Register Access Methods

This group of methods provide access to read and write to the sensor's registers. More...

Functions
BinaryOutputRegister	vn::sensors::VnSensor::readBinaryOutput1 ()
	Reads the Binary Output 1 register. More...
void	vn::sensors::VnSensor::writeBinaryOutput1 (BinaryOutputRegister &fields, bool waitForReply=true)
	Writes to the Binary Output 1 register. More...
BinaryOutputRegister	vn::sensors::VnSensor::readBinaryOutput2 ()
	Reads the Binary Output 2 register. More...
void	vn::sensors::VnSensor::writeBinaryOutput2 (BinaryOutputRegister &fields, bool waitForReply=true)
	Writes to the Binary Output 2 register. More...
BinaryOutputRegister	vn::sensors::VnSensor::readBinaryOutput3 ()
	Reads the Binary Output 3 register. More...
void	vn::sensors::VnSensor::writeBinaryOutput3 (BinaryOutputRegister &fields, bool waitForReply=true)
	Writes to the Binary Output 3 register. More...
uint32_t	vn::sensors::VnSensor::readSerialBaudRate (uint8_t port)
	Reads the Serial Baud Rate register for the specified port. More...
void	vn::sensors::VnSensor::writeSerialBaudRate (const uint32_t &baudrate, uint8_t port, bool waitForReply=true)
	Writes to the Serial Baud Rate register for the specified port. More...
protocol::uart::AsciiAsync	vn::sensors::VnSensor::readAsyncDataOutputType (uint8_t port)
	Reads the Async Data Output Type register. More...
void	vn::sensors::VnSensor::writeAsyncDataOutputType (protocol::uart::AsciiAsync ador, uint8_t port, bool waitForReply=true)
	Writes to the Async Data Output Type register. More...
uint32_t	vn::sensors::VnSensor::readAsyncDataOutputFrequency (uint8_t port)
	Reads the Async Data Output Frequency register. More...
void	vn::sensors::VnSensor::writeAsyncDataOutputFrequency (const uint32_t &adof, uint8_t port, bool waitForReply=true)
	Writes to the Async Data Output Frequency register. More...
InsBasicConfigurationRegisterVn200	vn::sensors::VnSensor::readInsBasicConfigurationVn200 ()
	Reads the INS Basic Configuration register for a VN-200 sensor. More...
void	vn::sensors::VnSensor::writeInsBasicConfigurationVn200 (InsBasicConfigurationRegisterVn200 &fields, bool waitForReply=true)
	Writes to the INS Basic Configuration register for a VN-200 sensor. More...
void	vn::sensors::VnSensor::writeInsBasicConfigurationVn200 (protocol::uart::Scenario scenario, const uint8_t &ahrsAiding, bool waitForReply=true)
	Writes to the INS Basic Configuration register for a VN-200 sensor. More...
InsBasicConfigurationRegisterVn300	vn::sensors::VnSensor::readInsBasicConfigurationVn300 ()
	Reads the INS Basic Configuration register for a VN-300 sensor. More...
void	vn::sensors::VnSensor::writeInsBasicConfigurationVn300 (InsBasicConfigurationRegisterVn300 &fields, bool waitForReply=true)
	Writes to the INS Basic Configuration register for a VN-300 sensor. More...
void	vn::sensors::VnSensor::writeInsBasicConfigurationVn300 (protocol::uart::Scenario scenario, const uint8_t &ahrsAiding, const uint8_t &estBaseline, bool waitForReply=true)
	Writes to the INS Basic Configuration register for a VN-300 sensor. More...
std::string	vn::sensors::VnSensor::readUserTag ()
	Reads the User Tag register. More...
void	vn::sensors::VnSensor::writeUserTag (const std::string &tag, bool waitForReply=true)
	Writes to the User Tag register. More...
std::string	vn::sensors::VnSensor::readModelNumber ()
	Reads the Model Number register. More...
uint32_t	vn::sensors::VnSensor::readHardwareRevision ()
	Reads the Hardware Revision register. More...
uint32_t	vn::sensors::VnSensor::readSerialNumber ()
	Reads the Serial Number register. More...
std::string	vn::sensors::VnSensor::readFirmwareVersion ()
	Reads the Firmware Version register. More...
uint32_t	vn::sensors::VnSensor::readSerialBaudRate ()
	Reads the Serial Baud Rate register. More...
void	vn::sensors::VnSensor::writeSerialBaudRate (const uint32_t &baudrate, bool waitForReply=true)
	Writes to the Serial Baud Rate register. More...
protocol::uart::AsciiAsync	vn::sensors::VnSensor::readAsyncDataOutputType ()
	Reads the Async Data Output Type register. More...
void	vn::sensors::VnSensor::writeAsyncDataOutputType (protocol::uart::AsciiAsync ador, bool waitForReply=true)
	Writes to the Async Data Output Type register. More...
uint32_t	vn::sensors::VnSensor::readAsyncDataOutputFrequency ()
	Reads the Async Data Output Frequency register. More...
void	vn::sensors::VnSensor::writeAsyncDataOutputFrequency (const uint32_t &adof, bool waitForReply=true)
	Writes to the Async Data Output Frequency register. More...
vn::math::vec3f	vn::sensors::VnSensor::readYawPitchRoll ()
	Reads the Yaw Pitch Roll register. More...
vn::math::vec4f	vn::sensors::VnSensor::readAttitudeQuaternion ()
	Reads the Attitude Quaternion register. More...
QuaternionMagneticAccelerationAndAngularRatesRegister	vn::sensors::VnSensor::readQuaternionMagneticAccelerationAndAngularRates ()
	Reads the Quaternion, Magnetic, Acceleration and Angular Rates register. More...
vn::math::vec3f	vn::sensors::VnSensor::readMagneticMeasurements ()
	Reads the Magnetic Measurements register. More...
vn::math::vec3f	vn::sensors::VnSensor::readAccelerationMeasurements ()
	Reads the Acceleration Measurements register. More...
vn::math::vec3f	vn::sensors::VnSensor::readAngularRateMeasurements ()
	Reads the Angular Rate Measurements register. More...
MagneticAccelerationAndAngularRatesRegister	vn::sensors::VnSensor::readMagneticAccelerationAndAngularRates ()
	Reads the Magnetic, Acceleration and Angular Rates register. More...
MagneticAndGravityReferenceVectorsRegister	vn::sensors::VnSensor::readMagneticAndGravityReferenceVectors ()
	Reads the Magnetic and Gravity Reference Vectors register. More...
void	vn::sensors::VnSensor::writeMagneticAndGravityReferenceVectors (MagneticAndGravityReferenceVectorsRegister &fields, bool waitForReply=true)
	Writes to the Magnetic and Gravity Reference Vectors register. More...
void	vn::sensors::VnSensor::writeMagneticAndGravityReferenceVectors (const vn::math::vec3f &magRef, const vn::math::vec3f &accRef, bool waitForReply=true)
	Writes to the Magnetic and Gravity Reference Vectors register. More...
FilterMeasurementsVarianceParametersRegister	vn::sensors::VnSensor::readFilterMeasurementsVarianceParameters ()
	Reads the Filter Measurements Variance Parameters register. More...
