VectorNav C++ Library
registers.h
1 #ifndef _VNSENSORS_REGISTERS_H_
2 #define _VNSENSORS_REGISTERS_H_
3 
4 #include "int.h"
5 #include "vector.h"
6 #include "matrix.h"
7 #include "types.h"
8 
9 namespace vn {
10 namespace sensors {
11 
17 
25 {
26  protocol::uart::AsyncMode asyncMode;
27  uint16_t rateDivisor;
28  protocol::uart::CommonGroup commonField;
29  protocol::uart::TimeGroup timeField;
30  protocol::uart::ImuGroup imuField;
31  protocol::uart::GpsGroup gpsField;
32  protocol::uart::AttitudeGroup attitudeField;
33  protocol::uart::InsGroup insField;
34 
36  asyncMode(protocol::uart::ASYNCMODE_NONE),
37  rateDivisor(0),
38  commonField(protocol::uart::COMMONGROUP_NONE),
39  timeField(protocol::uart::TIMEGROUP_NONE),
40  imuField(protocol::uart::IMUGROUP_NONE),
41  gpsField(protocol::uart::GPSGROUP_NONE),
42  attitudeField(protocol::uart::ATTITUDEGROUP_NONE),
43  insField(protocol::uart::INSGROUP_NONE)
44  { }
45 
57  protocol::uart::AsyncMode asyncModeIn,
58  uint16_t rateDivisorIn,
59  protocol::uart::CommonGroup commonFieldIn,
60  protocol::uart::TimeGroup timeFieldIn,
61  protocol::uart::ImuGroup imuFieldIn,
62  protocol::uart::GpsGroup gpsFieldIn,
63  protocol::uart::AttitudeGroup attitudeFieldIn,
64  protocol::uart::InsGroup insFieldIn) :
65  asyncMode(asyncModeIn),
66  rateDivisor(rateDivisorIn),
67  commonField(commonFieldIn),
68  timeField(timeFieldIn),
69  imuField(imuFieldIn),
70  gpsField(gpsFieldIn),
71  attitudeField(attitudeFieldIn),
72  insField(insFieldIn)
73  { }
74 
76  uint16_t asyncModeIn,
77  uint16_t rateDivisorIn,
78  uint16_t commonFieldIn,
79  uint16_t timeFieldIn,
80  uint16_t imuFieldIn,
81  uint16_t gpsFieldIn,
82  uint16_t attitudeFieldIn,
83  uint16_t insFieldIn) :
84  asyncMode(static_cast<protocol::uart::AsyncMode>(asyncModeIn)),
85  rateDivisor(rateDivisorIn),
86  commonField(static_cast<protocol::uart::CommonGroup>(commonFieldIn)),
87  timeField(static_cast<protocol::uart::TimeGroup>(timeFieldIn)),
88  imuField(static_cast<protocol::uart::ImuGroup>(imuFieldIn)),
89  gpsField(static_cast<protocol::uart::GpsGroup>(gpsFieldIn)),
90  attitudeField(static_cast<protocol::uart::AttitudeGroup>(attitudeFieldIn)),
91  insField(static_cast<protocol::uart::InsGroup>(insFieldIn))
92  { }
93 };
94 
97 {
102 
104 
112  vn::math::vec4f quatIn,
113  vn::math::vec3f magIn,
114  vn::math::vec3f accelIn,
115  vn::math::vec3f gyroIn) :
116  quat(quatIn),
117  mag(magIn),
118  accel(accelIn),
119  gyro(gyroIn)
120  { }
121 
122 };
123 
126 {
130 
132 
139  vn::math::vec3f magIn,
140  vn::math::vec3f accelIn,
141  vn::math::vec3f gyroIn) :
142  mag(magIn),
143  accel(accelIn),
144  gyro(gyroIn)
145  { }
146 
147 };
148 
151 {
154 
156 
162  vn::math::vec3f magRefIn,
163  vn::math::vec3f accRefIn) :
164  magRef(magRefIn),
165  accRef(accRefIn)
166  { }
167 
168 };
169 
172 {
177 
179 
187  float angularWalkVarianceIn,
188  vn::math::vec3f angularRateVarianceIn,
189  vn::math::vec3f magneticVarianceIn,
190  vn::math::vec3f accelerationVarianceIn) :
191  angularWalkVariance(angularWalkVarianceIn),
192  angularRateVariance(angularRateVarianceIn),
193  magneticVariance(magneticVarianceIn),
194  accelerationVariance(accelerationVarianceIn)
195  { }
196 
197 };
198 
201 {
204 
206 
212  vn::math::mat3f cIn,
213  vn::math::vec3f bIn) :
214  c(cIn),
215  b(bIn)
216  { }
217 
218 };
219 
222 {
227 
229 
237  float magneticDisturbanceGainIn,
238  float accelerationDisturbanceGainIn,
239  float magneticDisturbanceMemoryIn,
240  float accelerationDisturbanceMemoryIn) :
241  magneticDisturbanceGain(magneticDisturbanceGainIn),
242  accelerationDisturbanceGain(accelerationDisturbanceGainIn),
243  magneticDisturbanceMemory(magneticDisturbanceMemoryIn),
244  accelerationDisturbanceMemory(accelerationDisturbanceMemoryIn)
245  { }
246 
247 };
248 
251 {
254 
256 
262  vn::math::mat3f cIn,
263  vn::math::vec3f bIn) :
264  c(cIn),
265  b(bIn)
266  { }
267 
268 };
269 
272 {
277 
279 
287  vn::math::vec3f yawPitchRollIn,
288  vn::math::vec3f magIn,
289  vn::math::vec3f accelIn,
290  vn::math::vec3f gyroIn) :
291  yawPitchRoll(yawPitchRollIn),
292  mag(magIn),
293  accel(accelIn),
294  gyro(gyroIn)
295  { }
296 
297 };
298 
301 {
302  protocol::uart::CountMode serialCount;
303  protocol::uart::StatusMode serialStatus;
304  protocol::uart::CountMode spiCount;
305  protocol::uart::StatusMode spiStatus;
306  protocol::uart::ChecksumMode serialChecksum;
307  protocol::uart::ChecksumMode spiChecksum;
308  protocol::uart::ErrorMode errorMode;
309 
311 
322  protocol::uart::CountMode serialCountIn,
323  protocol::uart::StatusMode serialStatusIn,
324  protocol::uart::CountMode spiCountIn,
325  protocol::uart::StatusMode spiStatusIn,
326  protocol::uart::ChecksumMode serialChecksumIn,
327  protocol::uart::ChecksumMode spiChecksumIn,
328  protocol::uart::ErrorMode errorModeIn) :
329  serialCount(serialCountIn),
330  serialStatus(serialStatusIn),
331  spiCount(spiCountIn),
332  spiStatus(spiStatusIn),
333  serialChecksum(serialChecksumIn),
334  spiChecksum(spiChecksumIn),
335  errorMode(errorModeIn)
336  { }
337 
338 };
339 
342 {
343  protocol::uart::SyncInMode syncInMode;
344  protocol::uart::SyncInEdge syncInEdge;
345  uint16_t syncInSkipFactor;
346  protocol::uart::SyncOutMode syncOutMode;
347  protocol::uart::SyncOutPolarity syncOutPolarity;
348  uint16_t syncOutSkipFactor;
349  uint32_t syncOutPulseWidth;
350 
352 
363  protocol::uart::SyncInMode syncInModeIn,
364  protocol::uart::SyncInEdge syncInEdgeIn,
365  uint16_t syncInSkipFactorIn,
366  protocol::uart::SyncOutMode syncOutModeIn,
367  protocol::uart::SyncOutPolarity syncOutPolarityIn,
368  uint16_t syncOutSkipFactorIn,
369  uint32_t syncOutPulseWidthIn) :
370  syncInMode(syncInModeIn),
371  syncInEdge(syncInEdgeIn),
372  syncInSkipFactor(syncInSkipFactorIn),
