# VectorNav C++ Library: include/vn/registers.h Source File

registers.h
#ifndef _VNSENSORS_REGISTERS_H_
#define _VNSENSORS_REGISTERS_H_
#include "int.h"
#include "vector.h"
#include "matrix.h"
#include "types.h"
namespace vn {
namespace sensors {
struct BinaryOutputRegister
{
protocol::uart::AsyncMode asyncMode;
uint16_t rateDivisor;
protocol::uart::CommonGroup commonField;
protocol::uart::TimeGroup timeField;
protocol::uart::ImuGroup imuField;
protocol::uart::GpsGroup gpsField;
protocol::uart::AttitudeGroup attitudeField;
protocol::uart::InsGroup insField;
BinaryOutputRegister() :
asyncMode(protocol::uart::ASYNCMODE_NONE),
rateDivisor(0),
commonField(protocol::uart::COMMONGROUP_NONE),
timeField(protocol::uart::TIMEGROUP_NONE),
imuField(protocol::uart::IMUGROUP_NONE),
gpsField(protocol::uart::GPSGROUP_NONE),
attitudeField(protocol::uart::ATTITUDEGROUP_NONE),
insField(protocol::uart::INSGROUP_NONE)
{ }
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) :
asyncMode(asyncModeIn),
rateDivisor(rateDivisorIn),
commonField(commonFieldIn),
timeField(timeFieldIn),
imuField(imuFieldIn),
gpsField(gpsFieldIn),
attitudeField(attitudeFieldIn),
insField(insFieldIn)
{ }
BinaryOutputRegister(
uint16_t asyncModeIn,
uint16_t rateDivisorIn,
uint16_t commonFieldIn,
uint16_t timeFieldIn,
uint16_t imuFieldIn,
uint16_t gpsFieldIn,
uint16_t attitudeFieldIn,
uint16_t insFieldIn) :
asyncMode(static_cast<protocol::uart::AsyncMode>(asyncModeIn)),
rateDivisor(rateDivisorIn),
commonField(static_cast<protocol::uart::CommonGroup>(commonFieldIn)),
timeField(static_cast<protocol::uart::TimeGroup>(timeFieldIn)),
imuField(static_cast<protocol::uart::ImuGroup>(imuFieldIn)),
gpsField(static_cast<protocol::uart::GpsGroup>(gpsFieldIn)),
attitudeField(static_cast<protocol::uart::AttitudeGroup>(attitudeFieldIn)),
insField(static_cast<protocol::uart::InsGroup>(insFieldIn))
{ }
};
struct QuaternionMagneticAccelerationAndAngularRatesRegister
{
vn::math::vec4f quat;
vn::math::vec3f mag;
vn::math::vec3f accel;
vn::math::vec3f gyro;
QuaternionMagneticAccelerationAndAngularRatesRegister() { }
QuaternionMagneticAccelerationAndAngularRatesRegister(
vn::math::vec4f quatIn,
vn::math::vec3f magIn,
vn::math::vec3f accelIn,
vn::math::vec3f gyroIn) :
quat(quatIn),
mag(magIn),
accel(accelIn),
gyro(gyroIn)
{ }
};
struct MagneticAccelerationAndAngularRatesRegister
{
vn::math::vec3f mag;
vn::math::vec3f accel;
vn::math::vec3f gyro;
MagneticAccelerationAndAngularRatesRegister() { }
MagneticAccelerationAndAngularRatesRegister(
vn::math::vec3f magIn,
vn::math::vec3f accelIn,
vn::math::vec3f gyroIn) :
mag(magIn),
accel(accelIn),
gyro(gyroIn)
{ }
};
struct MagneticAndGravityReferenceVectorsRegister
{
vn::math::vec3f magRef;
vn::math::vec3f accRef;
MagneticAndGravityReferenceVectorsRegister() { }
MagneticAndGravityReferenceVectorsRegister(
vn::math::vec3f magRefIn,
vn::math::vec3f accRefIn) :
magRef(magRefIn),
accRef(accRefIn)
{ }
};
struct FilterMeasurementsVarianceParametersRegister
{
float angularWalkVariance;
vn::math::vec3f angularRateVariance;
vn::math::vec3f magneticVariance;
vn::math::vec3f accelerationVariance;
FilterMeasurementsVarianceParametersRegister() { }
FilterMeasurementsVarianceParametersRegister(
float angularWalkVarianceIn,
vn::math::vec3f angularRateVarianceIn,
vn::math::vec3f magneticVarianceIn,
vn::math::vec3f accelerationVarianceIn) :
angularWalkVariance(angularWalkVarianceIn),
angularRateVariance(angularRateVarianceIn),
magneticVariance(magneticVarianceIn),
accelerationVariance(accelerationVarianceIn)
{ }
};
struct MagnetometerCompensationRegister
{
vn::math::mat3f c;
vn::math::vec3f b;
MagnetometerCompensationRegister() { }
MagnetometerCompensationRegister(
vn::math::mat3f cIn,
vn::math::vec3f bIn) :
c(cIn),
b(bIn)
{ }
};
struct FilterActiveTuningParametersRegister
{
float magneticDisturbanceGain;
float accelerationDisturbanceGain;
float magneticDisturbanceMemory;
float accelerationDisturbanceMemory;
FilterActiveTuningParametersRegister() { }
FilterActiveTuningParametersRegister(
float magneticDisturbanceGainIn,
float accelerationDisturbanceGainIn,
float magneticDisturbanceMemoryIn,
float accelerationDisturbanceMemoryIn) :
magneticDisturbanceGain(magneticDisturbanceGainIn),
accelerationDisturbanceGain(accelerationDisturbanceGainIn),
magneticDisturbanceMemory(magneticDisturbanceMemoryIn),
accelerationDisturbanceMemory(accelerationDisturbanceMemoryIn)
{ }
};
struct AccelerationCompensationRegister
{
vn::math::mat3f c;
vn::math::vec3f b;
AccelerationCompensationRegister() { }
AccelerationCompensationRegister(
vn::math::mat3f cIn,
vn::math::vec3f bIn) :
c(cIn),
b(bIn)
{ }
};
struct YawPitchRollMagneticAccelerationAndAngularRatesRegister
{
vn::math::vec3f yawPitchRoll;
vn::math::vec3f mag;
vn::math::vec3f accel;
vn::math::vec3f gyro;
YawPitchRollMagneticAccelerationAndAngularRatesRegister() { }
YawPitchRollMagneticAccelerationAndAngularRatesRegister(
vn::math::vec3f yawPitchRollIn,
vn::math::vec3f magIn,
vn::math::vec3f accelIn,
vn::math::vec3f gyroIn) :
yawPitchRoll(yawPitchRollIn),
mag(magIn),
accel(accelIn),
gyro(gyroIn)
{ }
};
struct CommunicationProtocolControlRegister
{
protocol::uart::CountMode serialCount;
protocol::uart::StatusMode serialStatus;
protocol::uart::CountMode spiCount;
protocol::uart::StatusMode spiStatus;
protocol::uart::ChecksumMode serialChecksum;
protocol::uart::ChecksumMode spiChecksum;
protocol::uart::ErrorMode errorMode;
CommunicationProtocolControlRegister() { }
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) :
serialCount(serialCountIn),
serialStatus(serialStatusIn),
spiCount(spiCountIn),
spiStatus(spiStatusIn),
serialChecksum(serialChecksumIn),
spiChecksum(spiChecksumIn),
errorMode(errorModeIn)
{ }
};
struct SynchronizationControlRegister
{
protocol::uart::SyncInMode syncInMode;
protocol::uart::SyncInEdge syncInEdge;
uint16_t syncInSkipFactor;
protocol::uart::SyncOutMode syncOutMode;
protocol::uart::SyncOutPolarity syncOutPolarity;
uint16_t syncOutSkipFactor;
uint32_t syncOutPulseWidth;
SynchronizationControlRegister() { }
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) :
syncInMode(syncInModeIn),
syncInEdge(syncInEdgeIn),
syncInSkipFactor(syncInSkipFactorIn),
syncOutMode(syncOutModeIn),
syncOutPolarity(syncOutPolarityIn),
syncOutSkipFactor(syncOutSkipFactorIn),
syncOutPulseWidth(syncOutPulseWidthIn)
{ }
};
struct SynchronizationStatusRegister
{
uint32_t syncInCount;
uint32_t syncInTime;
uint32_t syncOutCount;
SynchronizationStatusRegister() { }
SynchronizationStatusRegister(
uint32_t syncInCountIn,
uint32_t syncInTimeIn,
uint32_t syncOutCountIn) :
syncInCount(syncInCountIn),
syncInTime(syncInTimeIn),
syncOutCount(syncOutCountIn)
{ }
};
struct FilterBasicControlRegister
{
protocol::uart::MagneticMode magMode;
protocol::uart::ExternalSensorMode extMagMode;
protocol::uart::ExternalSensorMode extAccMode;
protocol::uart::ExternalSensorMode extGyroMode;
vn::math::vec3f gyroLimit;
FilterBasicControlRegister() { }
FilterBasicControlRegister(
protocol::uart::MagneticMode magModeIn,
protocol::uart::ExternalSensorMode extMagModeIn,