void	vn::sensors::VnSensor::writeFilterMeasurementsVarianceParameters (FilterMeasurementsVarianceParametersRegister &fields, bool waitForReply=true)
	Writes to the Filter Measurements Variance Parameters register. More...
void	vn::sensors::VnSensor::writeFilterMeasurementsVarianceParameters (const float &angularWalkVariance, const vn::math::vec3f &angularRateVariance, const vn::math::vec3f &magneticVariance, const vn::math::vec3f &accelerationVariance, bool waitForReply=true)
	Writes to the Filter Measurements Variance Parameters register. More...
MagnetometerCompensationRegister	vn::sensors::VnSensor::readMagnetometerCompensation ()
	Reads the Magnetometer Compensation register. More...
void	vn::sensors::VnSensor::writeMagnetometerCompensation (MagnetometerCompensationRegister &fields, bool waitForReply=true)
	Writes to the Magnetometer Compensation register. More...
void	vn::sensors::VnSensor::writeMagnetometerCompensation (const vn::math::mat3f &c, const vn::math::vec3f &b, bool waitForReply=true)
	Writes to the Magnetometer Compensation register. More...
FilterActiveTuningParametersRegister	vn::sensors::VnSensor::readFilterActiveTuningParameters ()
	Reads the Filter Active Tuning Parameters register. More...
void	vn::sensors::VnSensor::writeFilterActiveTuningParameters (FilterActiveTuningParametersRegister &fields, bool waitForReply=true)
	Writes to the Filter Active Tuning Parameters register. More...
void	vn::sensors::VnSensor::writeFilterActiveTuningParameters (const float &magneticDisturbanceGain, const float &accelerationDisturbanceGain, const float &magneticDisturbanceMemory, const float &accelerationDisturbanceMemory, bool waitForReply=true)
	Writes to the Filter Active Tuning Parameters register. More...
AccelerationCompensationRegister	vn::sensors::VnSensor::readAccelerationCompensation ()
	Reads the Acceleration Compensation register. More...
void	vn::sensors::VnSensor::writeAccelerationCompensation (AccelerationCompensationRegister &fields, bool waitForReply=true)
	Writes to the Acceleration Compensation register. More...
void	vn::sensors::VnSensor::writeAccelerationCompensation (const vn::math::mat3f &c, const vn::math::vec3f &b, bool waitForReply=true)
	Writes to the Acceleration Compensation register. More...
vn::math::mat3f	vn::sensors::VnSensor::readReferenceFrameRotation ()
	Reads the Reference Frame Rotation register. More...
void	vn::sensors::VnSensor::writeReferenceFrameRotation (const vn::math::mat3f &c, bool waitForReply=true)
	Writes to the Reference Frame Rotation register. More...
YawPitchRollMagneticAccelerationAndAngularRatesRegister	vn::sensors::VnSensor::readYawPitchRollMagneticAccelerationAndAngularRates ()
	Reads the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register. More...
CommunicationProtocolControlRegister	vn::sensors::VnSensor::readCommunicationProtocolControl ()
	Reads the Communication Protocol Control register. More...
void	vn::sensors::VnSensor::writeCommunicationProtocolControl (CommunicationProtocolControlRegister &fields, bool waitForReply=true)
	Writes to the Communication Protocol Control register. More...
void	vn::sensors::VnSensor::writeCommunicationProtocolControl (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, bool waitForReply=true)
	Writes to the Communication Protocol Control register. More...
SynchronizationControlRegister	vn::sensors::VnSensor::readSynchronizationControl ()
	Reads the Synchronization Control register. More...
void	vn::sensors::VnSensor::writeSynchronizationControl (SynchronizationControlRegister &fields, bool waitForReply=true)
	Writes to the Synchronization Control register. More...
void	vn::sensors::VnSensor::writeSynchronizationControl (protocol::uart::SyncInMode syncInMode, protocol::uart::SyncInEdge syncInEdge, const uint16_t &syncInSkipFactor, protocol::uart::SyncOutMode syncOutMode, protocol::uart::SyncOutPolarity syncOutPolarity, const uint16_t &syncOutSkipFactor, const uint32_t &syncOutPulseWidth, bool waitForReply=true)
	Writes to the Synchronization Control register. More...
SynchronizationStatusRegister	vn::sensors::VnSensor::readSynchronizationStatus ()
	Reads the Synchronization Status register. More...
void	vn::sensors::VnSensor::writeSynchronizationStatus (SynchronizationStatusRegister &fields, bool waitForReply=true)
	Writes to the Synchronization Status register. More...
void	vn::sensors::VnSensor::writeSynchronizationStatus (const uint32_t &syncInCount, const uint32_t &syncInTime, const uint32_t &syncOutCount, bool waitForReply=true)
	Writes to the Synchronization Status register. More...
FilterBasicControlRegister	vn::sensors::VnSensor::readFilterBasicControl ()
	Reads the Filter Basic Control register. More...
void	vn::sensors::VnSensor::writeFilterBasicControl (FilterBasicControlRegister &fields, bool waitForReply=true)
	Writes to the Filter Basic Control register. More...
void	vn::sensors::VnSensor::writeFilterBasicControl (protocol::uart::MagneticMode magMode, protocol::uart::ExternalSensorMode extMagMode, protocol::uart::ExternalSensorMode extAccMode, protocol::uart::ExternalSensorMode extGyroMode, const vn::math::vec3f &gyroLimit, bool waitForReply=true)
	Writes to the Filter Basic Control register. More...
VpeBasicControlRegister	vn::sensors::VnSensor::readVpeBasicControl ()
	Reads the VPE Basic Control register. More...
void	vn::sensors::VnSensor::writeVpeBasicControl (VpeBasicControlRegister &fields, bool waitForReply=true)
	Writes to the VPE Basic Control register. More...
void	vn::sensors::VnSensor::writeVpeBasicControl (protocol::uart::VpeEnable enable, protocol::uart::HeadingMode headingMode, protocol::uart::VpeMode filteringMode, protocol::uart::VpeMode tuningMode, bool waitForReply=true)
	Writes to the VPE Basic Control register. More...
VpeMagnetometerBasicTuningRegister	vn::sensors::VnSensor::readVpeMagnetometerBasicTuning ()
	Reads the VPE Magnetometer Basic Tuning register. More...
void	vn::sensors::VnSensor::writeVpeMagnetometerBasicTuning (VpeMagnetometerBasicTuningRegister &fields, bool waitForReply=true)
	Writes to the VPE Magnetometer Basic Tuning register. More...
void	vn::sensors::VnSensor::writeVpeMagnetometerBasicTuning (const vn::math::vec3f &baseTuning, const vn::math::vec3f &adaptiveTuning, const vn::math::vec3f &adaptiveFiltering, bool waitForReply=true)