373  syncOutMode(syncOutModeIn),
374  syncOutPolarity(syncOutPolarityIn),
375  syncOutSkipFactor(syncOutSkipFactorIn),
376  syncOutPulseWidth(syncOutPulseWidthIn)
377  { }
378 
379 };
380 
383 {
384  uint32_t syncInCount;
385  uint32_t syncInTime;
386  uint32_t syncOutCount;
387 
389 
396  uint32_t syncInCountIn,
397  uint32_t syncInTimeIn,
398  uint32_t syncOutCountIn) :
399  syncInCount(syncInCountIn),
400  syncInTime(syncInTimeIn),
401  syncOutCount(syncOutCountIn)
402  { }
403 
404 };
405 
408 {
409  protocol::uart::MagneticMode magMode;
410  protocol::uart::ExternalSensorMode extMagMode;
411  protocol::uart::ExternalSensorMode extAccMode;
412  protocol::uart::ExternalSensorMode extGyroMode;
414 
416 
425  protocol::uart::MagneticMode magModeIn,
426  protocol::uart::ExternalSensorMode extMagModeIn,
427  protocol::uart::ExternalSensorMode extAccModeIn,
428  protocol::uart::ExternalSensorMode extGyroModeIn,
429  vn::math::vec3f gyroLimitIn) :
430  magMode(magModeIn),
431  extMagMode(extMagModeIn),
432  extAccMode(extAccModeIn),
433  extGyroMode(extGyroModeIn),
434  gyroLimit(gyroLimitIn)
435  { }
436 
437 };
438 
441 {
442  protocol::uart::VpeEnable enable;
443  protocol::uart::HeadingMode headingMode;
444  protocol::uart::VpeMode filteringMode;
445  protocol::uart::VpeMode tuningMode;
446 
448 
456  protocol::uart::VpeEnable enableIn,
457  protocol::uart::HeadingMode headingModeIn,
458  protocol::uart::VpeMode filteringModeIn,
459  protocol::uart::VpeMode tuningModeIn) :
460  enable(enableIn),
461  headingMode(headingModeIn),
462  filteringMode(filteringModeIn),
463  tuningMode(tuningModeIn)
464  { }
465 
466 };
467 
470 {
474 
476 
483  vn::math::vec3f baseTuningIn,
484  vn::math::vec3f adaptiveTuningIn,
485  vn::math::vec3f adaptiveFilteringIn) :
486  baseTuning(baseTuningIn),
487  adaptiveTuning(adaptiveTuningIn),
488  adaptiveFiltering(adaptiveFilteringIn)
489  { }
490 
491 };
492 
495 {
498  float maxAdaptRate;
500  float maxTuning;
501 
503 
512  vn::math::vec3f minFilteringIn,
513  vn::math::vec3f maxFilteringIn,
514  float maxAdaptRateIn,
515  float disturbanceWindowIn,
516  float maxTuningIn) :
517  minFiltering(minFilteringIn),
518  maxFiltering(maxFilteringIn),
519  maxAdaptRate(maxAdaptRateIn),
520  disturbanceWindow(disturbanceWindowIn),
521  maxTuning(maxTuningIn)
522  { }
523 
524 };
525 
528 {
532 
534 
541  vn::math::vec3f baseTuningIn,
542  vn::math::vec3f adaptiveTuningIn,
543  vn::math::vec3f adaptiveFilteringIn) :
544  baseTuning(baseTuningIn),
545  adaptiveTuning(adaptiveTuningIn),
546  adaptiveFiltering(adaptiveFilteringIn)
547  { }
548 
549 };
550 
553 {
556  float maxAdaptRate;
558  float maxTuning;
559 
561 
570  vn::math::vec3f minFilteringIn,
571  vn::math::vec3f maxFilteringIn,
572  float maxAdaptRateIn,
573  float disturbanceWindowIn,
574  float maxTuningIn) :
575  minFiltering(minFilteringIn),
576  maxFiltering(maxFilteringIn),
577  maxAdaptRate(maxAdaptRateIn),
578  disturbanceWindow(disturbanceWindowIn),
579  maxTuning(maxTuningIn)
580  { }
581 
582 };
583 
586 {
590 
592 
599  vn::math::vec3f angularWalkVarianceIn,
600  vn::math::vec3f baseTuningIn,
601  vn::math::vec3f adaptiveTuningIn) :
602  angularWalkVariance(angularWalkVarianceIn),
603  baseTuning(baseTuningIn),
604  adaptiveTuning(adaptiveTuningIn)
605  { }
606 
607 };
608 
611 {
612  protocol::uart::HsiMode hsiMode;
613  protocol::uart::HsiOutput hsiOutput;
614  uint8_t convergeRate;
615 
617 
624  protocol::uart::HsiMode hsiModeIn,
625  protocol::uart::HsiOutput hsiOutputIn,
626  uint8_t convergeRateIn) :
627  hsiMode(hsiModeIn),
628  hsiOutput(hsiOutputIn),
629  convergeRate(convergeRateIn)
630  { }
631 
632 };
633 
636 {
639 
641 
647  vn::math::mat3f cIn,
648  vn::math::vec3f bIn) :
649  c(cIn),
650  b(bIn)
651  { }
652 
653 };
654 
657 {
658  protocol::uart::VelocityCompensationMode mode;
660  float rateTuning;
661 
663 
670  protocol::uart::VelocityCompensationMode modeIn,
671  float velocityTuningIn,
672  float rateTuningIn) :
673  mode(modeIn),
674  velocityTuning(velocityTuningIn),
675  rateTuning(rateTuningIn)
676  { }
677 
678 };
679 
682 {
683  float x;
684  float xDot;
687 
689 
697  float xIn,
698  float xDotIn,
699  vn::math::vec3f accelOffsetIn,
700  vn::math::vec3f omegaIn) :
701  x(xIn),
702  xDot(xDotIn),
703  accelOffset(accelOffsetIn),
704  omega(omegaIn)
705  { }
706 
707 };
708 
711 {
715  float temp;
716  float pressure;
717 
719 
728  vn::math::vec3f magIn,
729  vn::math::vec3f accelIn,
730  vn::math::vec3f gyroIn,
731  float tempIn,
732  float pressureIn) :
733  mag(magIn),
734  accel(accelIn),
735  gyro(gyroIn),
736  temp(tempIn),
737  pressure(pressureIn)
738  { }
739 
740 };
741 
744 {
745  protocol::uart::GpsMode mode;
746  protocol::uart::PpsSource ppsSource;
747 
749 
755  protocol::uart::GpsMode modeIn,
756  protocol::uart::PpsSource ppsSourceIn) :
757  mode(modeIn),
758  ppsSource(ppsSourceIn)
759  { }
760 
761 };
762 
765 {
766  double time;
767  uint16_t week;
768  protocol::uart::GpsFix gpsFix;
769  uint8_t numSats;
773  float speedAcc;
774  float timeAcc;
775 
777 
790  double timeIn,
791  uint16_t weekIn,
792  protocol::uart::GpsFix gpsFixIn,
793  uint8_t numSatsIn,
794  vn::math::vec3d llaIn,
795  vn::math::vec3f nedVelIn,
796  vn::math::vec3f nedAccIn,
797  float speedAccIn,
798  float timeAccIn) :
799  time(timeIn),
800  week(weekIn),
801  gpsFix(gpsFixIn),
802  numSats(numSatsIn),
803  lla(llaIn),
804  nedVel(nedVelIn),
805  nedAcc(nedAccIn),
806  speedAcc(speedAccIn),
807  timeAcc(timeAccIn)
808  { }
809 
810 };
811 
814 {
815  double tow;
816  uint16_t week;
817  protocol::uart::GpsFix gpsFix;
818  uint8_t numSats;
822  float speedAcc;
823  float timeAcc;
824 
826 
839  double towIn,
840  uint16_t weekIn,
841  protocol::uart::GpsFix gpsFixIn,
