From c4d610a3a04c971a71c52e1365de773792a86980 Mon Sep 17 00:00:00 2001
From: "r.koeppe" <rkoeppe.uni@outlook.de>
Date: Thu, 6 Jun 2024 11:36:09 +0200
Subject: [PATCH] interface library

---
 .../include/vn-interface/math/vector.h        | 20 ++++++++++---------
 vn-interface/include/vn-interface/registers.h | 10 ++++++++--
 2 files changed, 19 insertions(+), 11 deletions(-)

diff --git a/vn-interface/include/vn-interface/math/vector.h b/vn-interface/include/vn-interface/math/vector.h
index d22f25b..6a62433 100644
--- a/vn-interface/include/vn-interface/math/vector.h
+++ b/vn-interface/include/vn-interface/math/vector.h
@@ -1,5 +1,7 @@
 #ifndef VN_VECTOR_H_INCLUDED
 #define VN_VECTOR_H_INCLUDED
+#include <cstring>
+#include <stdio.h>
 
 /** \brief Various vector types and operations. */
 
@@ -9,7 +11,7 @@ extern "C" {
 
 /** \brief Represents a 3 component vector with an underlying data type of
  *  <c>float</c>. */
-typedef union {
+typedef union vec3f {
   float c[3]; /**< Indexable. */
 
   struct {
@@ -23,12 +25,12 @@ typedef union {
     float c1; /**< Component 1. */
     float c2; /**< Component 2. */
   };
-
-} vec3f;
+  vec3f() { std::memset(this, 0, sizeof(vec3f)); }
+};
 
 /** \brief Represents a 3 component vector with an underlying data type of
  *  <c>double</c>. */
-typedef union {
+typedef union vec3d {
   double c[3]; /**< Indexable. */
 
   struct {
@@ -42,12 +44,12 @@ typedef union {
     double c1; /**< Component 1. */
     double c2; /**< Component 2. */
   };
-
-} vec3d;
+  vec3d() { std::memset(this, 0, sizeof(vec3d)); }
+};
 
 /** \brief Represents a 4 component vector with an underlying data type of
  *  <c>float</c>. */
-typedef union {
+typedef union vec4f {
   float c[4]; /**< Indexable. */
 
   struct {
@@ -63,8 +65,8 @@ typedef union {
     float c2; /**< Component 2. */
     float c3; /**< Component 2. */
   };
-
-} vec4f;
+  vec4f() { std::memset(this, 0, sizeof(vec4f)); }
+};
 
 /** \brief Initializes a 3-dimensional float vector from an float array.
  *
diff --git a/vn-interface/include/vn-interface/registers.h b/vn-interface/include/vn-interface/registers.h
index bebd403..0604dde 100644
--- a/vn-interface/include/vn-interface/registers.h
+++ b/vn-interface/include/vn-interface/registers.h
@@ -402,7 +402,7 @@ typedef struct {
 } VelocityCompensationStatusRegister;
 
 /** \brief Structure representing the IMU Measurements register. */
-typedef struct {
+typedef struct ImuMeasurementsRegister {
   /** \brief The Mag field. */
   vec3f mag;
 
@@ -418,7 +418,11 @@ typedef struct {
   /** \brief The Pressure field. */
   float pressure;
 
-} ImuMeasurementsRegister;
+  ImuMeasurementsRegister() {
+    temp = 0.0;
+    pressure = 0.0;
+  };
+};
 
 /** \brief Structure representing the GPS Configuration register. */
 typedef struct {
@@ -821,6 +825,8 @@ typedef struct {
 
 } YawPitchRollTrueBodyAccelerationAndAngularRatesRegister;
 
+const uint16_t YawPitchRollTrueBodyAccelerationAndAngularRatesRegisterID = 239;
+
 /** \brief Structure representing the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register. */
 typedef struct {
   /** \brief The YawPitchRoll field. */