	Writes to the VPE Magnetometer Basic Tuning register. More...
VpeMagnetometerAdvancedTuningRegister	vn::sensors::VnSensor::readVpeMagnetometerAdvancedTuning ()
	Reads the VPE Magnetometer Advanced Tuning register. More...
void	vn::sensors::VnSensor::writeVpeMagnetometerAdvancedTuning (VpeMagnetometerAdvancedTuningRegister &fields, bool waitForReply=true)
	Writes to the VPE Magnetometer Advanced Tuning register. More...
void	vn::sensors::VnSensor::writeVpeMagnetometerAdvancedTuning (const vn::math::vec3f &minFiltering, const vn::math::vec3f &maxFiltering, const float &maxAdaptRate, const float &disturbanceWindow, const float &maxTuning, bool waitForReply=true)
	Writes to the VPE Magnetometer Advanced Tuning register. More...
VpeAccelerometerBasicTuningRegister	vn::sensors::VnSensor::readVpeAccelerometerBasicTuning ()
	Reads the VPE Accelerometer Basic Tuning register. More...
void	vn::sensors::VnSensor::writeVpeAccelerometerBasicTuning (VpeAccelerometerBasicTuningRegister &fields, bool waitForReply=true)
	Writes to the VPE Accelerometer Basic Tuning register. More...
void	vn::sensors::VnSensor::writeVpeAccelerometerBasicTuning (const vn::math::vec3f &baseTuning, const vn::math::vec3f &adaptiveTuning, const vn::math::vec3f &adaptiveFiltering, bool waitForReply=true)
	Writes to the VPE Accelerometer Basic Tuning register. More...
VpeAccelerometerAdvancedTuningRegister	vn::sensors::VnSensor::readVpeAccelerometerAdvancedTuning ()
	Reads the VPE Accelerometer Advanced Tuning register. More...
void	vn::sensors::VnSensor::writeVpeAccelerometerAdvancedTuning (VpeAccelerometerAdvancedTuningRegister &fields, bool waitForReply=true)
	Writes to the VPE Accelerometer Advanced Tuning register. More...
void	vn::sensors::VnSensor::writeVpeAccelerometerAdvancedTuning (const vn::math::vec3f &minFiltering, const vn::math::vec3f &maxFiltering, const float &maxAdaptRate, const float &disturbanceWindow, const float &maxTuning, bool waitForReply=true)
	Writes to the VPE Accelerometer Advanced Tuning register. More...
VpeGyroBasicTuningRegister	vn::sensors::VnSensor::readVpeGyroBasicTuning ()
	Reads the VPE Gyro Basic Tuning register. More...
void	vn::sensors::VnSensor::writeVpeGyroBasicTuning (VpeGyroBasicTuningRegister &fields, bool waitForReply=true)
	Writes to the VPE Gyro Basic Tuning register. More...
void	vn::sensors::VnSensor::writeVpeGyroBasicTuning (const vn::math::vec3f &angularWalkVariance, const vn::math::vec3f &baseTuning, const vn::math::vec3f &adaptiveTuning, bool waitForReply=true)
	Writes to the VPE Gyro Basic Tuning register. More...
vn::math::vec3f	vn::sensors::VnSensor::readFilterStartupGyroBias ()
	Reads the Filter Startup Gyro Bias register. More...
void	vn::sensors::VnSensor::writeFilterStartupGyroBias (const vn::math::vec3f &bias, bool waitForReply=true)
	Writes to the Filter Startup Gyro Bias register. More...
MagnetometerCalibrationControlRegister	vn::sensors::VnSensor::readMagnetometerCalibrationControl ()
	Reads the Magnetometer Calibration Control register. More...
void	vn::sensors::VnSensor::writeMagnetometerCalibrationControl (MagnetometerCalibrationControlRegister &fields, bool waitForReply=true)
	Writes to the Magnetometer Calibration Control register. More...
void	vn::sensors::VnSensor::writeMagnetometerCalibrationControl (protocol::uart::HsiMode hsiMode, protocol::uart::HsiOutput hsiOutput, const uint8_t &convergeRate, bool waitForReply=true)
	Writes to the Magnetometer Calibration Control register. More...
CalculatedMagnetometerCalibrationRegister	vn::sensors::VnSensor::readCalculatedMagnetometerCalibration ()
	Reads the Calculated Magnetometer Calibration register. More...
float	vn::sensors::VnSensor::readIndoorHeadingModeControl ()
	Reads the Indoor Heading Mode Control register. More...
void	vn::sensors::VnSensor::writeIndoorHeadingModeControl (const float &maxRateError, bool waitForReply=true)
	Writes to the Indoor Heading Mode Control register. More...
vn::math::vec3f	vn::sensors::VnSensor::readVelocityCompensationMeasurement ()
	Reads the Velocity Compensation Measurement register. More...
void	vn::sensors::VnSensor::writeVelocityCompensationMeasurement (const vn::math::vec3f &velocity, bool waitForReply=true)
	Writes to the Velocity Compensation Measurement register. More...
VelocityCompensationControlRegister	vn::sensors::VnSensor::readVelocityCompensationControl ()
	Reads the Velocity Compensation Control register. More...
void	vn::sensors::VnSensor::writeVelocityCompensationControl (VelocityCompensationControlRegister &fields, bool waitForReply=true)
	Writes to the Velocity Compensation Control register. More...
void	vn::sensors::VnSensor::writeVelocityCompensationControl (protocol::uart::VelocityCompensationMode mode, const float &velocityTuning, const float &rateTuning, bool waitForReply=true)
	Writes to the Velocity Compensation Control register. More...
VelocityCompensationStatusRegister	vn::sensors::VnSensor::readVelocityCompensationStatus ()
	Reads the Velocity Compensation Status register. More...
ImuMeasurementsRegister	vn::sensors::VnSensor::readImuMeasurements ()
	Reads the IMU Measurements register. More...
GpsConfigurationRegister	vn::sensors::VnSensor::readGpsConfiguration ()
	Reads the GPS Configuration register. More...
void	vn::sensors::VnSensor::writeGpsConfiguration (GpsConfigurationRegister &fields, bool waitForReply=true)
	Writes to the GPS Configuration register. More...
void	vn::sensors::VnSensor::writeGpsConfiguration (protocol::uart::GpsMode mode, protocol::uart::PpsSource ppsSource, bool waitForReply=true)
	Writes to the GPS Configuration register. More...
vn::math::vec3f	vn::sensors::VnSensor::readGpsAntennaOffset ()
	Reads the GPS Antenna Offset register. More...
void	vn::sensors::VnSensor::writeGpsAntennaOffset (const vn::math::vec3f &position, bool waitForReply=true)
	Writes to the GPS Antenna Offset register. More...
GpsSolutionLlaRegister	vn::sensors::VnSensor::readGpsSolutionLla ()
	Reads the GPS Solution - LLA register. More...
GpsSolutionEcefRegister	vn::sensors::VnSensor::readGpsSolutionEcef ()
	Reads the GPS Solution - ECEF register. More...
InsSolutionLlaRegister	vn::sensors::VnSensor::readInsSolutionLla ()
	Reads the INS Solution - LLA register. More...