842  uint8_t numSatsIn,
843  vn::math::vec3d positionIn,
844  vn::math::vec3f velocityIn,
845  vn::math::vec3f posAccIn,
846  float speedAccIn,
847  float timeAccIn) :
848  tow(towIn),
849  week(weekIn),
850  gpsFix(gpsFixIn),
851  numSats(numSatsIn),
852  position(positionIn),
853  velocity(velocityIn),
854  posAcc(posAccIn),
855  speedAcc(speedAccIn),
856  timeAcc(timeAccIn)
857  { }
858 
859 };
860 
863 {
864  double time;
865  uint16_t week;
866  uint16_t status;
873 
875 
888  double timeIn,
889  uint16_t weekIn,
890  uint16_t statusIn,
891  vn::math::vec3f yawPitchRollIn,
892  vn::math::vec3d positionIn,
893  vn::math::vec3f nedVelIn,
894  float attUncertaintyIn,
895  float posUncertaintyIn,
896  float velUncertaintyIn) :
897  time(timeIn),
898  week(weekIn),
899  status(statusIn),
900  yawPitchRoll(yawPitchRollIn),
901  position(positionIn),
902  nedVel(nedVelIn),
903  attUncertainty(attUncertaintyIn),
904  posUncertainty(posUncertaintyIn),
905  velUncertainty(velUncertaintyIn)
906  { }
907 
908 };
909 
912 {
913  double time;
914  uint16_t week;
915  uint16_t status;
922 
924 
937  double timeIn,
938  uint16_t weekIn,
939  uint16_t statusIn,
940  vn::math::vec3f yawPitchRollIn,
941  vn::math::vec3d positionIn,
942  vn::math::vec3f velocityIn,
943  float attUncertaintyIn,
944  float posUncertaintyIn,
945  float velUncertaintyIn) :
946  time(timeIn),
947  week(weekIn),
948  status(statusIn),
949  yawPitchRoll(yawPitchRollIn),
950  position(positionIn),
951  velocity(velocityIn),
952  attUncertainty(attUncertaintyIn),
953  posUncertainty(posUncertaintyIn),
954  velUncertainty(velUncertaintyIn)
955  { }
956 
957 };
958 
961 {
962  protocol::uart::Scenario scenario;
963  bool ahrsAiding;
964 
966 
972  protocol::uart::Scenario scenarioIn,
973  bool ahrsAidingIn) :
974  scenario(scenarioIn),
975  ahrsAiding(ahrsAidingIn)
976  { }
977 
978 };
979 
982 {
983  protocol::uart::Scenario scenario;
984  bool ahrsAiding;
985  bool estBaseline;
986 
988 
995  protocol::uart::Scenario scenarioIn,
996  bool ahrsAidingIn,
997  bool estBaselineIn) :
998  scenario(scenarioIn),
999  ahrsAiding(ahrsAidingIn),
1000  estBaseline(estBaselineIn)
1001  { }
1002 
1003 };
1004 
1007 {
1008  bool useMag;
1009  bool usePres;
1010  bool posAtt;
1011  bool velAtt;
1012  bool velBias;
1013  protocol::uart::FoamInit useFoam;
1014  uint8_t gpsCovType;
1015  uint8_t velCount;
1016  float velInit;
1017  float moveOrigin;
1018  float gpsTimeout;
1023 
1025 
1044  bool useMagIn,
1045  bool usePresIn,
1046  bool posAttIn,
1047  bool velAttIn,
1048  bool velBiasIn,
1049  protocol::uart::FoamInit useFoamIn,
1050  uint8_t gpsCovTypeIn,
1051  uint8_t velCountIn,
1052  float velInitIn,
1053  float moveOriginIn,
1054  float gpsTimeoutIn,
1055  float deltaLimitPosIn,
1056  float deltaLimitVelIn,
1057  float minPosUncertaintyIn,
1058  float minVelUncertaintyIn) :
1059  useMag(useMagIn),
1060  usePres(usePresIn),
1061  posAtt(posAttIn),
1062  velAtt(velAttIn),
1063  velBias(velBiasIn),
1064  useFoam(useFoamIn),
1065  gpsCovType(gpsCovTypeIn),
1066  velCount(velCountIn),
1067  velInit(velInitIn),
1068  moveOrigin(moveOriginIn),
1069  gpsTimeout(gpsTimeoutIn),
1070  deltaLimitPos(deltaLimitPosIn),
1071  deltaLimitVel(deltaLimitVelIn),
1072  minPosUncertainty(minPosUncertaintyIn),
1073  minVelUncertainty(minVelUncertaintyIn)
1074  { }
1075 
1076 };
1077 
1080 {
1086 
1087  InsStateLlaRegister() { }
1088 
1097  vn::math::vec3f yawPitchRollIn,
1098  vn::math::vec3d positionIn,
1099  vn::math::vec3f velocityIn,
1100  vn::math::vec3f accelIn,
1101  vn::math::vec3f angularRateIn) :
1102  yawPitchRoll(yawPitchRollIn),
1103  position(positionIn),
1104  velocity(velocityIn),
1105  accel(accelIn),
1106  angularRate(angularRateIn)
1107  { }
1108 
1109 };
1110 
1113 {
1119 
1120  InsStateEcefRegister() { }
1121 
1130  vn::math::vec3f yawPitchRollIn,
1131  vn::math::vec3d positionIn,
1132  vn::math::vec3f velocityIn,
1133  vn::math::vec3f accelIn,
1134  vn::math::vec3f angularRateIn) :
1135  yawPitchRoll(yawPitchRollIn),
1136  position(positionIn),
1137  velocity(velocityIn),
1138  accel(accelIn),
1139  angularRate(angularRateIn)
1140  { }
1141 
1142 };
1143 
1146 {
1150 
1152 
1159  vn::math::vec3f gyroBiasIn,
1160  vn::math::vec3f accelBiasIn,
1161  float pressureBiasIn) :
1162  gyroBias(gyroBiasIn),
1163  accelBias(accelBiasIn),
1164  pressureBias(pressureBiasIn)
1165  { }
1166 
1167 };
1168 
1171 {
1172  float deltaTime;
1175 
1177 
1184  float deltaTimeIn,
1185  vn::math::vec3f deltaThetaIn,
1186  vn::math::vec3f deltaVelocityIn) :
1187  deltaTime(deltaTimeIn),
1188  deltaTheta(deltaThetaIn),
1189  deltaVelocity(deltaVelocityIn)
1190  { }
1191 
1192 };
1193 
1196 {
1197  protocol::uart::IntegrationFrame integrationFrame;
1198  protocol::uart::CompensationMode gyroCompensation;
1199  protocol::uart::CompensationMode accelCompensation;
1200 
1202 
1209  protocol::uart::IntegrationFrame integrationFrameIn,
1210  protocol::uart::CompensationMode gyroCompensationIn,
1211  protocol::uart::CompensationMode accelCompensationIn) :
1212  integrationFrame(integrationFrameIn),
1213  gyroCompensation(gyroCompensationIn),
1214  accelCompensation(accelCompensationIn)
1215  { }
1216 
1217 };
1218 
1221 {
1224  uint32_t recalcThreshold;
1225  float year;
1227 
1229 
1238  bool useMagModelIn,
1239  bool useGravityModelIn,
1240  uint32_t recalcThresholdIn,
1241  float yearIn,
1242  vn::math::vec3d positionIn) :
1243  useMagModel(useMagModelIn),
1244  useGravityModel(useGravityModelIn),
1245  recalcThreshold(recalcThresholdIn),
1246  year(yearIn),
1247  position(positionIn)
1248  { }
1249 
1250 };
1251 
1254 {
1257 
1259 
1265  vn::math::mat3f cIn,
1266  vn::math::vec3f bIn) :
1267  c(cIn),
1268  b(bIn)
1269  { }
1270 
1271 };
1272 
1275 {
1276  uint16_t magWindowSize;