protocol::uart::ExternalSensorMode extAccModeIn,
protocol::uart::ExternalSensorMode extGyroModeIn,
vn::math::vec3f gyroLimitIn) :
magMode(magModeIn),
extMagMode(extMagModeIn),
extAccMode(extAccModeIn),
extGyroMode(extGyroModeIn),
gyroLimit(gyroLimitIn)
{ }
};
struct VpeBasicControlRegister
{
protocol::uart::VpeEnable enable;
protocol::uart::HeadingMode headingMode;
protocol::uart::VpeMode filteringMode;
protocol::uart::VpeMode tuningMode;
VpeBasicControlRegister() { }
VpeBasicControlRegister(
protocol::uart::VpeEnable enableIn,
protocol::uart::HeadingMode headingModeIn,
protocol::uart::VpeMode filteringModeIn,
protocol::uart::VpeMode tuningModeIn) :
enable(enableIn),
headingMode(headingModeIn),
filteringMode(filteringModeIn),
tuningMode(tuningModeIn)
{ }
};
struct VpeMagnetometerBasicTuningRegister
{
vn::math::vec3f baseTuning;
vn::math::vec3f adaptiveTuning;
vn::math::vec3f adaptiveFiltering;
VpeMagnetometerBasicTuningRegister() { }
VpeMagnetometerBasicTuningRegister(
vn::math::vec3f baseTuningIn,
vn::math::vec3f adaptiveTuningIn,
vn::math::vec3f adaptiveFilteringIn) :
baseTuning(baseTuningIn),
adaptiveTuning(adaptiveTuningIn),
adaptiveFiltering(adaptiveFilteringIn)
{ }
};
struct VpeMagnetometerAdvancedTuningRegister
{
vn::math::vec3f minFiltering;
vn::math::vec3f maxFiltering;
float maxAdaptRate;
float disturbanceWindow;
float maxTuning;
VpeMagnetometerAdvancedTuningRegister() { }
VpeMagnetometerAdvancedTuningRegister(
vn::math::vec3f minFilteringIn,
vn::math::vec3f maxFilteringIn,
float maxAdaptRateIn,
float disturbanceWindowIn,
float maxTuningIn) :
minFiltering(minFilteringIn),
maxFiltering(maxFilteringIn),
maxAdaptRate(maxAdaptRateIn),
disturbanceWindow(disturbanceWindowIn),
maxTuning(maxTuningIn)
{ }
};
struct VpeAccelerometerBasicTuningRegister
{
vn::math::vec3f baseTuning;
vn::math::vec3f adaptiveTuning;
vn::math::vec3f adaptiveFiltering;
VpeAccelerometerBasicTuningRegister() { }
VpeAccelerometerBasicTuningRegister(
vn::math::vec3f baseTuningIn,
vn::math::vec3f adaptiveTuningIn,
vn::math::vec3f adaptiveFilteringIn) :
baseTuning(baseTuningIn),
adaptiveTuning(adaptiveTuningIn),
adaptiveFiltering(adaptiveFilteringIn)
{ }
};
struct VpeAccelerometerAdvancedTuningRegister
{
vn::math::vec3f minFiltering;
vn::math::vec3f maxFiltering;
float maxAdaptRate;
float disturbanceWindow;
float maxTuning;
VpeAccelerometerAdvancedTuningRegister() { }
VpeAccelerometerAdvancedTuningRegister(
vn::math::vec3f minFilteringIn,
vn::math::vec3f maxFilteringIn,
float maxAdaptRateIn,
float disturbanceWindowIn,
float maxTuningIn) :
minFiltering(minFilteringIn),
maxFiltering(maxFilteringIn),
maxAdaptRate(maxAdaptRateIn),
disturbanceWindow(disturbanceWindowIn),
maxTuning(maxTuningIn)
{ }
};
struct VpeGyroBasicTuningRegister
{
vn::math::vec3f angularWalkVariance;
vn::math::vec3f baseTuning;
vn::math::vec3f adaptiveTuning;
VpeGyroBasicTuningRegister() { }
VpeGyroBasicTuningRegister(
vn::math::vec3f angularWalkVarianceIn,
vn::math::vec3f baseTuningIn,
vn::math::vec3f adaptiveTuningIn) :
angularWalkVariance(angularWalkVarianceIn),
baseTuning(baseTuningIn),
adaptiveTuning(adaptiveTuningIn)
{ }
};
struct MagnetometerCalibrationControlRegister
{
protocol::uart::HsiMode hsiMode;
protocol::uart::HsiOutput hsiOutput;
uint8_t convergeRate;
MagnetometerCalibrationControlRegister() { }
MagnetometerCalibrationControlRegister(
protocol::uart::HsiMode hsiModeIn,
protocol::uart::HsiOutput hsiOutputIn,
uint8_t convergeRateIn) :
hsiMode(hsiModeIn),
hsiOutput(hsiOutputIn),
convergeRate(convergeRateIn)
{ }
};
struct CalculatedMagnetometerCalibrationRegister
{
vn::math::mat3f c;
vn::math::vec3f b;
CalculatedMagnetometerCalibrationRegister() { }
CalculatedMagnetometerCalibrationRegister(
vn::math::mat3f cIn,
vn::math::vec3f bIn) :
c(cIn),
b(bIn)
{ }
};
struct VelocityCompensationControlRegister
{
protocol::uart::VelocityCompensationMode mode;
float velocityTuning;
float rateTuning;
VelocityCompensationControlRegister() { }
VelocityCompensationControlRegister(
protocol::uart::VelocityCompensationMode modeIn,
float velocityTuningIn,
float rateTuningIn) :
mode(modeIn),
velocityTuning(velocityTuningIn),
rateTuning(rateTuningIn)
{ }
};
struct VelocityCompensationStatusRegister
{
float x;
float xDot;
vn::math::vec3f accelOffset;
vn::math::vec3f omega;
VelocityCompensationStatusRegister() { }
VelocityCompensationStatusRegister(
float xIn,
float xDotIn,
vn::math::vec3f accelOffsetIn,
vn::math::vec3f omegaIn) :
x(xIn),
xDot(xDotIn),
accelOffset(accelOffsetIn),
omega(omegaIn)
{ }
};
struct ImuMeasurementsRegister
{
vn::math::vec3f mag;
vn::math::vec3f accel;
vn::math::vec3f gyro;
float temp;
float pressure;
ImuMeasurementsRegister() { }
ImuMeasurementsRegister(
vn::math::vec3f magIn,
vn::math::vec3f accelIn,
vn::math::vec3f gyroIn,
float tempIn,
float pressureIn) :
mag(magIn),
accel(accelIn),
gyro(gyroIn),
temp(tempIn),
pressure(pressureIn)
{ }
};
struct GpsConfigurationRegister
{
protocol::uart::GpsMode mode;
protocol::uart::PpsSource ppsSource;
GpsConfigurationRegister() { }
GpsConfigurationRegister(
protocol::uart::GpsMode modeIn,
protocol::uart::PpsSource ppsSourceIn) :
mode(modeIn),
ppsSource(ppsSourceIn)
{ }
};
struct GpsSolutionLlaRegister
{
double time;
uint16_t week;
protocol::uart::GpsFix gpsFix;
uint8_t numSats;
vn::math::vec3d lla;
vn::math::vec3f nedVel;
vn::math::vec3f nedAcc;
float speedAcc;
float timeAcc;
GpsSolutionLlaRegister() { }
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) :
time(timeIn),
week(weekIn),
gpsFix(gpsFixIn),
numSats(numSatsIn),
lla(llaIn),
nedVel(nedVelIn),
nedAcc(nedAccIn),
speedAcc(speedAccIn),
timeAcc(timeAccIn)
{ }
};
struct GpsSolutionEcefRegister
{
double tow;
uint16_t week;
protocol::uart::GpsFix gpsFix;
uint8_t numSats;
vn::math::vec3d position;
vn::math::vec3f velocity;
vn::math::vec3f posAcc;
float speedAcc;
float timeAcc;
GpsSolutionEcefRegister() { }
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) :
tow(towIn),
week(weekIn),
gpsFix(gpsFixIn),
numSats(numSatsIn),
position(positionIn),
velocity(velocityIn),
posAcc(posAccIn),
speedAcc(speedAccIn),
timeAcc(timeAccIn)
{ }
};
struct InsSolutionLlaRegister
{
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;
InsSolutionLlaRegister() { }
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) :
time(timeIn),
week(weekIn),
status(statusIn),
yawPitchRoll(yawPitchRollIn),
position(positionIn),
nedVel(nedVelIn),
attUncertainty(attUncertaintyIn),
posUncertainty(posUncertaintyIn),
velUncertainty(velUncertaintyIn)
{ }
};
struct InsSolutionEcefRegister
{
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;
InsSolutionEcefRegister() { }
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) :
time(timeIn),
week(weekIn),
status(statusIn),
yawPitchRoll(yawPitchRollIn),
position(positionIn),
velocity(velocityIn),
attUncertainty(attUncertaintyIn),
posUncertainty(posUncertaintyIn),
velUncertainty(velUncertaintyIn)
{ }
};
struct InsBasicConfigurationRegisterVn200
{
protocol::uart::Scenario scenario;
bool ahrsAiding;
InsBasicConfigurationRegisterVn200() { }
InsBasicConfigurationRegisterVn200(
protocol::uart::Scenario scenarioIn,