InsSolutionEcefRegister	vn::sensors::VnSensor::readInsSolutionEcef ()
	Reads the INS Solution - ECEF register. More...
InsAdvancedConfigurationRegister	vn::sensors::VnSensor::readInsAdvancedConfiguration ()
	Reads the INS Advanced Configuration register. More...
void	vn::sensors::VnSensor::writeInsAdvancedConfiguration (InsAdvancedConfigurationRegister &fields, bool waitForReply=true)
	Writes to the INS Advanced Configuration register. More...
void	vn::sensors::VnSensor::writeInsAdvancedConfiguration (const uint8_t &useMag, const uint8_t &usePres, const uint8_t &posAtt, const uint8_t &velAtt, const uint8_t &velBias, protocol::uart::FoamInit useFoam, const uint8_t &gpsCovType, const uint8_t &velCount, const float &velInit, const float &moveOrigin, const float &gpsTimeout, const float &deltaLimitPos, const float &deltaLimitVel, const float &minPosUncertainty, const float &minVelUncertainty, bool waitForReply=true)
	Writes to the INS Advanced Configuration register. More...
InsStateLlaRegister	vn::sensors::VnSensor::readInsStateLla ()
	Reads the INS State - LLA register. More...
InsStateEcefRegister	vn::sensors::VnSensor::readInsStateEcef ()
	Reads the INS State - ECEF register. More...
StartupFilterBiasEstimateRegister	vn::sensors::VnSensor::readStartupFilterBiasEstimate ()
	Reads the Startup Filter Bias Estimate register. More...
void	vn::sensors::VnSensor::writeStartupFilterBiasEstimate (StartupFilterBiasEstimateRegister &fields, bool waitForReply=true)
	Writes to the Startup Filter Bias Estimate register. More...
void	vn::sensors::VnSensor::writeStartupFilterBiasEstimate (const vn::math::vec3f &gyroBias, const vn::math::vec3f &accelBias, const float &pressureBias, bool waitForReply=true)
	Writes to the Startup Filter Bias Estimate register. More...
DeltaThetaAndDeltaVelocityRegister	vn::sensors::VnSensor::readDeltaThetaAndDeltaVelocity ()
	Reads the Delta Theta and Delta Velocity register. More...
DeltaThetaAndDeltaVelocityConfigurationRegister	vn::sensors::VnSensor::readDeltaThetaAndDeltaVelocityConfiguration ()
	Reads the Delta Theta and Delta Velocity Configuration register. More...
void	vn::sensors::VnSensor::writeDeltaThetaAndDeltaVelocityConfiguration (DeltaThetaAndDeltaVelocityConfigurationRegister &fields, bool waitForReply=true)
	Writes to the Delta Theta and Delta Velocity Configuration register. More...
void	vn::sensors::VnSensor::writeDeltaThetaAndDeltaVelocityConfiguration (protocol::uart::IntegrationFrame integrationFrame, protocol::uart::CompensationMode gyroCompensation, protocol::uart::CompensationMode accelCompensation, bool waitForReply=true)
	Writes to the Delta Theta and Delta Velocity Configuration register. More...
ReferenceVectorConfigurationRegister	vn::sensors::VnSensor::readReferenceVectorConfiguration ()
	Reads the Reference Vector Configuration register. More...
void	vn::sensors::VnSensor::writeReferenceVectorConfiguration (ReferenceVectorConfigurationRegister &fields, bool waitForReply=true)
	Writes to the Reference Vector Configuration register. More...
void	vn::sensors::VnSensor::writeReferenceVectorConfiguration (const uint8_t &useMagModel, const uint8_t &useGravityModel, const uint32_t &recalcThreshold, const float &year, const vn::math::vec3d &position, bool waitForReply=true)
	Writes to the Reference Vector Configuration register. More...
GyroCompensationRegister	vn::sensors::VnSensor::readGyroCompensation ()
	Reads the Gyro Compensation register. More...
void	vn::sensors::VnSensor::writeGyroCompensation (GyroCompensationRegister &fields, bool waitForReply=true)
	Writes to the Gyro Compensation register. More...
void	vn::sensors::VnSensor::writeGyroCompensation (const vn::math::mat3f &c, const vn::math::vec3f &b, bool waitForReply=true)
	Writes to the Gyro Compensation register. More...
ImuFilteringConfigurationRegister	vn::sensors::VnSensor::readImuFilteringConfiguration ()
	Reads the IMU Filtering Configuration register. More...
void	vn::sensors::VnSensor::writeImuFilteringConfiguration (ImuFilteringConfigurationRegister &fields, bool waitForReply=true)
	Writes to the IMU Filtering Configuration register. More...
void	vn::sensors::VnSensor::writeImuFilteringConfiguration (const uint16_t &magWindowSize, const uint16_t &accelWindowSize, const uint16_t &gyroWindowSize, const uint16_t &tempWindowSize, const uint16_t &presWindowSize, protocol::uart::FilterMode magFilterMode, protocol::uart::FilterMode accelFilterMode, protocol::uart::FilterMode gyroFilterMode, protocol::uart::FilterMode tempFilterMode, protocol::uart::FilterMode presFilterMode, bool waitForReply=true)
	Writes to the IMU Filtering Configuration register. More...
GpsCompassBaselineRegister	vn::sensors::VnSensor::readGpsCompassBaseline ()
	Reads the GPS Compass Baseline register. More...
void	vn::sensors::VnSensor::writeGpsCompassBaseline (GpsCompassBaselineRegister &fields, bool waitForReply=true)
	Writes to the GPS Compass Baseline register. More...
void	vn::sensors::VnSensor::writeGpsCompassBaseline (const vn::math::vec3f &position, const vn::math::vec3f &uncertainty, bool waitForReply=true)
	Writes to the GPS Compass Baseline register. More...
GpsCompassEstimatedBaselineRegister	vn::sensors::VnSensor::readGpsCompassEstimatedBaseline ()
	Reads the GPS Compass Estimated Baseline register. More...
ImuRateConfigurationRegister	vn::sensors::VnSensor::readImuRateConfiguration ()
	Reads the IMU Rate Configuration register. More...
void	vn::sensors::VnSensor::writeImuRateConfiguration (ImuRateConfigurationRegister &fields, bool waitForReply=true)
	Writes to the IMU Rate Configuration register. More...
void	vn::sensors::VnSensor::writeImuRateConfiguration (const uint16_t &imuRate, const uint16_t &navDivisor, const float &filterTargetRate, const float &filterMinRate, bool waitForReply=true)
	Writes to the IMU Rate Configuration register. More...
YawPitchRollTrueBodyAccelerationAndAngularRatesRegister	vn::sensors::VnSensor::readYawPitchRollTrueBodyAccelerationAndAngularRates ()
	Reads the Yaw, Pitch, Roll, True Body Acceleration and Angular Rates register. More...
YawPitchRollTrueInertialAccelerationAndAngularRatesRegister	vn::sensors::VnSensor::readYawPitchRollTrueInertialAccelerationAndAngularRates ()
	Reads the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register. More...