1277  uint16_t accelWindowSize;
1278  uint16_t gyroWindowSize;
1279  uint16_t tempWindowSize;
1280  uint16_t presWindowSize;
1281  protocol::uart::FilterMode magFilterMode;
1282  protocol::uart::FilterMode accelFilterMode;
1283  protocol::uart::FilterMode gyroFilterMode;
1284  protocol::uart::FilterMode tempFilterMode;
1285  protocol::uart::FilterMode presFilterMode;
1286 
1288 
1302  uint16_t magWindowSizeIn,
1303  uint16_t accelWindowSizeIn,
1304  uint16_t gyroWindowSizeIn,
1305  uint16_t tempWindowSizeIn,
1306  uint16_t presWindowSizeIn,
1307  protocol::uart::FilterMode magFilterModeIn,
1308  protocol::uart::FilterMode accelFilterModeIn,
1309  protocol::uart::FilterMode gyroFilterModeIn,
1310  protocol::uart::FilterMode tempFilterModeIn,
1311  protocol::uart::FilterMode presFilterModeIn) :
1312  magWindowSize(magWindowSizeIn),
1313  accelWindowSize(accelWindowSizeIn),
1314  gyroWindowSize(gyroWindowSizeIn),
1315  tempWindowSize(tempWindowSizeIn),
1316  presWindowSize(presWindowSizeIn),
1317  magFilterMode(magFilterModeIn),
1318  accelFilterMode(accelFilterModeIn),
1319  gyroFilterMode(gyroFilterModeIn),
1320  tempFilterMode(tempFilterModeIn),
1321  presFilterMode(presFilterModeIn)
1322  { }
1323 
1324 };
1325 
1328 {
1331 
1333 
1339  vn::math::vec3f positionIn,
1340  vn::math::vec3f uncertaintyIn) :
1341  position(positionIn),
1342  uncertainty(uncertaintyIn)
1343  { }
1344 
1345 };
1346 
1349 {
1351  uint16_t numMeas;
1354 
1356 
1364  bool estBaselineUsedIn,
1365  uint16_t numMeasIn,
1366  vn::math::vec3f positionIn,
1367  vn::math::vec3f uncertaintyIn) :
1368  estBaselineUsed(estBaselineUsedIn),
1369  numMeas(numMeasIn),
1370  position(positionIn),
1371  uncertainty(uncertaintyIn)
1372  { }
1373 
1374 };
1375 
1378 {
1379  uint16_t imuRate;
1380  uint16_t navDivisor;
1383 
1385 
1393  uint16_t imuRateIn,
1394  uint16_t navDivisorIn,
1395  float filterTargetRateIn,
1396  float filterMinRateIn) :
1397  imuRate(imuRateIn),
1398  navDivisor(navDivisorIn),
1399  filterTargetRate(filterTargetRateIn),
1400  filterMinRate(filterMinRateIn)
1401  { }
1402 
1403 };
1404 
1407 {
1411 
1413 
1420  vn::math::vec3f yawPitchRollIn,
1421  vn::math::vec3f bodyAccelIn,
1422  vn::math::vec3f gyroIn) :
1423  yawPitchRoll(yawPitchRollIn),
1424  bodyAccel(bodyAccelIn),
1425  gyro(gyroIn)
1426  { }
1427 
1428 };
1429 
1432 {
1436 
1438 
1445  vn::math::vec3f yawPitchRollIn,
1446  vn::math::vec3f inertialAccelIn,
1447  vn::math::vec3f gyroIn) :
1448  yawPitchRoll(yawPitchRollIn),
1449  inertialAccel(inertialAccelIn),
1450  gyro(gyroIn)
1451  { }
1452 
1453 };
1454 
1456 
1457 }
1458 }
1459 
1460 #endif
double tow
The tow field.
Definition: registers.h:815
vn::math::vec3f magRef
The magRef field.
Definition: registers.h:152
protocol::uart::HsiOutput hsiOutput
The hsiOutput field.
Definition: registers.h:613
protocol::uart::HsiMode hsiMode
The hsiMode field.
Definition: registers.h:612
vn::math::mat3f c
The c field.
Definition: registers.h:1255
Structure representing the Velocity Compensation Status register.
Definition: registers.h:681
float velocityTuning
The velocityTuning field.
Definition: registers.h:659
float rateTuning
The rateTuning field.
Definition: registers.h:660
protocol::uart::FilterMode magFilterMode
The magFilterMode field.
Definition: registers.h:1281
Structure representing the INS Basic Configuration register for a VN-200 sensor.
Definition: registers.h:960
Structure representing the VPE Gyro Basic Tuning register.
Definition: registers.h:585
vn::math::vec3f accel
The accel field.
Definition: registers.h:1117
Structure representing the INS Basic Configuration register for a VN-300 sensor.
Definition: registers.h:981
uint16_t week
The week field.
Definition: registers.h:816
vn::math::vec3f baseTuning
The baseTuning field.
Definition: registers.h:471
protocol::uart::VpeMode filteringMode
The filteringMode field.
Definition: registers.h:444
float angularWalkVariance
The angularWalkVariance field.
Definition: registers.h:173
vn::math::vec3f accel
The accel field.
Definition: registers.h:100
Template for a Euclidean vector.
Definition: vector.h:22
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:1433
float timeAcc
The timeAcc field.
Definition: registers.h:823
VelocityCompensationStatusRegister(float xIn, float xDotIn, vn::math::vec3f accelOffsetIn, vn::math::vec3f omegaIn)
Creates an initializes a new VelocityCompensationStatusRegister structure.
Definition: registers.h:696
vn::math::vec3f position
The position field.
Definition: registers.h:1329
Structure representing the Startup Filter Bias Estimate register.
Definition: registers.h:1145
float accelerationDisturbanceGain
The accelerationDisturbanceGain field.
Definition: registers.h:224
protocol::uart::CompensationMode accelCompensation
The accelCompensation field.
Definition: registers.h:1199
protocol::uart::SyncInMode syncInMode
The syncInMode field.
Definition: registers.h:343
ImuRateConfigurationRegister(uint16_t imuRateIn, uint16_t navDivisorIn, float filterTargetRateIn, float filterMinRateIn)
Creates an initializes a new ImuRateConfigurationRegister structure.
Definition: registers.h:1392
Structure representing the Yaw, Pitch, Roll, True Body Acceleration and Angular Rates register...
Definition: registers.h:1406
protocol::uart::ChecksumMode serialChecksum
The serialChecksum field.
Definition: registers.h:306
vn::math::vec3f accelBias
The accelBias field.
Definition: registers.h:1148
vn::math::vec3f b
The b field.
Definition: registers.h:1256
protocol::uart::IntegrationFrame integrationFrame
The integrationFrame field.
Definition: registers.h:1197
vn::math::vec3f accel
The accel field.
Definition: registers.h:713
uint16_t week
The week field.
Definition: registers.h:865
protocol::uart::StatusMode spiStatus
The spiStatus field.