bool ahrsAidingIn) :
scenario(scenarioIn),
ahrsAiding(ahrsAidingIn)
{ }
};
struct InsBasicConfigurationRegisterVn300
{
protocol::uart::Scenario scenario;
bool ahrsAiding;
bool estBaseline;
InsBasicConfigurationRegisterVn300() { }
InsBasicConfigurationRegisterVn300(
protocol::uart::Scenario scenarioIn,
bool ahrsAidingIn,
bool estBaselineIn) :
scenario(scenarioIn),
ahrsAiding(ahrsAidingIn),
estBaseline(estBaselineIn)
{ }
};
struct InsAdvancedConfigurationRegister
{
bool useMag;
bool usePres;
bool posAtt;
bool velAtt;
bool velBias;
protocol::uart::FoamInit useFoam;
uint8_t gpsCovType;
uint8_t velCount;
float velInit;
float moveOrigin;
float gpsTimeout;
float deltaLimitPos;
float deltaLimitVel;
float minPosUncertainty;
float minVelUncertainty;
InsAdvancedConfigurationRegister() { }
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) :
useMag(useMagIn),
usePres(usePresIn),
posAtt(posAttIn),
velAtt(velAttIn),
velBias(velBiasIn),
useFoam(useFoamIn),
gpsCovType(gpsCovTypeIn),
velCount(velCountIn),
velInit(velInitIn),
moveOrigin(moveOriginIn),
gpsTimeout(gpsTimeoutIn),
deltaLimitPos(deltaLimitPosIn),
deltaLimitVel(deltaLimitVelIn),
minPosUncertainty(minPosUncertaintyIn),
minVelUncertainty(minVelUncertaintyIn)
{ }
};
struct InsStateLlaRegister
{
vn::math::vec3f yawPitchRoll;
vn::math::vec3d position;
vn::math::vec3f velocity;
vn::math::vec3f accel;
vn::math::vec3f angularRate;
InsStateLlaRegister() { }
InsStateLlaRegister(
vn::math::vec3f yawPitchRollIn,
vn::math::vec3d positionIn,
vn::math::vec3f velocityIn,
vn::math::vec3f accelIn,
vn::math::vec3f angularRateIn) :
yawPitchRoll(yawPitchRollIn),
position(positionIn),
velocity(velocityIn),
accel(accelIn),
angularRate(angularRateIn)
{ }
};
struct InsStateEcefRegister
{
vn::math::vec3f yawPitchRoll;
vn::math::vec3d position;
vn::math::vec3f velocity;
vn::math::vec3f accel;
vn::math::vec3f angularRate;
InsStateEcefRegister() { }
InsStateEcefRegister(
vn::math::vec3f yawPitchRollIn,
vn::math::vec3d positionIn,
vn::math::vec3f velocityIn,
vn::math::vec3f accelIn,
vn::math::vec3f angularRateIn) :
yawPitchRoll(yawPitchRollIn),
position(positionIn),
velocity(velocityIn),
accel(accelIn),
angularRate(angularRateIn)
{ }
};
struct StartupFilterBiasEstimateRegister
{
vn::math::vec3f gyroBias;
vn::math::vec3f accelBias;
float pressureBias;
StartupFilterBiasEstimateRegister() { }
StartupFilterBiasEstimateRegister(
vn::math::vec3f gyroBiasIn,
vn::math::vec3f accelBiasIn,
float pressureBiasIn) :
gyroBias(gyroBiasIn),
accelBias(accelBiasIn),
pressureBias(pressureBiasIn)
{ }
};
struct DeltaThetaAndDeltaVelocityRegister
{
float deltaTime;
vn::math::vec3f deltaTheta;
vn::math::vec3f deltaVelocity;
DeltaThetaAndDeltaVelocityRegister() { }
DeltaThetaAndDeltaVelocityRegister(
float deltaTimeIn,
vn::math::vec3f deltaThetaIn,
vn::math::vec3f deltaVelocityIn) :
deltaTime(deltaTimeIn),
deltaTheta(deltaThetaIn),
deltaVelocity(deltaVelocityIn)
{ }
};
struct DeltaThetaAndDeltaVelocityConfigurationRegister
{
protocol::uart::IntegrationFrame integrationFrame;
protocol::uart::CompensationMode gyroCompensation;
protocol::uart::CompensationMode accelCompensation;
DeltaThetaAndDeltaVelocityConfigurationRegister() { }
DeltaThetaAndDeltaVelocityConfigurationRegister(
protocol::uart::IntegrationFrame integrationFrameIn,
protocol::uart::CompensationMode gyroCompensationIn,
protocol::uart::CompensationMode accelCompensationIn) :
integrationFrame(integrationFrameIn),
gyroCompensation(gyroCompensationIn),
accelCompensation(accelCompensationIn)
{ }
};
struct ReferenceVectorConfigurationRegister
{
bool useMagModel;
bool useGravityModel;
uint32_t recalcThreshold;
float year;
vn::math::vec3d position;
ReferenceVectorConfigurationRegister() { }
ReferenceVectorConfigurationRegister(
bool useMagModelIn,
bool useGravityModelIn,
uint32_t recalcThresholdIn,
float yearIn,
vn::math::vec3d positionIn) :
useMagModel(useMagModelIn),
useGravityModel(useGravityModelIn),
recalcThreshold(recalcThresholdIn),
year(yearIn),
position(positionIn)
{ }
};
struct GyroCompensationRegister
{
vn::math::mat3f c;
vn::math::vec3f b;
GyroCompensationRegister() { }
GyroCompensationRegister(
vn::math::mat3f cIn,
vn::math::vec3f bIn) :
c(cIn),
b(bIn)
{ }
};
struct ImuFilteringConfigurationRegister
{
uint16_t magWindowSize;
uint16_t accelWindowSize;
uint16_t gyroWindowSize;
uint16_t tempWindowSize;
uint16_t presWindowSize;
protocol::uart::FilterMode magFilterMode;
protocol::uart::FilterMode accelFilterMode;
protocol::uart::FilterMode gyroFilterMode;
protocol::uart::FilterMode tempFilterMode;
protocol::uart::FilterMode presFilterMode;
ImuFilteringConfigurationRegister() { }
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) :
magWindowSize(magWindowSizeIn),
accelWindowSize(accelWindowSizeIn),
gyroWindowSize(gyroWindowSizeIn),
tempWindowSize(tempWindowSizeIn),
presWindowSize(presWindowSizeIn),
magFilterMode(magFilterModeIn),
accelFilterMode(accelFilterModeIn),
gyroFilterMode(gyroFilterModeIn),
tempFilterMode(tempFilterModeIn),
presFilterMode(presFilterModeIn)
{ }
};
struct GpsCompassBaselineRegister
{
vn::math::vec3f position;
vn::math::vec3f uncertainty;
GpsCompassBaselineRegister() { }
GpsCompassBaselineRegister(
vn::math::vec3f positionIn,
vn::math::vec3f uncertaintyIn) :
position(positionIn),
uncertainty(uncertaintyIn)
{ }
};
struct GpsCompassEstimatedBaselineRegister
{
bool estBaselineUsed;
uint16_t numMeas;
vn::math::vec3f position;
vn::math::vec3f uncertainty;
GpsCompassEstimatedBaselineRegister() { }
GpsCompassEstimatedBaselineRegister(
bool estBaselineUsedIn,
uint16_t numMeasIn,
vn::math::vec3f positionIn,
vn::math::vec3f uncertaintyIn) :
estBaselineUsed(estBaselineUsedIn),
numMeas(numMeasIn),
position(positionIn),
uncertainty(uncertaintyIn)
{ }
};
struct ImuRateConfigurationRegister
{
uint16_t imuRate;
uint16_t navDivisor;
float filterTargetRate;
float filterMinRate;
ImuRateConfigurationRegister() { }
ImuRateConfigurationRegister(
uint16_t imuRateIn,
uint16_t navDivisorIn,
float filterTargetRateIn,
float filterMinRateIn) :
imuRate(imuRateIn),
navDivisor(navDivisorIn),
filterTargetRate(filterTargetRateIn),
filterMinRate(filterMinRateIn)
{ }
};
struct YawPitchRollTrueBodyAccelerationAndAngularRatesRegister
{
vn::math::vec3f yawPitchRoll;
vn::math::vec3f bodyAccel;
vn::math::vec3f gyro;
YawPitchRollTrueBodyAccelerationAndAngularRatesRegister() { }
YawPitchRollTrueBodyAccelerationAndAngularRatesRegister(
vn::math::vec3f yawPitchRollIn,
vn::math::vec3f bodyAccelIn,
vn::math::vec3f gyroIn) :
yawPitchRoll(yawPitchRollIn),
bodyAccel(bodyAccelIn),
gyro(gyroIn)
{ }
};
struct YawPitchRollTrueInertialAccelerationAndAngularRatesRegister
{
vn::math::vec3f yawPitchRoll;
vn::math::vec3f inertialAccel;
vn::math::vec3f gyro;
YawPitchRollTrueInertialAccelerationAndAngularRatesRegister() { }
YawPitchRollTrueInertialAccelerationAndAngularRatesRegister(
vn::math::vec3f yawPitchRollIn,
vn::math::vec3f inertialAccelIn,
vn::math::vec3f gyroIn) :
yawPitchRoll(yawPitchRollIn),
inertialAccel(inertialAccelIn),
gyro(gyroIn)
{ }
};
}
}
#endif
vn::sensors::GpsSolutionEcefRegister::tow
double tow
The tow field.
