out]tuningModeThe register's TuningMode field.
Examples:
uart_protocol/main.cpp.
void vn::protocol::uart::Packet::parseVpeGyroBasicTuning ( vn::math::vec3f angularWalkVariance,
vn::math::vec3f baseTuning,
vn::math::vec3f adaptiveTuning 
)

Parses a response from reading the VPE Gyro Basic Tuning register.

Parameters
[out]angularWalkVarianceThe register's AngularWalkVariance field.
[out]baseTuningThe register's BaseTuning field.
[out]adaptiveTuningThe register's AdaptiveTuning field.
void vn::protocol::uart::Packet::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.

Parameters
[out]minFilteringThe register's MinFiltering field.
[out]maxFilteringThe register's MaxFiltering field.
[out]maxAdaptRateThe register's MaxAdaptRate field.
[out]disturbanceWindowThe register's DisturbanceWindow field.
[out]maxTuningThe register's MaxTuning field.
void vn::protocol::uart::Packet::parseVpeMagnetometerBasicTuning ( vn::math::vec3f baseTuning,
vn::math::vec3f adaptiveTuning,
vn::math::vec3f adaptiveFiltering 
)

Parses a response from reading the VPE Magnetometer Basic Tuning register.

Parameters
[out]baseTuningThe register's BaseTuning field.
[out]adaptiveTuningThe register's AdaptiveTuning field.
[out]adaptiveFilteringThe register's AdaptiveFiltering field.
void vn::protocol::uart::Packet::parseYawPitchRoll ( vn::math::vec3f yawPitchRoll)

Parses a response from reading the Yaw Pitch Roll register.

Parameters
[out]yawPitchRollThe register's YawPitchRoll field.
void vn::protocol::uart::Packet::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.

Parameters
[out]yawPitchRollThe register's YawPitchRoll field.
[out]magThe register's Mag field.
[out]accelThe register's Accel field.
[out]gyroThe register's Gyro field.
void vn::protocol::uart::Packet::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.

Parameters
[out]yawPitchRollThe register's YawPitchRoll field.
[out]bodyAccelThe register's BodyAccel field.
[out]gyroThe register's Gyro field.
void vn::protocol::uart::Packet::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.

Parameters
[out]yawPitchRollThe register's YawPitchRoll field.
[out]inertialAccelThe register's InertialAccel field.
[out]gyroThe register's Gyro field.