Definition: registers.h:305
vn::math::vec3f nedVel
The nedVel field.
Definition: registers.h:869
GpsSolutionLlaRegister(double timeIn, uint16_t weekIn, protocol::uart::GpsFix gpsFixIn, uint8_t numSatsIn, vn::math::vec3d llaIn, vn::math::vec3f nedVelIn, vn::math::vec3f nedAccIn, float speedAccIn, float timeAccIn)
Creates an initializes a new GpsSolutionLlaRegister structure.
Definition: registers.h:789
uint16_t magWindowSize
The magWindowSize field.
Definition: registers.h:1276
vn::math::vec3f bodyAccel
The bodyAccel field.
Definition: registers.h:1409
Structure representing the Acceleration Compensation register.
Definition: registers.h:250
uint16_t status
The status field.
Definition: registers.h:915
float speedAcc
The speedAcc field.
Definition: registers.h:773
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:1435
float minPosUncertainty
The minPosUncertainty field.
Definition: registers.h:1021
Structure representing the Magnetometer Compensation register.
Definition: registers.h:200
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:714
VpeBasicControlRegister(protocol::uart::VpeEnable enableIn, protocol::uart::HeadingMode headingModeIn, protocol::uart::VpeMode filteringModeIn, protocol::uart::VpeMode tuningModeIn)
Creates an initializes a new VpeBasicControlRegister structure.
Definition: registers.h:455
vn::math::vec3f gyroBias
The gyroBias field.
Definition: registers.h:1147
MagneticAccelerationAndAngularRatesRegister(vn::math::vec3f magIn, vn::math::vec3f accelIn, vn::math::vec3f gyroIn)
Creates an initializes a new MagneticAccelerationAndAngularRatesRegister structure.
Definition: registers.h:138
vn::math::vec3f b
The b field.
Definition: registers.h:203
protocol::uart::VpeEnable enable
The enable field.
Definition: registers.h:442
BinaryOutputRegister(protocol::uart::AsyncMode asyncModeIn, uint16_t rateDivisorIn, protocol::uart::CommonGroup commonFieldIn, protocol::uart::TimeGroup timeFieldIn, protocol::uart::ImuGroup imuFieldIn, protocol::uart::GpsGroup gpsFieldIn, protocol::uart::AttitudeGroup attitudeFieldIn, protocol::uart::InsGroup insFieldIn)
Creates an initializes a new BinaryOutputRegister structure.
Definition: registers.h:56
vn::math::vec3f angularRateVariance
The angularRateVariance field.
Definition: registers.h:174
InsStateEcefRegister(vn::math::vec3f yawPitchRollIn, vn::math::vec3d positionIn, vn::math::vec3f velocityIn, vn::math::vec3f accelIn, vn::math::vec3f angularRateIn)
Creates an initializes a new InsStateEcefRegister structure.
Definition: registers.h:1129
protocol::uart::Scenario scenario
The scenario field.
Definition: registers.h:962
float timeAcc
The timeAcc field.
Definition: registers.h:774
protocol::uart::HeadingMode headingMode
The headingMode field.
Definition: registers.h:443
protocol::uart::FilterMode tempFilterMode
The tempFilterMode field.
Definition: registers.h:1284
vn::math::vec3d position
The position field.
Definition: registers.h:1226
InsStateLlaRegister(vn::math::vec3f yawPitchRollIn, vn::math::vec3d positionIn, vn::math::vec3f velocityIn, vn::math::vec3f accelIn, vn::math::vec3f angularRateIn)
Creates an initializes a new InsStateLlaRegister structure.
Definition: registers.h:1096
YawPitchRollTrueInertialAccelerationAndAngularRatesRegister(vn::math::vec3f yawPitchRollIn, vn::math::vec3f inertialAccelIn, vn::math::vec3f gyroIn)
Creates an initializes a new YawPitchRollTrueInertialAccelerationAndAngularRatesRegister structure...
Definition: registers.h:1444
uint16_t status
The status field.
Definition: registers.h:866
Structure representing the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register...
Definition: registers.h:1431
Structure representing the Synchronization Status register.
Definition: registers.h:382
vn::math::vec3d position
The position field.
Definition: registers.h:868
uint16_t navDivisor
The navDivisor field.
Definition: registers.h:1380
vn::math::vec3f mag
The mag field.
Definition: registers.h:99
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:273
bool useMagModel
The useMagModel field.
Definition: registers.h:1222
float magneticDisturbanceGain
The magneticDisturbanceGain field.
Definition: registers.h:223
double time
The time field.
Definition: registers.h:913
Structure representing the Filter Measurements Variance Parameters register.
Definition: registers.h:171
float gpsTimeout
The gpsTimeout field.
Definition: registers.h:1018
ReferenceVectorConfigurationRegister(bool useMagModelIn, bool useGravityModelIn, uint32_t recalcThresholdIn, float yearIn, vn::math::vec3d positionIn)
Creates an initializes a new ReferenceVectorConfigurationRegister structure.
Definition: registers.h:1237
vn::math::vec3f angularRate
The angularRate field.
Definition: registers.h:1118
MagnetometerCalibrationControlRegister(protocol::uart::HsiMode hsiModeIn, protocol::uart::HsiOutput hsiOutputIn, uint8_t convergeRateIn)
Creates an initializes a new MagnetometerCalibrationControlRegister structure.
Definition: registers.h:623
Structure representing the GPS Compass Estimated Baseline register.
Definition: registers.h:1348
vn::math::vec3f mag
The mag field.
Definition: registers.h:274
bool velBias
The velBias field.
Definition: registers.h:1012
Structure representing the VPE Accelerometer Basic Tuning register.
Definition: registers.h:527
uint8_t gpsCovType
The gpsCovType field.
Definition: registers.h:1014
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:1408
vn::math::vec3f velocity
The velocity field.
Definition: registers.h:820
AccelerationCompensationRegister(vn::math::mat3f cIn, vn::math::vec3f bIn)
Creates an initializes a new AccelerationCompensationRegister structure.
Definition: registers.h:261
float accelerationDisturbanceMemory
The accelerationDisturbanceMemory field.
Definition: registers.h:226
protocol::uart::VpeMode tuningMode
The tuningMode field.
Definition: registers.h:445
vn::math::vec3f accelerationVariance
The accelerationVariance field.
Definition: registers.h:176
protocol::uart::ChecksumMode spiChecksum
The spiChecksum field.
Definition: registers.h:307
bool ahrsAiding
The ahrsAiding field.
Definition: registers.h:963
uint16_t rateDivisor
The rateDivisor field.
Definition: registers.h:27
CalculatedMagnetometerCalibrationRegister(vn::math::mat3f cIn, vn::math::vec3f bIn)
Creates an initializes a new CalculatedMagnetometerCalibrationRegister structure. ...
Definition: registers.h:646
vn::math::vec3f posAcc
The posAcc field.
Definition: registers.h:821
DeltaThetaAndDeltaVelocityRegister(float deltaTimeIn, vn::math::vec3f deltaThetaIn, vn::math::vec3f deltaVelocityIn)
Creates an initializes a new DeltaThetaAndDeltaVelocityRegister structure.
Definition: registers.h:1183
vn::math::vec3f mag
The mag field.
Definition: registers.h:127
VpeAccelerometerAdvancedTuningRegister(vn::math::vec3f minFilteringIn, vn::math::vec3f maxFilteringIn, float maxAdaptRateIn, float disturbanceWindowIn, float maxTuningIn)
Creates an initializes a new VpeAccelerometerAdvancedTuningRegister structure.
Definition: registers.h:569
MagnetometerCompensationRegister(vn::math::mat3f cIn, vn::math::vec3f bIn)
Creates an initializes a new MagnetometerCompensationRegister structure.