Definition: registers.h:815
vn::sensors::MagneticAndGravityReferenceVectorsRegister::magRef
vn::math::vec3f magRef
The magRef field.
Definition: registers.h:152
vn::sensors::MagnetometerCalibrationControlRegister::hsiOutput
protocol::uart::HsiOutput hsiOutput
The hsiOutput field.
Definition: registers.h:613
vn::sensors::MagnetometerCalibrationControlRegister::hsiMode
protocol::uart::HsiMode hsiMode
The hsiMode field.
Definition: registers.h:612
vn::sensors::GyroCompensationRegister::c
vn::math::mat3f c
The c field.
Definition: registers.h:1255
vn::sensors::VelocityCompensationStatusRegister
Structure representing the Velocity Compensation Status register.
Definition: registers.h:681
vn::sensors::VelocityCompensationControlRegister::velocityTuning
float velocityTuning
The velocityTuning field.
Definition: registers.h:659
vn::sensors::VelocityCompensationControlRegister::rateTuning
float rateTuning
The rateTuning field.
Definition: registers.h:660
vn::sensors::ImuFilteringConfigurationRegister::magFilterMode
protocol::uart::FilterMode magFilterMode
The magFilterMode field.
Definition: registers.h:1281
vn::sensors::InsBasicConfigurationRegisterVn200
Structure representing the INS Basic Configuration register for a VN-200 sensor.
Definition: registers.h:960
vn::sensors::VpeGyroBasicTuningRegister
Structure representing the VPE Gyro Basic Tuning register.
Definition: registers.h:585
vn::sensors::InsStateEcefRegister::accel
vn::math::vec3f accel
The accel field.
Definition: registers.h:1117
vn::sensors::InsBasicConfigurationRegisterVn300
Structure representing the INS Basic Configuration register for a VN-300 sensor.
Definition: registers.h:981
vn::sensors::GpsSolutionEcefRegister::week
uint16_t week
The week field.
Definition: registers.h:816
vn::sensors::VpeMagnetometerBasicTuningRegister::baseTuning
vn::math::vec3f baseTuning
The baseTuning field.
Definition: registers.h:471
vn::sensors::VpeBasicControlRegister::filteringMode
protocol::uart::VpeMode filteringMode
The filteringMode field.
Definition: registers.h:444
vn::sensors::FilterMeasurementsVarianceParametersRegister::angularWalkVariance
float angularWalkVariance
The angularWalkVariance field.
Definition: registers.h:173
vn::sensors::QuaternionMagneticAccelerationAndAngularRatesRegister::accel
vn::math::vec3f accel
The accel field.
Definition: registers.h:100
vn::math::vec
Template for a Euclidean vector.
Definition: vector.h:22
vn::sensors::YawPitchRollTrueInertialAccelerationAndAngularRatesRegister::yawPitchRoll
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:1433
vn::sensors::GpsSolutionEcefRegister::timeAcc
float timeAcc
The timeAcc field.
Definition: registers.h:823
vn::sensors::VelocityCompensationStatusRegister::VelocityCompensationStatusRegister
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::sensors::GpsCompassBaselineRegister::position
vn::math::vec3f position
The position field.
Definition: registers.h:1329
vn::sensors::StartupFilterBiasEstimateRegister
Structure representing the Startup Filter Bias Estimate register.
Definition: registers.h:1145
vn::sensors::FilterActiveTuningParametersRegister::accelerationDisturbanceGain
float accelerationDisturbanceGain
The accelerationDisturbanceGain field.
Definition: registers.h:224
vn::sensors::DeltaThetaAndDeltaVelocityConfigurationRegister::accelCompensation
protocol::uart::CompensationMode accelCompensation
The accelCompensation field.
Definition: registers.h:1199
vn::sensors::SynchronizationControlRegister::syncInMode
protocol::uart::SyncInMode syncInMode
The syncInMode field.
Definition: registers.h:343
vn::sensors::ImuRateConfigurationRegister::ImuRateConfigurationRegister
ImuRateConfigurationRegister(uint16_t imuRateIn, uint16_t navDivisorIn, float filterTargetRateIn, float filterMinRateIn)
Creates an initializes a new ImuRateConfigurationRegister structure.
Definition: registers.h:1392
vn::sensors::YawPitchRollTrueBodyAccelerationAndAngularRatesRegister
Structure representing the Yaw, Pitch, Roll, True Body Acceleration and Angular Rates register...
Definition: registers.h:1406
vn::sensors::CommunicationProtocolControlRegister::serialChecksum
protocol::uart::ChecksumMode serialChecksum
The serialChecksum field.
Definition: registers.h:306
vn::sensors::StartupFilterBiasEstimateRegister::accelBias
vn::math::vec3f accelBias
The accelBias field.
Definition: registers.h:1148
vn::sensors::GyroCompensationRegister::b
vn::math::vec3f b
The b field.
Definition: registers.h:1256
vn::sensors::DeltaThetaAndDeltaVelocityConfigurationRegister::integrationFrame
protocol::uart::IntegrationFrame integrationFrame
The integrationFrame field.
Definition: registers.h:1197
vn::sensors::ImuMeasurementsRegister::accel
vn::math::vec3f accel
The accel field.
Definition: registers.h:713
vn::sensors::InsSolutionLlaRegister::week
uint16_t week
The week field.
Definition: registers.h:865
vn::sensors::CommunicationProtocolControlRegister::spiStatus
protocol::uart::StatusMode spiStatus
The spiStatus field.
Definition: registers.h:305
vn::sensors::InsSolutionLlaRegister::nedVel
vn::math::vec3f nedVel
The nedVel field.
Definition: registers.h:869
vn::sensors::GpsSolutionLlaRegister::GpsSolutionLlaRegister
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
vn::sensors::ImuFilteringConfigurationRegister::magWindowSize
uint16_t magWindowSize
The magWindowSize field.
Definition: registers.h:1276
vn::sensors::YawPitchRollTrueBodyAccelerationAndAngularRatesRegister::bodyAccel
vn::math::vec3f bodyAccel
The bodyAccel field.
Definition: registers.h:1409
vn::sensors::AccelerationCompensationRegister
Structure representing the Acceleration Compensation register.
Definition: registers.h:250
vn::sensors::InsSolutionEcefRegister::status
uint16_t status
The status field.
Definition: registers.h:915
vn::sensors::GpsSolutionLlaRegister::speedAcc
float speedAcc
The speedAcc field.
Definition: registers.h:773
vn::sensors::YawPitchRollTrueInertialAccelerationAndAngularRatesRegister::gyro
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:1435
vn::sensors::InsAdvancedConfigurationRegister::minPosUncertainty
float minPosUncertainty
The minPosUncertainty field.
Definition: registers.h:1021
vn::sensors::MagnetometerCompensationRegister
Structure representing the Magnetometer Compensation register.
Definition: registers.h:200
vn::sensors::ImuMeasurementsRegister::gyro
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:714
vn::sensors::VpeBasicControlRegister::VpeBasicControlRegister
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
int.h
vn::sensors::StartupFilterBiasEstimateRegister::gyroBias
vn::math::vec3f gyroBias
The gyroBias field.
Definition: registers.h:1147
vn::sensors::MagneticAccelerationAndAngularRatesRegister::MagneticAccelerationAndAngularRatesRegister
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::sensors::MagnetometerCompensationRegister::b
vn::math::vec3f b
The b field.
Definition: registers.h:203
vn::sensors::VpeBasicControlRegister::enable
protocol::uart::VpeEnable enable
The enable field.
Definition: registers.h:442
vn::sensors::BinaryOutputRegister::BinaryOutputRegister
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::sensors::FilterMeasurementsVarianceParametersRegister::angularRateVariance
vn::math::vec3f angularRateVariance
The angularRateVariance field.
Definition: registers.h:174
vn::sensors::InsStateEcefRegister::InsStateEcefRegister
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
vn::sensors::InsBasicConfigurationRegisterVn200::scenario
protocol::uart::Scenario scenario
The scenario field.
Definition: registers.h:962
vn::sensors::GpsSolutionLlaRegister::timeAcc
float timeAcc
The timeAcc field.
Definition: registers.h:774
vn::sensors::VpeBasicControlRegister::headingMode
protocol::uart::HeadingMode headingMode
The headingMode field.
Definition: registers.h:443
vn::sensors::ImuFilteringConfigurationRegister::tempFilterMode
protocol::uart::FilterMode tempFilterMode
The tempFilterMode field.
Definition: registers.h:1284
vn::sensors::ReferenceVectorConfigurationRegister::position
vn::math::vec3d position
The position field.
Definition: registers.h:1226
vn::sensors::InsStateLlaRegister::InsStateLlaRegister
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
vn::sensors::YawPitchRollTrueInertialAccelerationAndAngularRatesRegister::YawPitchRollTrueInertialAccelerationAndAngularRatesRegister
YawPitchRollTrueInertialAccelerationAndAngularRatesRegister(vn::math::vec3f yawPitchRollIn, vn::math::vec3f inertialAccelIn, vn::math::vec3f gyroIn)
Creates an initializes a new YawPitchRollTrueInertialAccelerationAndAngularRatesRegister structure...
Definition: registers.h:1444
vn::sensors::InsSolutionLlaRegister::status
uint16_t status
The status field.