Detailed Description

This group of methods provide access to read and write to the sensor's registers.

Function Documentation

AccelerationCompensationRegister vn::sensors::VnSensor::readAccelerationCompensation

(

)

Reads the Acceleration Compensation register.

Returns

The register's values.

vn::math::vec3f vn::sensors::VnSensor::readAccelerationMeasurements

(

)

Reads the Acceleration Measurements register.

Returns

The register's values.

vn::math::vec3f vn::sensors::VnSensor::readAngularRateMeasurements

(

)

Reads the Angular Rate Measurements register.

Returns

The register's values.

uint32_t vn::sensors::VnSensor::readAsyncDataOutputFrequency

(

uint8_t

port

)

Reads the Async Data Output Frequency register.

Parameters

[in]

port

The port number to read from.

Returns

The register's values.

Examples:

getting_started/main.cpp.

uint32_t vn::sensors::VnSensor::readAsyncDataOutputFrequency

(

)

Reads the Async Data Output Frequency register.

Returns

The register's values.

protocol::uart::AsciiAsync vn::sensors::VnSensor::readAsyncDataOutputType

(

uint8_t

port

)

Reads the Async Data Output Type register.

Parameters

[in]

port

The port number to read from.

Returns

The register's values.

Examples:

getting_started/main.cpp.

protocol::uart::AsciiAsync vn::sensors::VnSensor::readAsyncDataOutputType

(

)

Reads the Async Data Output Type register.

Returns

The register's values.

vn::math::vec4f vn::sensors::VnSensor::readAttitudeQuaternion

(

)

Reads the Attitude Quaternion register.

Returns

The register's values.

BinaryOutputRegister vn::sensors::VnSensor::readBinaryOutput1

(

)

Reads the Binary Output 1 register.

Returns

The register's values.

BinaryOutputRegister vn::sensors::VnSensor::readBinaryOutput2

(

)

Reads the Binary Output 2 register.

Returns

The register's values.

BinaryOutputRegister vn::sensors::VnSensor::readBinaryOutput3

(

)

Reads the Binary Output 3 register.

Returns

The register's values.