Definition: registers.h:211
vn::math::vec3f velocity
The velocity field.
Definition: registers.h:1116
float magneticDisturbanceMemory
The magneticDisturbanceMemory field.
Definition: registers.h:225
protocol::uart::MagneticMode magMode
The magMode field.
Definition: registers.h:409
vn::math::vec3f adaptiveTuning
The adaptiveTuning field.
Definition: registers.h:472
SynchronizationStatusRegister(uint32_t syncInCountIn, uint32_t syncInTimeIn, uint32_t syncOutCountIn)
Creates an initializes a new SynchronizationStatusRegister structure.
Definition: registers.h:395
uint16_t syncOutSkipFactor
The syncOutSkipFactor field.
Definition: registers.h:348
vn::math::vec3f adaptiveTuning
The adaptiveTuning field.
Definition: registers.h:589
Structure representing the INS Advanced Configuration register.
Definition: registers.h:1006
protocol::uart::FilterMode accelFilterMode
The accelFilterMode field.
Definition: registers.h:1282
Structure representing the INS State - ECEF register.
Definition: registers.h:1112
Structure representing the INS Solution - ECEF register.
Definition: registers.h:911
Structure representing the GPS Solution - LLA register.
Definition: registers.h:764
Structure representing the GPS Compass Baseline register.
Definition: registers.h:1327
vn::math::vec3d position
The position field.
Definition: registers.h:1115
vn::math::vec3f baseTuning
The baseTuning field.
Definition: registers.h:529
vn::math::vec3f maxFiltering
The maxFiltering field.
Definition: registers.h:555
YawPitchRollTrueBodyAccelerationAndAngularRatesRegister(vn::math::vec3f yawPitchRollIn, vn::math::vec3f bodyAccelIn, vn::math::vec3f gyroIn)
Creates an initializes a new YawPitchRollTrueBodyAccelerationAndAngularRatesRegister structure...
Definition: registers.h:1419
uint16_t week
The week field.
Definition: registers.h:767
uint16_t numMeas
The numMeas field.
Definition: registers.h:1351
vn::math::mat3f c
The c field.
Definition: registers.h:637
protocol::uart::InsGroup insField
Group 6 (INS)
Definition: registers.h:33
Template for a matrix.
Definition: matrix.h:20
protocol::uart::GpsFix gpsFix
The gpsFix field.
Definition: registers.h:817
vn::math::vec3d position
The position field.
Definition: registers.h:819
vn::math::vec3f uncertainty
The uncertainty field.
Definition: registers.h:1353
Structure representing the IMU Rate Configuration register.
Definition: registers.h:1377
uint32_t syncInCount
The syncInCount field.
Definition: registers.h:384
vn::math::vec3f mag
The mag field.
Definition: registers.h:712
uint32_t syncOutCount
The syncOutCount field.
Definition: registers.h:386
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:101
Structure representing the INS Solution - LLA register.
Definition: registers.h:862
uint16_t week
The week field.
Definition: registers.h:914
vn::math::vec3f deltaTheta
The deltaTheta field.
Definition: registers.h:1173
Structure representing the IMU Filtering Configuration register.
Definition: registers.h:1274
float x
The x field.
Definition: registers.h:683
MagneticAndGravityReferenceVectorsRegister(vn::math::vec3f magRefIn, vn::math::vec3f accRefIn)
Creates an initializes a new MagneticAndGravityReferenceVectorsRegister structure.
Definition: registers.h:161
vn::math::vec3f b
The b field.
Definition: registers.h:253
float deltaLimitPos
The deltaLimitPos field.
Definition: registers.h:1019
float velInit
The velInit field.
Definition: registers.h:1016
Structure representing the Magnetic and Gravity Reference Vectors register.
Definition: registers.h:150
vn::math::vec3f baseTuning
The baseTuning field.
Definition: registers.h:588
protocol::uart::CommonGroup commonField
Group 1 (Common)
Definition: registers.h:28
vn::math::vec3f minFiltering
The minFiltering field.
Definition: registers.h:496
protocol::uart::ExternalSensorMode extAccMode
The extAccMode field.
Definition: registers.h:411
VpeGyroBasicTuningRegister(vn::math::vec3f angularWalkVarianceIn, vn::math::vec3f baseTuningIn, vn::math::vec3f adaptiveTuningIn)
Creates an initializes a new VpeGyroBasicTuningRegister structure.
Definition: registers.h:598
Structure representing the Filter Basic Control register.
Definition: registers.h:407
vn::math::vec3d lla
The lla field.
Definition: registers.h:770
protocol::uart::Scenario scenario
The scenario field.
Definition: registers.h:983
protocol::uart::TimeGroup timeField
Group 2 (Time)
Definition: registers.h:29
float filterMinRate
The filterMinRate field.
Definition: registers.h:1382
float xDot
The xDot field.
Definition: registers.h:684
vn::math::vec3f omega
The omega field.
Definition: registers.h:686
double time
The time field.
Definition: registers.h:766
float speedAcc
The speedAcc field.
Definition: registers.h:822
float maxTuning
The maxTuning field.
Definition: registers.h:558
uint32_t syncOutPulseWidth
The syncOutPulseWidth field.
Definition: registers.h:349
uint8_t convergeRate
The convergeRate field.
Definition: registers.h:614
VelocityCompensationControlRegister(protocol::uart::VelocityCompensationMode modeIn, float velocityTuningIn, float rateTuningIn)
Creates an initializes a new VelocityCompensationControlRegister structure.
Definition: registers.h:669
vn::math::vec3d position
The position field.
Definition: registers.h:917
vn::math::vec3f adaptiveFiltering
The adaptiveFiltering field.
Definition: registers.h:473
vn::math::vec3f adaptiveFiltering
The adaptiveFiltering field.
Definition: registers.h:531
float posUncertainty
The posUncertainty field.
Definition: registers.h:920
protocol::uart::CountMode spiCount
The spiCount field.
Definition: registers.h:304
InsBasicConfigurationRegisterVn200(protocol::uart::Scenario scenarioIn, bool ahrsAidingIn)
Creates an initializes a new InsBasicConfigurationRegisterVn200 structure.
Definition: registers.h:971
float temp
The temp field.
Definition: registers.h:715
Structure representing the Gyro Compensation register.
Definition: registers.h:1253
protocol::uart::SyncInEdge syncInEdge
The syncInEdge field.
Definition: registers.h:344
Structure representing the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register...
Definition: registers.h:271
vn::math::vec3f accRef
The accRef field.
Definition: registers.h:153
vn::math::vec3f angularWalkVariance
The angularWalkVariance field.
Definition: registers.h:587
vn::math::vec3f magneticVariance
The magneticVariance field.
Definition: registers.h:175
vn::math::vec3f velocity
The velocity field.
Definition: registers.h:1083
protocol::uart::FilterMode gyroFilterMode
The gyroFilterMode field.
Definition: registers.h:1283
float maxTuning
The maxTuning field.
Definition: registers.h:500
uint16_t tempWindowSize
The tempWindowSize field.
Definition: registers.h:1279
protocol::uart::GpsGroup gpsField
Group 4 (GPS)
Definition: registers.h:31
protocol::uart::PpsSource ppsSource
The ppsSource field.
Definition: registers.h:746
protocol::uart::ErrorMode errorMode
The errorMode field.
Definition: registers.h:308
uint16_t accelWindowSize
The accelWindowSize field.
Definition: registers.h:1277
float posUncertainty
The posUncertainty field.
Definition: registers.h:871
float maxAdaptRate
The maxAdaptRate field.