Definition: registers.h:866
vn::sensors::YawPitchRollTrueInertialAccelerationAndAngularRatesRegister
Structure representing the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register...
Definition: registers.h:1431
vn::sensors::SynchronizationStatusRegister
Structure representing the Synchronization Status register.
Definition: registers.h:382
vn::sensors::InsSolutionLlaRegister::position
vn::math::vec3d position
The position field.
Definition: registers.h:868
vn::sensors::ImuRateConfigurationRegister::navDivisor
uint16_t navDivisor
The navDivisor field.
Definition: registers.h:1380
vn::sensors::QuaternionMagneticAccelerationAndAngularRatesRegister::mag
vn::math::vec3f mag
The mag field.
Definition: registers.h:99
vn::sensors::YawPitchRollMagneticAccelerationAndAngularRatesRegister::yawPitchRoll
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:273
vn::sensors::ReferenceVectorConfigurationRegister::useMagModel
bool useMagModel
The useMagModel field.
Definition: registers.h:1222
vn::sensors::FilterActiveTuningParametersRegister::magneticDisturbanceGain
float magneticDisturbanceGain
The magneticDisturbanceGain field.
Definition: registers.h:223
vn::sensors::InsSolutionEcefRegister::time
double time
The time field.
Definition: registers.h:913
vn::sensors::FilterMeasurementsVarianceParametersRegister
Structure representing the Filter Measurements Variance Parameters register.
Definition: registers.h:171
vn::sensors::InsAdvancedConfigurationRegister::gpsTimeout
float gpsTimeout
The gpsTimeout field.
Definition: registers.h:1018
vn::sensors::ReferenceVectorConfigurationRegister::ReferenceVectorConfigurationRegister
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::sensors::InsStateEcefRegister::angularRate
vn::math::vec3f angularRate
The angularRate field.
Definition: registers.h:1118
vn::sensors::MagnetometerCalibrationControlRegister::MagnetometerCalibrationControlRegister
MagnetometerCalibrationControlRegister(protocol::uart::HsiMode hsiModeIn, protocol::uart::HsiOutput hsiOutputIn, uint8_t convergeRateIn)
Creates an initializes a new MagnetometerCalibrationControlRegister structure.
Definition: registers.h:623
vn::sensors::GpsCompassEstimatedBaselineRegister
Structure representing the GPS Compass Estimated Baseline register.
Definition: registers.h:1348
vn::sensors::YawPitchRollMagneticAccelerationAndAngularRatesRegister::mag
vn::math::vec3f mag
The mag field.
Definition: registers.h:274
vn::sensors::InsAdvancedConfigurationRegister::velBias
bool velBias
The velBias field.
Definition: registers.h:1012
vn::sensors::VpeAccelerometerBasicTuningRegister
Structure representing the VPE Accelerometer Basic Tuning register.
Definition: registers.h:527
vn::sensors::InsAdvancedConfigurationRegister::gpsCovType
uint8_t gpsCovType
The gpsCovType field.
Definition: registers.h:1014
vn::sensors::YawPitchRollTrueBodyAccelerationAndAngularRatesRegister::yawPitchRoll
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:1408
vn::sensors::GpsSolutionEcefRegister::velocity
vn::math::vec3f velocity
The velocity field.
Definition: registers.h:820
vn::sensors::AccelerationCompensationRegister::AccelerationCompensationRegister
AccelerationCompensationRegister(vn::math::mat3f cIn, vn::math::vec3f bIn)
Creates an initializes a new AccelerationCompensationRegister structure.
Definition: registers.h:261
vn::sensors::FilterActiveTuningParametersRegister::accelerationDisturbanceMemory
float accelerationDisturbanceMemory
The accelerationDisturbanceMemory field.
Definition: registers.h:226
vn::sensors::VpeBasicControlRegister::tuningMode
protocol::uart::VpeMode tuningMode
The tuningMode field.
Definition: registers.h:445
vn::sensors::FilterMeasurementsVarianceParametersRegister::accelerationVariance
vn::math::vec3f accelerationVariance
The accelerationVariance field.
Definition: registers.h:176
vn::sensors::CommunicationProtocolControlRegister::spiChecksum
protocol::uart::ChecksumMode spiChecksum
The spiChecksum field.
Definition: registers.h:307
vn::sensors::InsBasicConfigurationRegisterVn200::ahrsAiding
bool ahrsAiding
The ahrsAiding field.
Definition: registers.h:963
vn::sensors::BinaryOutputRegister::rateDivisor
uint16_t rateDivisor
The rateDivisor field.
Definition: registers.h:27
vn::sensors::CalculatedMagnetometerCalibrationRegister::CalculatedMagnetometerCalibrationRegister
CalculatedMagnetometerCalibrationRegister(vn::math::mat3f cIn, vn::math::vec3f bIn)
Creates an initializes a new CalculatedMagnetometerCalibrationRegister structure. ...
Definition: registers.h:646
vn::sensors::GpsSolutionEcefRegister::posAcc
vn::math::vec3f posAcc
The posAcc field.
Definition: registers.h:821
vn::sensors::DeltaThetaAndDeltaVelocityRegister::DeltaThetaAndDeltaVelocityRegister
DeltaThetaAndDeltaVelocityRegister(float deltaTimeIn, vn::math::vec3f deltaThetaIn, vn::math::vec3f deltaVelocityIn)
Creates an initializes a new DeltaThetaAndDeltaVelocityRegister structure.
Definition: registers.h:1183
vn::sensors::MagneticAccelerationAndAngularRatesRegister::mag
vn::math::vec3f mag
The mag field.
Definition: registers.h:127
vn::sensors::VpeAccelerometerAdvancedTuningRegister::VpeAccelerometerAdvancedTuningRegister
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
vn::sensors::MagnetometerCompensationRegister::MagnetometerCompensationRegister
MagnetometerCompensationRegister(vn::math::mat3f cIn, vn::math::vec3f bIn)
Creates an initializes a new MagnetometerCompensationRegister structure.
Definition: registers.h:211
vn::sensors::InsStateEcefRegister::velocity
vn::math::vec3f velocity
The velocity field.
Definition: registers.h:1116
vn::sensors::FilterActiveTuningParametersRegister::magneticDisturbanceMemory
float magneticDisturbanceMemory
The magneticDisturbanceMemory field.
Definition: registers.h:225
vn::sensors::FilterBasicControlRegister::magMode
protocol::uart::MagneticMode magMode
The magMode field.
Definition: registers.h:409
vn::sensors::VpeMagnetometerBasicTuningRegister::adaptiveTuning
vn::math::vec3f adaptiveTuning
The adaptiveTuning field.
Definition: registers.h:472
vn::sensors::SynchronizationStatusRegister::SynchronizationStatusRegister
SynchronizationStatusRegister(uint32_t syncInCountIn, uint32_t syncInTimeIn, uint32_t syncOutCountIn)
Creates an initializes a new SynchronizationStatusRegister structure.
Definition: registers.h:395
vn::sensors::SynchronizationControlRegister::syncOutSkipFactor
uint16_t syncOutSkipFactor
The syncOutSkipFactor field.
Definition: registers.h:348
vn::sensors::VpeGyroBasicTuningRegister::adaptiveTuning
vn::math::vec3f adaptiveTuning
The adaptiveTuning field.
Definition: registers.h:589
vn::sensors::InsAdvancedConfigurationRegister
Structure representing the INS Advanced Configuration register.
Definition: registers.h:1006
vn::sensors::ImuFilteringConfigurationRegister::accelFilterMode
protocol::uart::FilterMode accelFilterMode
The accelFilterMode field.
Definition: registers.h:1282
vn::sensors::InsStateEcefRegister
Structure representing the INS State - ECEF register.
Definition: registers.h:1112
vn::sensors::InsSolutionEcefRegister
Structure representing the INS Solution - ECEF register.
Definition: registers.h:911
vn::sensors::GpsSolutionLlaRegister
Structure representing the GPS Solution - LLA register.
Definition: registers.h:764
vn::sensors::GpsCompassBaselineRegister
Structure representing the GPS Compass Baseline register.
Definition: registers.h:1327
vn::sensors::InsStateEcefRegister::position
vn::math::vec3d position
The position field.
Definition: registers.h:1115
vn::sensors::VpeAccelerometerBasicTuningRegister::baseTuning
vn::math::vec3f baseTuning
The baseTuning field.
Definition: registers.h:529
vn::sensors::VpeAccelerometerAdvancedTuningRegister::maxFiltering
vn::math::vec3f maxFiltering
The maxFiltering field.
Definition: registers.h:555
vn::sensors::YawPitchRollTrueBodyAccelerationAndAngularRatesRegister::YawPitchRollTrueBodyAccelerationAndAngularRatesRegister
YawPitchRollTrueBodyAccelerationAndAngularRatesRegister(vn::math::vec3f yawPitchRollIn, vn::math::vec3f bodyAccelIn, vn::math::vec3f gyroIn)
Creates an initializes a new YawPitchRollTrueBodyAccelerationAndAngularRatesRegister structure...
Definition: registers.h:1419
vn::sensors::GpsSolutionLlaRegister::week
uint16_t week
The week field.
Definition: registers.h:767
vn::sensors::GpsCompassEstimatedBaselineRegister::numMeas
uint16_t numMeas
The numMeas field.
Definition: registers.h:1351
vn::sensors::CalculatedMagnetometerCalibrationRegister::c
vn::math::mat3f c
The c field.