CalculatedMagnetometerCalibrationRegister vn::sensors::VnSensor::readCalculatedMagnetometerCalibration

(

)

Reads the Calculated Magnetometer Calibration register.

Returns

The register's values.

CommunicationProtocolControlRegister vn::sensors::VnSensor::readCommunicationProtocolControl

(

)

Reads the Communication Protocol Control register.

Returns

The register's values.

DeltaThetaAndDeltaVelocityRegister vn::sensors::VnSensor::readDeltaThetaAndDeltaVelocity

(

)

Reads the Delta Theta and Delta Velocity register.

Returns

The register's values.

DeltaThetaAndDeltaVelocityConfigurationRegister vn::sensors::VnSensor::readDeltaThetaAndDeltaVelocityConfiguration

(

)

Reads the Delta Theta and Delta Velocity Configuration register.

Returns

The register's values.

FilterActiveTuningParametersRegister vn::sensors::VnSensor::readFilterActiveTuningParameters

(

)

Reads the Filter Active Tuning Parameters register.

Returns

The register's values.

FilterBasicControlRegister vn::sensors::VnSensor::readFilterBasicControl

(

)

Reads the Filter Basic Control register.

Returns

The register's values.

FilterMeasurementsVarianceParametersRegister vn::sensors::VnSensor::readFilterMeasurementsVarianceParameters

(

)

Reads the Filter Measurements Variance Parameters register.

Returns

The register's values.

vn::math::vec3f vn::sensors::VnSensor::readFilterStartupGyroBias

(

)

Reads the Filter Startup Gyro Bias register.

Returns

The register's values.

std::string vn::sensors::VnSensor::readFirmwareVersion

(

)

Reads the Firmware Version register.

Returns

The register's values.

vn::math::vec3f vn::sensors::VnSensor::readGpsAntennaOffset

(

)

Reads the GPS Antenna Offset register.

Returns

The register's values.

GpsCompassBaselineRegister vn::sensors::VnSensor::readGpsCompassBaseline

(

)

Reads the GPS Compass Baseline register.

Returns

The register's values.

GpsCompassEstimatedBaselineRegister vn::sensors::VnSensor::readGpsCompassEstimatedBaseline

(

)

Reads the GPS Compass Estimated Baseline register.

Returns

The register's values.

GpsConfigurationRegister vn::sensors::VnSensor::readGpsConfiguration

(

)

Reads the GPS Configuration register.

Returns

The register's values.

GpsSolutionEcefRegister vn::sensors::VnSensor::readGpsSolutionEcef

(

)

Reads the GPS Solution - ECEF register.

Returns

The register's values.

GpsSolutionLlaRegister vn::sensors::VnSensor::readGpsSolutionLla

(

)

Reads the GPS Solution - LLA register.

Returns

The register's values.

GyroCompensationRegister vn::sensors::VnSensor::readGyroCompensation

(

)

Reads the Gyro Compensation register.

Returns

The register's values.

uint32_t vn::sensors::VnSensor::readHardwareRevision

(

)

Reads the Hardware Revision register.

Returns

The register's values.

ImuFilteringConfigurationRegister vn::sensors::VnSensor::readImuFilteringConfiguration

(

)

Reads the IMU Filtering Configuration register.

Returns

The register's values.

ImuMeasurementsRegister vn::sensors::VnSensor::readImuMeasurements

(

)

Reads the IMU Measurements register.

Returns

The register's values.

ImuRateConfigurationRegister vn::sensors::VnSensor::readImuRateConfiguration

(

)

Reads the IMU Rate Configuration register.

Returns

The register's values.

float vn::sensors::VnSensor::readIndoorHeadingModeControl

(

)

Reads the Indoor Heading Mode Control register.

Returns

The register's values.

InsAdvancedConfigurationRegister vn::sensors::VnSensor::readInsAdvancedConfiguration

(

)

Reads the INS Advanced Configuration register.

Returns

The register's values.

InsBasicConfigurationRegisterVn200 vn::sensors::VnSensor::readInsBasicConfigurationVn200

(

)

Reads the INS Basic Configuration register for a VN-200 sensor.

Returns

The register's values.

InsBasicConfigurationRegisterVn300 vn::sensors::VnSensor::readInsBasicConfigurationVn300

(

)

Reads the INS Basic Configuration register for a VN-300 sensor.

Returns

The register's values.

InsSolutionEcefRegister vn::sensors::VnSensor::readInsSolutionEcef

(

)

Reads the INS Solution - ECEF register.

Returns

The register's values.

InsSolutionLlaRegister vn::sensors::VnSensor::readInsSolutionLla

(

)

Reads the INS Solution - LLA register.

Returns

The register's values.

InsStateEcefRegister vn::sensors::VnSensor::readInsStateEcef

(

)

Reads the INS State - ECEF register.

Returns

The register's values.

InsStateLlaRegister vn::sensors::VnSensor::readInsStateLla

(

)

Reads the INS State - LLA register.

Returns

The register's values.

MagneticAccelerationAndAngularRatesRegister vn::sensors::VnSensor::readMagneticAccelerationAndAngularRates

(

)

Reads the Magnetic, Acceleration and Angular Rates register.

Returns

The register's values.

MagneticAndGravityReferenceVectorsRegister vn::sensors::VnSensor::readMagneticAndGravityReferenceVectors

(

)

Reads the Magnetic and Gravity Reference Vectors register.

Returns

The register's values.

vn::math::vec3f vn::sensors::VnSensor::readMagneticMeasurements

(

)

Reads the Magnetic Measurements register.

Returns

The register's values.

MagnetometerCalibrationControlRegister vn::sensors::VnSensor::readMagnetometerCalibrationControl

(

)

Reads the Magnetometer Calibration Control register.

Returns

The register's values.

MagnetometerCompensationRegister vn::sensors::VnSensor::readMagnetometerCompensation

(

)

Reads the Magnetometer Compensation register.

Returns

The register's values.

std::string vn::sensors::VnSensor::readModelNumber

(

)

Reads the Model Number register.

Returns

The register's values.

Examples:

getting_started/main.cpp.