Definition: registers.h:556
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:916
FilterActiveTuningParametersRegister(float magneticDisturbanceGainIn, float accelerationDisturbanceGainIn, float magneticDisturbanceMemoryIn, float accelerationDisturbanceMemoryIn)
Creates an initializes a new FilterActiveTuningParametersRegister structure.
Definition: registers.h:236
vn::math::vec3d position
The position field.
Definition: registers.h:1082
protocol::uart::ExternalSensorMode extGyroMode
The extGyroMode field.
Definition: registers.h:412
Structure representing the VPE Magnetometer Advanced Tuning register.
Definition: registers.h:494
vn::math::vec3f minFiltering
The minFiltering field.
Definition: registers.h:554
float pressureBias
The pressureBias field.
Definition: registers.h:1149
protocol::uart::SyncOutMode syncOutMode
The syncOutMode field.
Definition: registers.h:346
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:129
QuaternionMagneticAccelerationAndAngularRatesRegister(vn::math::vec4f quatIn, vn::math::vec3f magIn, vn::math::vec3f accelIn, vn::math::vec3f gyroIn)
Creates an initializes a new QuaternionMagneticAccelerationAndAngularRatesRegister structure...
Definition: registers.h:111
InsAdvancedConfigurationRegister(bool useMagIn, bool usePresIn, bool posAttIn, bool velAttIn, bool velBiasIn, protocol::uart::FoamInit useFoamIn, uint8_t gpsCovTypeIn, uint8_t velCountIn, float velInitIn, float moveOriginIn, float gpsTimeoutIn, float deltaLimitPosIn, float deltaLimitVelIn, float minPosUncertaintyIn, float minVelUncertaintyIn)
Creates an initializes a new InsAdvancedConfigurationRegister structure.
Definition: registers.h:1043
protocol::uart::CountMode serialCount
The serialCount field.
Definition: registers.h:302
float attUncertainty
The attUncertainty field.
Definition: registers.h:919
vn::math::vec3f gyroLimit
The gyroLimit field.
Definition: registers.h:413
bool ahrsAiding
The ahrsAiding field.
Definition: registers.h:984
VpeMagnetometerAdvancedTuningRegister(vn::math::vec3f minFilteringIn, vn::math::vec3f maxFilteringIn, float maxAdaptRateIn, float disturbanceWindowIn, float maxTuningIn)
Creates an initializes a new VpeMagnetometerAdvancedTuningRegister structure.
Definition: registers.h:511
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:1081
float year
The year field.
Definition: registers.h:1225
bool estBaseline
The estBaseline field.
Definition: registers.h:985
vn::math::vec3f inertialAccel
The inertialAccel field.
Definition: registers.h:1434
DeltaThetaAndDeltaVelocityConfigurationRegister(protocol::uart::IntegrationFrame integrationFrameIn, protocol::uart::CompensationMode gyroCompensationIn, protocol::uart::CompensationMode accelCompensationIn)
Creates an initializes a new DeltaThetaAndDeltaVelocityConfigurationRegister structure.
Definition: registers.h:1208
vn::math::vec3f nedVel
The nedVel field.
Definition: registers.h:771
vn::math::vec3f adaptiveTuning
The adaptiveTuning field.
Definition: registers.h:530
InsSolutionLlaRegister(double timeIn, uint16_t weekIn, uint16_t statusIn, vn::math::vec3f yawPitchRollIn, vn::math::vec3d positionIn, vn::math::vec3f nedVelIn, float attUncertaintyIn, float posUncertaintyIn, float velUncertaintyIn)
Creates an initializes a new InsSolutionLlaRegister structure.
Definition: registers.h:887
protocol::uart::FoamInit useFoam
The useFoam field.
Definition: registers.h:1013
ImuFilteringConfigurationRegister(uint16_t magWindowSizeIn, uint16_t accelWindowSizeIn, uint16_t gyroWindowSizeIn, uint16_t tempWindowSizeIn, uint16_t presWindowSizeIn, protocol::uart::FilterMode magFilterModeIn, protocol::uart::FilterMode accelFilterModeIn, protocol::uart::FilterMode gyroFilterModeIn, protocol::uart::FilterMode tempFilterModeIn, protocol::uart::FilterMode presFilterModeIn)
Creates an initializes a new ImuFilteringConfigurationRegister structure.
Definition: registers.h:1301
uint16_t presWindowSize
The presWindowSize field.
Definition: registers.h:1280
vn::math::vec3f velocity
The velocity field.
Definition: registers.h:918
protocol::uart::GpsFix gpsFix
The gpsFix field.
Definition: registers.h:768
uint16_t gyroWindowSize
The gyroWindowSize field.
Definition: registers.h:1278
uint32_t syncInTime
The syncInTime field.
Definition: registers.h:385
bool usePres
The usePres field.
Definition: registers.h:1009
protocol::uart::ImuGroup imuField
Group 3 (IMU)
Definition: registers.h:30
uint32_t recalcThreshold
The recalcThreshold field.
Definition: registers.h:1224
protocol::uart::StatusMode serialStatus
The serialStatus field.
Definition: registers.h:303
Structure representing the VPE Basic Control register.
Definition: registers.h:440
protocol::uart::VelocityCompensationMode mode
The mode field.
Definition: registers.h:658
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:276
vn::math::vec3f maxFiltering
The maxFiltering field.
Definition: registers.h:497
Structure representing the Synchronization Control register.
Definition: registers.h:341
protocol::uart::ExternalSensorMode extMagMode
The extMagMode field.
Definition: registers.h:410
float moveOrigin
The moveOrigin field.
Definition: registers.h:1017
FilterMeasurementsVarianceParametersRegister(float angularWalkVarianceIn, vn::math::vec3f angularRateVarianceIn, vn::math::vec3f magneticVarianceIn, vn::math::vec3f accelerationVarianceIn)
Creates an initializes a new FilterMeasurementsVarianceParametersRegister structure.
Definition: registers.h:186
Structure representing the GPS Configuration register.
Definition: registers.h:743
vn::math::vec3f nedAcc
The nedAcc field.
Definition: registers.h:772
float velUncertainty
The velUncertainty field.
Definition: registers.h:921
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:1410
GpsCompassBaselineRegister(vn::math::vec3f positionIn, vn::math::vec3f uncertaintyIn)
Creates an initializes a new GpsCompassBaselineRegister structure.
Definition: registers.h:1338
GpsSolutionEcefRegister(double towIn, uint16_t weekIn, protocol::uart::GpsFix gpsFixIn, uint8_t numSatsIn, vn::math::vec3d positionIn, vn::math::vec3f velocityIn, vn::math::vec3f posAccIn, float speedAccIn, float timeAccIn)
Creates an initializes a new GpsSolutionEcefRegister structure.
Definition: registers.h:838
vn::math::vec3f accelOffset
The accelOffset field.
Definition: registers.h:685
bool estBaselineUsed
The estBaselineUsed field.
Definition: registers.h:1350
float minVelUncertainty
The minVelUncertainty field.
Definition: registers.h:1022
InsBasicConfigurationRegisterVn300(protocol::uart::Scenario scenarioIn, bool ahrsAidingIn, bool estBaselineIn)
Creates an initializes a new InsBasicConfigurationRegisterVn300 structure.
Definition: registers.h:994
uint8_t numSats
The numSats field.
Definition: registers.h:769
StartupFilterBiasEstimateRegister(vn::math::vec3f gyroBiasIn, vn::math::vec3f accelBiasIn, float pressureBiasIn)
Creates an initializes a new StartupFilterBiasEstimateRegister structure.
Definition: registers.h:1158
vn::math::vec3f accel
The accel field.
Definition: registers.h:1084
uint16_t syncInSkipFactor
The syncInSkipFactor field.