Definition: registers.h:637
vn::sensors::BinaryOutputRegister::insField
protocol::uart::InsGroup insField
Group 6 (INS)
Definition: registers.h:33
vn::math::mat
Template for a matrix.
Definition: matrix.h:20
vn::sensors::GpsSolutionEcefRegister::gpsFix
protocol::uart::GpsFix gpsFix
The gpsFix field.
Definition: registers.h:817
vn::sensors::GpsSolutionEcefRegister::position
vn::math::vec3d position
The position field.
Definition: registers.h:819
vn::sensors::GpsCompassEstimatedBaselineRegister::uncertainty
vn::math::vec3f uncertainty
The uncertainty field.
Definition: registers.h:1353
vn::sensors::ImuRateConfigurationRegister
Structure representing the IMU Rate Configuration register.
Definition: registers.h:1377
vn::sensors::SynchronizationStatusRegister::syncInCount
uint32_t syncInCount
The syncInCount field.
Definition: registers.h:384
vn::sensors::ImuMeasurementsRegister::mag
vn::math::vec3f mag
The mag field.
Definition: registers.h:712
vn::sensors::SynchronizationStatusRegister::syncOutCount
uint32_t syncOutCount
The syncOutCount field.
Definition: registers.h:386
vn::sensors::QuaternionMagneticAccelerationAndAngularRatesRegister::gyro
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:101
vn::sensors::InsSolutionLlaRegister
Structure representing the INS Solution - LLA register.
Definition: registers.h:862
vn::sensors::InsSolutionEcefRegister::week
uint16_t week
The week field.
Definition: registers.h:914
vn::sensors::DeltaThetaAndDeltaVelocityRegister::deltaTheta
vn::math::vec3f deltaTheta
The deltaTheta field.
Definition: registers.h:1173
vn::sensors::ImuFilteringConfigurationRegister
Structure representing the IMU Filtering Configuration register.
Definition: registers.h:1274
vn::sensors::VelocityCompensationStatusRegister::x
float x
The x field.
Definition: registers.h:683
vn::sensors::MagneticAndGravityReferenceVectorsRegister::MagneticAndGravityReferenceVectorsRegister
MagneticAndGravityReferenceVectorsRegister(vn::math::vec3f magRefIn, vn::math::vec3f accRefIn)
Creates an initializes a new MagneticAndGravityReferenceVectorsRegister structure.
Definition: registers.h:161
vn::sensors::AccelerationCompensationRegister::b
vn::math::vec3f b
The b field.
Definition: registers.h:253
vn::sensors::InsAdvancedConfigurationRegister::deltaLimitPos
float deltaLimitPos
The deltaLimitPos field.
Definition: registers.h:1019
vn::sensors::InsAdvancedConfigurationRegister::velInit
float velInit
The velInit field.
Definition: registers.h:1016
vn::sensors::MagneticAndGravityReferenceVectorsRegister
Structure representing the Magnetic and Gravity Reference Vectors register.
Definition: registers.h:150
vn::sensors::VpeGyroBasicTuningRegister::baseTuning
vn::math::vec3f baseTuning
The baseTuning field.
Definition: registers.h:588
vn::sensors::BinaryOutputRegister::commonField
protocol::uart::CommonGroup commonField
Group 1 (Common)
Definition: registers.h:28
vn::sensors::VpeMagnetometerAdvancedTuningRegister::minFiltering
vn::math::vec3f minFiltering
The minFiltering field.
Definition: registers.h:496
vn::sensors::FilterBasicControlRegister::extAccMode
protocol::uart::ExternalSensorMode extAccMode
The extAccMode field.
Definition: registers.h:411
vn::sensors::VpeGyroBasicTuningRegister::VpeGyroBasicTuningRegister
VpeGyroBasicTuningRegister(vn::math::vec3f angularWalkVarianceIn, vn::math::vec3f baseTuningIn, vn::math::vec3f adaptiveTuningIn)
Creates an initializes a new VpeGyroBasicTuningRegister structure.
Definition: registers.h:598
vn::sensors::FilterBasicControlRegister
Structure representing the Filter Basic Control register.
Definition: registers.h:407
vn::sensors::GpsSolutionLlaRegister::lla
vn::math::vec3d lla
The lla field.
Definition: registers.h:770
vn::sensors::InsBasicConfigurationRegisterVn300::scenario
protocol::uart::Scenario scenario
The scenario field.
Definition: registers.h:983
vn::sensors::BinaryOutputRegister::timeField
protocol::uart::TimeGroup timeField
Group 2 (Time)
Definition: registers.h:29
vn::sensors::ImuRateConfigurationRegister::filterMinRate
float filterMinRate
The filterMinRate field.
Definition: registers.h:1382
vn::sensors::VelocityCompensationStatusRegister::xDot
float xDot
The xDot field.
Definition: registers.h:684
vn::sensors::VelocityCompensationStatusRegister::omega
vn::math::vec3f omega
The omega field.
Definition: registers.h:686
vn::sensors::GpsSolutionLlaRegister::time
double time
The time field.
Definition: registers.h:766
matrix.h
vn::sensors::GpsSolutionEcefRegister::speedAcc
float speedAcc
The speedAcc field.
Definition: registers.h:822
vn::sensors::VpeAccelerometerAdvancedTuningRegister::maxTuning
float maxTuning
The maxTuning field.
Definition: registers.h:558
vn::sensors::SynchronizationControlRegister::syncOutPulseWidth
uint32_t syncOutPulseWidth
The syncOutPulseWidth field.
Definition: registers.h:349
vn::sensors::MagnetometerCalibrationControlRegister::convergeRate
uint8_t convergeRate
The convergeRate field.
Definition: registers.h:614
vn::sensors::VelocityCompensationControlRegister::VelocityCompensationControlRegister
VelocityCompensationControlRegister(protocol::uart::VelocityCompensationMode modeIn, float velocityTuningIn, float rateTuningIn)
Creates an initializes a new VelocityCompensationControlRegister structure.
Definition: registers.h:669
vn::sensors::InsSolutionEcefRegister::position
vn::math::vec3d position
The position field.
Definition: registers.h:917
vn::sensors::VpeMagnetometerBasicTuningRegister::adaptiveFiltering
vn::math::vec3f adaptiveFiltering
The adaptiveFiltering field.
Definition: registers.h:473
vn::sensors::VpeAccelerometerBasicTuningRegister::adaptiveFiltering
vn::math::vec3f adaptiveFiltering
The adaptiveFiltering field.
Definition: registers.h:531
vn::sensors::InsSolutionEcefRegister::posUncertainty
float posUncertainty
The posUncertainty field.
Definition: registers.h:920
vn::sensors::CommunicationProtocolControlRegister::spiCount
protocol::uart::CountMode spiCount
The spiCount field.
Definition: registers.h:304
vn::sensors::InsBasicConfigurationRegisterVn200::InsBasicConfigurationRegisterVn200
InsBasicConfigurationRegisterVn200(protocol::uart::Scenario scenarioIn, bool ahrsAidingIn)
Creates an initializes a new InsBasicConfigurationRegisterVn200 structure.
Definition: registers.h:971
vn::sensors::ImuMeasurementsRegister::temp
float temp
The temp field.
Definition: registers.h:715
vn::sensors::GyroCompensationRegister
Structure representing the Gyro Compensation register.
Definition: registers.h:1253
vn::sensors::SynchronizationControlRegister::syncInEdge
protocol::uart::SyncInEdge syncInEdge
The syncInEdge field.
Definition: registers.h:344
vn::sensors::YawPitchRollMagneticAccelerationAndAngularRatesRegister
Structure representing the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register...
Definition: registers.h:271
vn::sensors::MagneticAndGravityReferenceVectorsRegister::accRef
vn::math::vec3f accRef
The accRef field.
Definition: registers.h:153
vn::sensors::VpeGyroBasicTuningRegister::angularWalkVariance
vn::math::vec3f angularWalkVariance
The angularWalkVariance field.
Definition: registers.h:587
vn::sensors::FilterMeasurementsVarianceParametersRegister::magneticVariance
vn::math::vec3f magneticVariance
The magneticVariance field.
Definition: registers.h:175
vn::sensors::InsStateLlaRegister::velocity
vn::math::vec3f velocity
The velocity field.
Definition: registers.h:1083
vn::sensors::ImuFilteringConfigurationRegister::gyroFilterMode
protocol::uart::FilterMode gyroFilterMode
The gyroFilterMode field.
Definition: registers.h:1283
vn::sensors::VpeMagnetometerAdvancedTuningRegister::maxTuning
float maxTuning
The maxTuning field.
Definition: registers.h:500
vn::sensors::ImuFilteringConfigurationRegister::tempWindowSize
uint16_t tempWindowSize
The tempWindowSize field.
Definition: registers.h:1279
vn::sensors::BinaryOutputRegister::gpsField
protocol::uart::GpsGroup gpsField
Group 4 (GPS)
Definition: registers.h:31
vn::sensors::GpsConfigurationRegister::ppsSource
protocol::uart::PpsSource ppsSource
The ppsSource field.
Definition: registers.h:746
vn::sensors::CommunicationProtocolControlRegister::errorMode
protocol::uart::ErrorMode errorMode
The errorMode field.