QuaternionMagneticAccelerationAndAngularRatesRegister vn::sensors::VnSensor::readQuaternionMagneticAccelerationAndAngularRates

(

)

Reads the Quaternion, Magnetic, Acceleration and Angular Rates register.

Returns

The register's values.

vn::math::mat3f vn::sensors::VnSensor::readReferenceFrameRotation

(

)

Reads the Reference Frame Rotation register.

Returns

The register's values.

ReferenceVectorConfigurationRegister vn::sensors::VnSensor::readReferenceVectorConfiguration

(

)

Reads the Reference Vector Configuration register.

Returns

The register's values.

uint32_t vn::sensors::VnSensor::readSerialBaudRate

(

uint8_t

port

)

Reads the Serial Baud Rate register for the specified port.

Parameters

[in]

port

The port number to read from.

Returns

The register's values.

uint32_t vn::sensors::VnSensor::readSerialBaudRate

(

)

Reads the Serial Baud Rate register.

Returns

The register's values.

uint32_t vn::sensors::VnSensor::readSerialNumber

(

)

Reads the Serial Number register.

Returns

The register's values.

StartupFilterBiasEstimateRegister vn::sensors::VnSensor::readStartupFilterBiasEstimate

(

)

Reads the Startup Filter Bias Estimate register.

Returns

The register's values.

SynchronizationControlRegister vn::sensors::VnSensor::readSynchronizationControl

(

)

Reads the Synchronization Control register.

Returns

The register's values.

SynchronizationStatusRegister vn::sensors::VnSensor::readSynchronizationStatus

(

)

Reads the Synchronization Status register.

Returns

The register's values.

std::string vn::sensors::VnSensor::readUserTag

(

)

Reads the User Tag register.

Returns

The register's values.

VelocityCompensationControlRegister vn::sensors::VnSensor::readVelocityCompensationControl

(

)

Reads the Velocity Compensation Control register.

Returns

The register's values.

vn::math::vec3f vn::sensors::VnSensor::readVelocityCompensationMeasurement

(

)

Reads the Velocity Compensation Measurement register.

Returns

The register's values.

VelocityCompensationStatusRegister vn::sensors::VnSensor::readVelocityCompensationStatus

(

)

Reads the Velocity Compensation Status register.

Returns

The register's values.

VpeAccelerometerAdvancedTuningRegister vn::sensors::VnSensor::readVpeAccelerometerAdvancedTuning

(

)

Reads the VPE Accelerometer Advanced Tuning register.

Returns

The register's values.

VpeAccelerometerBasicTuningRegister vn::sensors::VnSensor::readVpeAccelerometerBasicTuning

(

)

Reads the VPE Accelerometer Basic Tuning register.

Returns

The register's values.

VpeBasicControlRegister vn::sensors::VnSensor::readVpeBasicControl

(

)

Reads the VPE Basic Control register.

Returns

The register's values.

Examples:

getting_started/main.cpp.

VpeGyroBasicTuningRegister vn::sensors::VnSensor::readVpeGyroBasicTuning

(

)

Reads the VPE Gyro Basic Tuning register.

Returns

The register's values.

VpeMagnetometerAdvancedTuningRegister vn::sensors::VnSensor::readVpeMagnetometerAdvancedTuning

(

)

Reads the VPE Magnetometer Advanced Tuning register.

Returns

The register's values.

VpeMagnetometerBasicTuningRegister vn::sensors::VnSensor::readVpeMagnetometerBasicTuning

(

)

Reads the VPE Magnetometer Basic Tuning register.

Returns

The register's values.

vn::math::vec3f vn::sensors::VnSensor::readYawPitchRoll

(

)

Reads the Yaw Pitch Roll register.

Returns

The register's values.

Examples:

getting_started/main.cpp.

YawPitchRollMagneticAccelerationAndAngularRatesRegister vn::sensors::VnSensor::readYawPitchRollMagneticAccelerationAndAngularRates

(

)

Reads the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register.

Returns

The register's values.

Examples:

getting_started/main.cpp.

YawPitchRollTrueBodyAccelerationAndAngularRatesRegister vn::sensors::VnSensor::readYawPitchRollTrueBodyAccelerationAndAngularRates

(

)

Reads the Yaw, Pitch, Roll, True Body Acceleration and Angular Rates register.

Returns

The register's values.

YawPitchRollTrueInertialAccelerationAndAngularRatesRegister vn::sensors::VnSensor::readYawPitchRollTrueInertialAccelerationAndAngularRates

(

)

Reads the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register.

Returns

The register's values.

void vn::sensors::VnSensor::writeAccelerationCompensation	(	AccelerationCompensationRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Acceleration Compensation register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeAccelerationCompensation	(	const vn::math::mat3f &	c,
		const vn::math::vec3f &	b,
		bool	waitForReply = true
	)

Writes to the Acceleration Compensation register.

Parameters

[in]	c	Value for the C field.
[in]	b	Value for the B field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeAsyncDataOutputFrequency	(	const uint32_t &	adof,
		uint8_t	port,
		bool	waitForReply = true
	)

Writes to the Async Data Output Frequency register.

Parameters

[in]	adof	The register's ADOF field.
[in]	port	The port number to write to.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

Examples:

getting_started/main.cpp.

void vn::sensors::VnSensor::writeAsyncDataOutputFrequency	(	const uint32_t &	adof,
		bool	waitForReply = true
	)

Writes to the Async Data Output Frequency register.

Parameters

[in]	adof	The register's ADOF field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeAsyncDataOutputType	(	protocol::uart::AsciiAsync	ador,
		uint8_t	port,
		bool	waitForReply = true
	)

Writes to the Async Data Output Type register.

Parameters

[in]	ador	The register's ADOR field.
[in]	port	The port number to write to.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

Examples:

ez_async_data/main.cpp, and getting_started/main.cpp.

void vn::sensors::VnSensor::writeAsyncDataOutputType	(	protocol::uart::AsciiAsync	ador,
		bool	waitForReply = true
	)

Writes to the Async Data Output Type register.