Definition: registers.h:345
vn::math::vec3f uncertainty
The uncertainty field.
Definition: registers.h:1330
vn::math::mat3f c
The c field.
Definition: registers.h:202
Structure representing the GPS Solution - ECEF register.
Definition: registers.h:813
protocol::uart::SyncOutPolarity syncOutPolarity
The syncOutPolarity field.
Definition: registers.h:347
Structure representing the Quaternion, Magnetic, Acceleration and Angular Rates register.
Definition: registers.h:96
protocol::uart::FilterMode presFilterMode
The presFilterMode field.
Definition: registers.h:1285
Structure representing the Magnetic, Acceleration and Angular Rates register.
Definition: registers.h:125
Definition: attitude.h:8
bool posAtt
The posAtt field.
Definition: registers.h:1010
Structure representing the Velocity Compensation Control register.
Definition: registers.h:656
Structure representing the Calculated Magnetometer Calibration register.
Definition: registers.h:635
double time
The time field.
Definition: registers.h:864
float deltaLimitVel
The deltaLimitVel field.
Definition: registers.h:1020
CommunicationProtocolControlRegister(protocol::uart::CountMode serialCountIn, protocol::uart::StatusMode serialStatusIn, protocol::uart::CountMode spiCountIn, protocol::uart::StatusMode spiStatusIn, protocol::uart::ChecksumMode serialChecksumIn, protocol::uart::ChecksumMode spiChecksumIn, protocol::uart::ErrorMode errorModeIn)
Creates an initializes a new CommunicationProtocolControlRegister structure.
Definition: registers.h:321
vn::math::vec3f position
The position field.
Definition: registers.h:1352
float deltaTime
The deltaTime field.
Definition: registers.h:1172
Structure representing the Reference Vector Configuration register.
Definition: registers.h:1220
float velUncertainty
The velUncertainty field.
Definition: registers.h:872
protocol::uart::CompensationMode gyroCompensation
The gyroCompensation field.
Definition: registers.h:1198
Structure representing a Binary Output register.
Definition: registers.h:24
Structure representing the Communication Protocol Control register.
Definition: registers.h:300
uint8_t velCount
The velCount field.
Definition: registers.h:1015
float pressure
The pressure field.
Definition: registers.h:716
protocol::uart::AttitudeGroup attitudeField
Group 5 (Attitude)
Definition: registers.h:32
FilterBasicControlRegister(protocol::uart::MagneticMode magModeIn, protocol::uart::ExternalSensorMode extMagModeIn, protocol::uart::ExternalSensorMode extAccModeIn, protocol::uart::ExternalSensorMode extGyroModeIn, vn::math::vec3f gyroLimitIn)
Creates an initializes a new FilterBasicControlRegister structure.
Definition: registers.h:424
Structure representing the Delta Theta and Delta Velocity Configuration register. ...
Definition: registers.h:1195
GpsConfigurationRegister(protocol::uart::GpsMode modeIn, protocol::uart::PpsSource ppsSourceIn)
Creates an initializes a new GpsConfigurationRegister structure.
Definition: registers.h:754
VpeAccelerometerBasicTuningRegister(vn::math::vec3f baseTuningIn, vn::math::vec3f adaptiveTuningIn, vn::math::vec3f adaptiveFilteringIn)
Creates an initializes a new VpeAccelerometerBasicTuningRegister structure.
Definition: registers.h:540
GpsCompassEstimatedBaselineRegister(bool estBaselineUsedIn, uint16_t numMeasIn, vn::math::vec3f positionIn, vn::math::vec3f uncertaintyIn)
Creates an initializes a new GpsCompassEstimatedBaselineRegister structure.
Definition: registers.h:1363
bool velAtt
The velAtt field.
Definition: registers.h:1011
YawPitchRollMagneticAccelerationAndAngularRatesRegister(vn::math::vec3f yawPitchRollIn, vn::math::vec3f magIn, vn::math::vec3f accelIn, vn::math::vec3f gyroIn)
Creates an initializes a new YawPitchRollMagneticAccelerationAndAngularRatesRegister structure...
Definition: registers.h:286
InsSolutionEcefRegister(double timeIn, uint16_t weekIn, uint16_t statusIn, vn::math::vec3f yawPitchRollIn, vn::math::vec3d positionIn, vn::math::vec3f velocityIn, float attUncertaintyIn, float posUncertaintyIn, float velUncertaintyIn)
Creates an initializes a new InsSolutionEcefRegister structure.
Definition: registers.h:936
float maxAdaptRate
The maxAdaptRate field.
Definition: registers.h:498
vn::math::mat3f c
The c field.
Definition: registers.h:252
uint16_t imuRate
The imuRate field.
Definition: registers.h:1379
bool useGravityModel
The useGravityModel field.
Definition: registers.h:1223
VpeMagnetometerBasicTuningRegister(vn::math::vec3f baseTuningIn, vn::math::vec3f adaptiveTuningIn, vn::math::vec3f adaptiveFilteringIn)
Creates an initializes a new VpeMagnetometerBasicTuningRegister structure.
Definition: registers.h:482
vn::math::vec3f b
The b field.
Definition: registers.h:638
protocol::uart::AsyncMode asyncMode
The asyncMode field.
Definition: registers.h:26
GyroCompensationRegister(vn::math::mat3f cIn, vn::math::vec3f bIn)
Creates an initializes a new GyroCompensationRegister structure.
Definition: registers.h:1264
float attUncertainty
The attUncertainty field.
Definition: registers.h:870
Structure representing the VPE Accelerometer Advanced Tuning register.
Definition: registers.h:552
Structure representing the VPE Magnetometer Basic Tuning register.
Definition: registers.h:469
Structure representing the Magnetometer Calibration Control register.
Definition: registers.h:610
Structure representing the INS State - LLA register.
Definition: registers.h:1079
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:867
float disturbanceWindow
The disturbanceWindow field.
Definition: registers.h:499
Structure representing the Delta Theta and Delta Velocity register.
Definition: registers.h:1170
vn::math::vec3f accel
The accel field.
Definition: registers.h:275
protocol::uart::GpsMode mode
The mode field.
Definition: registers.h:745
float filterTargetRate
The filterTargetRate field.
Definition: registers.h:1381
float disturbanceWindow
The disturbanceWindow field.
Definition: registers.h:557
ImuMeasurementsRegister(vn::math::vec3f magIn, vn::math::vec3f accelIn, vn::math::vec3f gyroIn, float tempIn, float pressureIn)
Creates an initializes a new ImuMeasurementsRegister structure.
Definition: registers.h:727
vn::math::vec3f accel
The accel field.
Definition: registers.h:128
bool useMag
The useMag field.
Definition: registers.h:1008
uint8_t numSats
The numSats field.
Definition: registers.h:818
vn::math::vec3f angularRate
The angularRate field.
Definition: registers.h:1085
Structure representing the Filter Active Tuning Parameters register.
Definition: registers.h:221
vn::math::vec3f deltaVelocity
The deltaVelocity field.
Definition: registers.h:1174
SynchronizationControlRegister(protocol::uart::SyncInMode syncInModeIn, protocol::uart::SyncInEdge syncInEdgeIn, uint16_t syncInSkipFactorIn, protocol::uart::SyncOutMode syncOutModeIn, protocol::uart::SyncOutPolarity syncOutPolarityIn, uint16_t syncOutSkipFactorIn, uint32_t syncOutPulseWidthIn)
Creates an initializes a new SynchronizationControlRegister structure.
Definition: registers.h:362
vn::math::vec4f quat
The quat field.
Definition: registers.h:98
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:1114
Structure representing the IMU Measurements register.
Definition: registers.h:710