Definition: registers.h:308
vn::sensors::ImuFilteringConfigurationRegister::accelWindowSize
uint16_t accelWindowSize
The accelWindowSize field.
Definition: registers.h:1277
vn::sensors::InsSolutionLlaRegister::posUncertainty
float posUncertainty
The posUncertainty field.
Definition: registers.h:871
vn::sensors::VpeAccelerometerAdvancedTuningRegister::maxAdaptRate
float maxAdaptRate
The maxAdaptRate field.
Definition: registers.h:556
vn::sensors::InsSolutionEcefRegister::yawPitchRoll
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:916
vn::sensors::FilterActiveTuningParametersRegister::FilterActiveTuningParametersRegister
FilterActiveTuningParametersRegister(float magneticDisturbanceGainIn, float accelerationDisturbanceGainIn, float magneticDisturbanceMemoryIn, float accelerationDisturbanceMemoryIn)
Creates an initializes a new FilterActiveTuningParametersRegister structure.
Definition: registers.h:236
vn::sensors::InsStateLlaRegister::position
vn::math::vec3d position
The position field.
Definition: registers.h:1082
vn::sensors::FilterBasicControlRegister::extGyroMode
protocol::uart::ExternalSensorMode extGyroMode
The extGyroMode field.
Definition: registers.h:412
vn::sensors::VpeMagnetometerAdvancedTuningRegister
Structure representing the VPE Magnetometer Advanced Tuning register.
Definition: registers.h:494
vn::sensors::VpeAccelerometerAdvancedTuningRegister::minFiltering
vn::math::vec3f minFiltering
The minFiltering field.
Definition: registers.h:554
vn::sensors::StartupFilterBiasEstimateRegister::pressureBias
float pressureBias
The pressureBias field.
Definition: registers.h:1149
vn::sensors::SynchronizationControlRegister::syncOutMode
protocol::uart::SyncOutMode syncOutMode
The syncOutMode field.
Definition: registers.h:346
vn::sensors::MagneticAccelerationAndAngularRatesRegister::gyro
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:129
vn::sensors::QuaternionMagneticAccelerationAndAngularRatesRegister::QuaternionMagneticAccelerationAndAngularRatesRegister
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
vn::sensors::InsAdvancedConfigurationRegister::InsAdvancedConfigurationRegister
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
vn::sensors::CommunicationProtocolControlRegister::serialCount
protocol::uart::CountMode serialCount
The serialCount field.
Definition: registers.h:302
vn::sensors::InsSolutionEcefRegister::attUncertainty
float attUncertainty
The attUncertainty field.
Definition: registers.h:919
vn::sensors::FilterBasicControlRegister::gyroLimit
vn::math::vec3f gyroLimit
The gyroLimit field.
Definition: registers.h:413
vn::sensors::InsBasicConfigurationRegisterVn300::ahrsAiding
bool ahrsAiding
The ahrsAiding field.
Definition: registers.h:984
vn::sensors::VpeMagnetometerAdvancedTuningRegister::VpeMagnetometerAdvancedTuningRegister
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::sensors::InsStateLlaRegister::yawPitchRoll
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:1081
vn::sensors::ReferenceVectorConfigurationRegister::year
float year
The year field.
Definition: registers.h:1225
vn::sensors::InsBasicConfigurationRegisterVn300::estBaseline
bool estBaseline
The estBaseline field.
Definition: registers.h:985
vn::sensors::YawPitchRollTrueInertialAccelerationAndAngularRatesRegister::inertialAccel
vn::math::vec3f inertialAccel
The inertialAccel field.
Definition: registers.h:1434
vn::sensors::DeltaThetaAndDeltaVelocityConfigurationRegister::DeltaThetaAndDeltaVelocityConfigurationRegister
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::sensors::GpsSolutionLlaRegister::nedVel
vn::math::vec3f nedVel
The nedVel field.
Definition: registers.h:771
vn::sensors::VpeAccelerometerBasicTuningRegister::adaptiveTuning
vn::math::vec3f adaptiveTuning
The adaptiveTuning field.
Definition: registers.h:530
vn::sensors::InsSolutionLlaRegister::InsSolutionLlaRegister
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
vector.h
vn::sensors::InsAdvancedConfigurationRegister::useFoam
protocol::uart::FoamInit useFoam
The useFoam field.
Definition: registers.h:1013
vn::sensors::ImuFilteringConfigurationRegister::ImuFilteringConfigurationRegister
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
vn::sensors::ImuFilteringConfigurationRegister::presWindowSize
uint16_t presWindowSize
The presWindowSize field.
Definition: registers.h:1280
vn::sensors::InsSolutionEcefRegister::velocity
vn::math::vec3f velocity
The velocity field.
Definition: registers.h:918
vn::sensors::GpsSolutionLlaRegister::gpsFix
protocol::uart::GpsFix gpsFix
The gpsFix field.
Definition: registers.h:768
vn::sensors::ImuFilteringConfigurationRegister::gyroWindowSize
uint16_t gyroWindowSize
The gyroWindowSize field.
Definition: registers.h:1278
vn::sensors::SynchronizationStatusRegister::syncInTime
uint32_t syncInTime
The syncInTime field.
Definition: registers.h:385
vn::sensors::InsAdvancedConfigurationRegister::usePres
bool usePres
The usePres field.
Definition: registers.h:1009
vn::sensors::BinaryOutputRegister::imuField
protocol::uart::ImuGroup imuField
Group 3 (IMU)
Definition: registers.h:30
vn::sensors::ReferenceVectorConfigurationRegister::recalcThreshold
uint32_t recalcThreshold
The recalcThreshold field.
Definition: registers.h:1224
vn::sensors::CommunicationProtocolControlRegister::serialStatus
protocol::uart::StatusMode serialStatus
The serialStatus field.
Definition: registers.h:303
vn::sensors::VpeBasicControlRegister
Structure representing the VPE Basic Control register.
Definition: registers.h:440
vn::sensors::VelocityCompensationControlRegister::mode
protocol::uart::VelocityCompensationMode mode
The mode field.
Definition: registers.h:658
vn::sensors::YawPitchRollMagneticAccelerationAndAngularRatesRegister::gyro
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:276
vn::sensors::VpeMagnetometerAdvancedTuningRegister::maxFiltering
vn::math::vec3f maxFiltering
The maxFiltering field.
Definition: registers.h:497
vn::sensors::SynchronizationControlRegister
Structure representing the Synchronization Control register.
Definition: registers.h:341
vn::sensors::FilterBasicControlRegister::extMagMode
protocol::uart::ExternalSensorMode extMagMode
The extMagMode field.
Definition: registers.h:410
vn::sensors::InsAdvancedConfigurationRegister::moveOrigin
float moveOrigin
The moveOrigin field.
Definition: registers.h:1017
vn::sensors::FilterMeasurementsVarianceParametersRegister::FilterMeasurementsVarianceParametersRegister
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
vn::sensors::GpsConfigurationRegister
Structure representing the GPS Configuration register.
Definition: registers.h:743
vn::sensors::GpsSolutionLlaRegister::nedAcc
vn::math::vec3f nedAcc
The nedAcc field.
Definition: registers.h:772
vn::sensors::InsSolutionEcefRegister::velUncertainty
float velUncertainty
The velUncertainty field.
Definition: registers.h:921
vn::sensors::YawPitchRollTrueBodyAccelerationAndAngularRatesRegister::gyro
vn::math::vec3f gyro
The gyro field.
Definition: registers.h:1410
vn::sensors::GpsCompassBaselineRegister::GpsCompassBaselineRegister
GpsCompassBaselineRegister(vn::math::vec3f positionIn, vn::math::vec3f uncertaintyIn)
Creates an initializes a new GpsCompassBaselineRegister structure.
Definition: registers.h:1338
vn::sensors::GpsSolutionEcefRegister::GpsSolutionEcefRegister
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::sensors::VelocityCompensationStatusRegister::accelOffset
vn::math::vec3f accelOffset
The accelOffset field.
Definition: registers.h:685
vn::sensors::GpsCompassEstimatedBaselineRegister::estBaselineUsed
bool estBaselineUsed
The estBaselineUsed field.
Definition: registers.h:1350
vn::sensors::InsAdvancedConfigurationRegister::minVelUncertainty
float minVelUncertainty
The minVelUncertainty field.
Definition: registers.h:1022
vn::sensors::InsBasicConfigurationRegisterVn300::InsBasicConfigurationRegisterVn300
InsBasicConfigurationRegisterVn300(protocol::uart::Scenario scenarioIn, bool ahrsAidingIn, bool estBaselineIn)
Creates an initializes a new InsBasicConfigurationRegisterVn300 structure.
Definition: registers.h:994
vn::sensors::GpsSolutionLlaRegister::numSats
uint8_t numSats
The numSats field.
Definition: registers.h:769
vn::sensors::StartupFilterBiasEstimateRegister::StartupFilterBiasEstimateRegister
StartupFilterBiasEstimateRegister(vn::math::vec3f gyroBiasIn, vn::math::vec3f accelBiasIn, float pressureBiasIn)
Creates an initializes a new StartupFilterBiasEstimateRegister structure.
Definition: registers.h:1158
vn::sensors::InsStateLlaRegister::accel
vn::math::vec3f accel
The accel field.
Definition: registers.h:1084
vn::sensors::SynchronizationControlRegister::syncInSkipFactor
uint16_t syncInSkipFactor
The syncInSkipFactor field.
Definition: registers.h:345
vn::sensors::GpsCompassBaselineRegister::uncertainty
vn::math::vec3f uncertainty
The uncertainty field.
Definition: registers.h:1330
vn::sensors::MagnetometerCompensationRegister::c
vn::math::mat3f c
The c field.
Definition: registers.h:202
vn::sensors::GpsSolutionEcefRegister
Structure representing the GPS Solution - ECEF register.
Definition: registers.h:813
vn::sensors::SynchronizationControlRegister::syncOutPolarity
protocol::uart::SyncOutPolarity syncOutPolarity
The syncOutPolarity field.
Definition: registers.h:347
vn::sensors::QuaternionMagneticAccelerationAndAngularRatesRegister
Structure representing the Quaternion, Magnetic, Acceleration and Angular Rates register.
Definition: registers.h:96
vn::sensors::ImuFilteringConfigurationRegister::presFilterMode
protocol::uart::FilterMode presFilterMode
The presFilterMode field.
Definition: registers.h:1285
vn::sensors::MagneticAccelerationAndAngularRatesRegister
Structure representing the Magnetic, Acceleration and Angular Rates register.
Definition: registers.h:125
vn
Definition: attitude.h:8
vn::sensors::InsAdvancedConfigurationRegister::posAtt
bool posAtt
The posAtt field.
Definition: registers.h:1010
vn::sensors::VelocityCompensationControlRegister
Structure representing the Velocity Compensation Control register.
Definition: registers.h:656
vn::sensors::CalculatedMagnetometerCalibrationRegister
Structure representing the Calculated Magnetometer Calibration register.
Definition: registers.h:635
vn::sensors::InsSolutionLlaRegister::time
double time
The time field.
Definition: registers.h:864
vn::sensors::InsAdvancedConfigurationRegister::deltaLimitVel
float deltaLimitVel
The deltaLimitVel field.
Definition: registers.h:1020
vn::sensors::CommunicationProtocolControlRegister::CommunicationProtocolControlRegister
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::sensors::GpsCompassEstimatedBaselineRegister::position
vn::math::vec3f position
The position field.
Definition: registers.h:1352
vn::sensors::DeltaThetaAndDeltaVelocityRegister::deltaTime
float deltaTime
The deltaTime field.
Definition: registers.h:1172
vn::sensors::ReferenceVectorConfigurationRegister
Structure representing the Reference Vector Configuration register.
Definition: registers.h:1220
vn::sensors::InsSolutionLlaRegister::velUncertainty
float velUncertainty
The velUncertainty field.
Definition: registers.h:872
vn::sensors::DeltaThetaAndDeltaVelocityConfigurationRegister::gyroCompensation
protocol::uart::CompensationMode gyroCompensation
The gyroCompensation field.
Definition: registers.h:1198
vn::sensors::BinaryOutputRegister
Structure representing a Binary Output register.
Definition: registers.h:24
vn::sensors::CommunicationProtocolControlRegister
Structure representing the Communication Protocol Control register.
Definition: registers.h:300
vn::sensors::InsAdvancedConfigurationRegister::velCount
uint8_t velCount
The velCount field.
Definition: registers.h:1015
vn::sensors::ImuMeasurementsRegister::pressure
float pressure
The pressure field.
Definition: registers.h:716
vn::sensors::BinaryOutputRegister::attitudeField
protocol::uart::AttitudeGroup attitudeField
Group 5 (Attitude)
Definition: registers.h:32
vn::sensors::FilterBasicControlRegister::FilterBasicControlRegister
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
vn::sensors::DeltaThetaAndDeltaVelocityConfigurationRegister
Structure representing the Delta Theta and Delta Velocity Configuration register. ...
Definition: registers.h:1195
vn::sensors::GpsConfigurationRegister::GpsConfigurationRegister
GpsConfigurationRegister(protocol::uart::GpsMode modeIn, protocol::uart::PpsSource ppsSourceIn)
Creates an initializes a new GpsConfigurationRegister structure.
Definition: registers.h:754
vn::sensors::VpeAccelerometerBasicTuningRegister::VpeAccelerometerBasicTuningRegister
VpeAccelerometerBasicTuningRegister(vn::math::vec3f baseTuningIn, vn::math::vec3f adaptiveTuningIn, vn::math::vec3f adaptiveFilteringIn)
Creates an initializes a new VpeAccelerometerBasicTuningRegister structure.
Definition: registers.h:540
vn::sensors::GpsCompassEstimatedBaselineRegister::GpsCompassEstimatedBaselineRegister
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
vn::sensors::InsAdvancedConfigurationRegister::velAtt
bool velAtt
The velAtt field.
Definition: registers.h:1011
vn::sensors::YawPitchRollMagneticAccelerationAndAngularRatesRegister::YawPitchRollMagneticAccelerationAndAngularRatesRegister
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
vn::sensors::InsSolutionEcefRegister::InsSolutionEcefRegister
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
vn::sensors::VpeMagnetometerAdvancedTuningRegister::maxAdaptRate
float maxAdaptRate
The maxAdaptRate field.
Definition: registers.h:498
vn::sensors::AccelerationCompensationRegister::c
vn::math::mat3f c
The c field.
Definition: registers.h:252
vn::sensors::ImuRateConfigurationRegister::imuRate
uint16_t imuRate
The imuRate field.
Definition: registers.h:1379
vn::sensors::ReferenceVectorConfigurationRegister::useGravityModel
bool useGravityModel
The useGravityModel field.
Definition: registers.h:1223
vn::sensors::VpeMagnetometerBasicTuningRegister::VpeMagnetometerBasicTuningRegister
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::sensors::CalculatedMagnetometerCalibrationRegister::b
vn::math::vec3f b
The b field.
Definition: registers.h:638
vn::sensors::BinaryOutputRegister::asyncMode
protocol::uart::AsyncMode asyncMode
The asyncMode field.
Definition: registers.h:26
vn::sensors::GyroCompensationRegister::GyroCompensationRegister
GyroCompensationRegister(vn::math::mat3f cIn, vn::math::vec3f bIn)
Creates an initializes a new GyroCompensationRegister structure.
Definition: registers.h:1264
vn::sensors::InsSolutionLlaRegister::attUncertainty
float attUncertainty
The attUncertainty field.
Definition: registers.h:870
vn::sensors::VpeAccelerometerAdvancedTuningRegister
Structure representing the VPE Accelerometer Advanced Tuning register.
Definition: registers.h:552
vn::sensors::VpeMagnetometerBasicTuningRegister
Structure representing the VPE Magnetometer Basic Tuning register.
Definition: registers.h:469
vn::sensors::MagnetometerCalibrationControlRegister
Structure representing the Magnetometer Calibration Control register.
Definition: registers.h:610
vn::sensors::InsStateLlaRegister
Structure representing the INS State - LLA register.
Definition: registers.h:1079
vn::sensors::InsSolutionLlaRegister::yawPitchRoll
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:867
vn::sensors::VpeMagnetometerAdvancedTuningRegister::disturbanceWindow
float disturbanceWindow
The disturbanceWindow field.
Definition: registers.h:499
vn::sensors::DeltaThetaAndDeltaVelocityRegister
Structure representing the Delta Theta and Delta Velocity register.
Definition: registers.h:1170
vn::sensors::YawPitchRollMagneticAccelerationAndAngularRatesRegister::accel
vn::math::vec3f accel
The accel field.
Definition: registers.h:275
vn::sensors::GpsConfigurationRegister::mode
protocol::uart::GpsMode mode
The mode field.
Definition: registers.h:745
vn::sensors::ImuRateConfigurationRegister::filterTargetRate
float filterTargetRate
The filterTargetRate field.
Definition: registers.h:1381
vn::sensors::VpeAccelerometerAdvancedTuningRegister::disturbanceWindow
float disturbanceWindow
The disturbanceWindow field.
Definition: registers.h:557
vn::sensors::ImuMeasurementsRegister::ImuMeasurementsRegister
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::sensors::MagneticAccelerationAndAngularRatesRegister::accel
vn::math::vec3f accel
The accel field.
Definition: registers.h:128
vn::sensors::InsAdvancedConfigurationRegister::useMag
bool useMag
The useMag field.
Definition: registers.h:1008
vn::sensors::GpsSolutionEcefRegister::numSats
uint8_t numSats
The numSats field.
Definition: registers.h:818
vn::sensors::InsStateLlaRegister::angularRate
vn::math::vec3f angularRate
The angularRate field.
Definition: registers.h:1085
vn::sensors::FilterActiveTuningParametersRegister
Structure representing the Filter Active Tuning Parameters register.
Definition: registers.h:221
vn::sensors::DeltaThetaAndDeltaVelocityRegister::deltaVelocity
vn::math::vec3f deltaVelocity
The deltaVelocity field.
Definition: registers.h:1174
vn::sensors::SynchronizationControlRegister::SynchronizationControlRegister
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::sensors::QuaternionMagneticAccelerationAndAngularRatesRegister::quat
vn::math::vec4f quat
The quat field.
Definition: registers.h:98
vn::sensors::InsStateEcefRegister::yawPitchRoll
vn::math::vec3f yawPitchRoll
The yawPitchRoll field.
Definition: registers.h:1114
vn::sensors::ImuMeasurementsRegister
Structure representing the IMU Measurements register.
Definition: registers.h:710