Parameters

[in]	ador	The register's ADOR field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeBinaryOutput1	(	BinaryOutputRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Binary Output 1 register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

Examples:

getting_started/main.cpp.

void vn::sensors::VnSensor::writeBinaryOutput2	(	BinaryOutputRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Binary Output 2 register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeBinaryOutput3	(	BinaryOutputRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Binary Output 3 register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeCommunicationProtocolControl	(	CommunicationProtocolControlRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Communication Protocol Control register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeCommunicationProtocolControl	(	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,
		bool	waitForReply = true
	)

Writes to the Communication Protocol Control register.

Parameters

[in]	serialCount	Value for the SerialCount field.
[in]	serialStatus	Value for the SerialStatus field.
[in]	spiCount	Value for the SPICount field.
[in]	spiStatus	Value for the SPIStatus field.
[in]	serialChecksum	Value for the SerialChecksum field.
[in]	spiChecksum	Value for the SPIChecksum field.
[in]	errorMode	Value for the ErrorMode field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeDeltaThetaAndDeltaVelocityConfiguration	(	DeltaThetaAndDeltaVelocityConfigurationRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Delta Theta and Delta Velocity Configuration register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeDeltaThetaAndDeltaVelocityConfiguration	(	protocol::uart::IntegrationFrame	integrationFrame,
		protocol::uart::CompensationMode	gyroCompensation,
		protocol::uart::CompensationMode	accelCompensation,
		bool	waitForReply = true
	)

Writes to the Delta Theta and Delta Velocity Configuration register.

Parameters

[in]	integrationFrame	Value for the IntegrationFrame field.
[in]	gyroCompensation	Value for the GyroCompensation field.
[in]	accelCompensation	Value for the AccelCompensation field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeFilterActiveTuningParameters	(	FilterActiveTuningParametersRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Filter Active Tuning Parameters register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeFilterActiveTuningParameters	(	const float &	magneticDisturbanceGain,
		const float &	accelerationDisturbanceGain,
		const float &	magneticDisturbanceMemory,
		const float &	accelerationDisturbanceMemory,
		bool	waitForReply = true
	)

Writes to the Filter Active Tuning Parameters register.

Parameters

[in]	magneticDisturbanceGain	Value for the Magnetic Disturbance Gain field.
[in]	accelerationDisturbanceGain	Value for the Acceleration Disturbance Gain field.
[in]	magneticDisturbanceMemory	Value for the Magnetic Disturbance Memory field.
[in]	accelerationDisturbanceMemory	Value for the Acceleration Disturbance Memory field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeFilterBasicControl	(	FilterBasicControlRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Filter Basic Control register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeFilterBasicControl	(	protocol::uart::MagneticMode	magMode,
		protocol::uart::ExternalSensorMode	extMagMode,
		protocol::uart::ExternalSensorMode	extAccMode,
		protocol::uart::ExternalSensorMode	extGyroMode,
		const vn::math::vec3f &	gyroLimit,
		bool	waitForReply = true
	)

Writes to the Filter Basic Control register.

Parameters

[in]	magMode	Value for the MagMode field.
[in]	extMagMode	Value for the ExtMagMode field.
[in]	extAccMode	Value for the ExtAccMode field.
[in]	extGyroMode	Value for the ExtGyroMode field.
[in]	gyroLimit	Value for the GyroLimit field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeFilterMeasurementsVarianceParameters	(	FilterMeasurementsVarianceParametersRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Filter Measurements Variance Parameters register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeFilterMeasurementsVarianceParameters	(	const float &	angularWalkVariance,
		const vn::math::vec3f &	angularRateVariance,
		const vn::math::vec3f &	magneticVariance,
		const vn::math::vec3f &	accelerationVariance,
		bool	waitForReply = true
	)

Writes to the Filter Measurements Variance Parameters register.

Parameters

[in]	angularWalkVariance	Value for the Angular Walk Variance field.
[in]	angularRateVariance	Value for the Angular Rate Variance field.
[in]	magneticVariance	Value for the Magnetic Variance field.
[in]	accelerationVariance	Value for the Acceleration Variance field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeFilterStartupGyroBias	(	const vn::math::vec3f &	bias,
		bool	waitForReply = true
	)

Writes to the Filter Startup Gyro Bias register.

Parameters

[in]	bias	The register's Bias field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeGpsAntennaOffset	(	const vn::math::vec3f &	position,
		bool	waitForReply = true
	)

Writes to the GPS Antenna Offset register.

Parameters

[in]	position	The register's Position field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeGpsCompassBaseline	(	GpsCompassBaselineRegister &	fields,
		bool	waitForReply = true
	)

Writes to the GPS Compass Baseline register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeGpsCompassBaseline	(	const vn::math::vec3f &	position,
		const vn::math::vec3f &	uncertainty,
		bool	waitForReply = true
	)

Writes to the GPS Compass Baseline register.

Parameters

[in]	position	Value for the Position field.
[in]	uncertainty	Value for the Uncertainty field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeGpsConfiguration	(	GpsConfigurationRegister &	fields,
		bool	waitForReply = true
	)

Writes to the GPS Configuration register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeGpsConfiguration	(	protocol::uart::GpsMode	mode,
		protocol::uart::PpsSource	ppsSource,
		bool	waitForReply = true
	)

Writes to the GPS Configuration register.

Parameters

[in]	mode	Value for the Mode field.
[in]	ppsSource	Value for the PpsSource field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeGyroCompensation	(	GyroCompensationRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Gyro Compensation register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeGyroCompensation	(	const vn::math::mat3f &	c,
		const vn::math::vec3f &	b,
		bool	waitForReply = true
	)

Writes to the Gyro Compensation register.

Parameters

[in]	c	Value for the C field.
[in]	b	Value for the B field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeImuFilteringConfiguration	(	ImuFilteringConfigurationRegister &	fields,
		bool	waitForReply = true
	)

Writes to the IMU Filtering Configuration register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeImuFilteringConfiguration	(	const uint16_t &	magWindowSize,
		const uint16_t &	accelWindowSize,
		const uint16_t &	gyroWindowSize,
		const uint16_t &	tempWindowSize,
		const uint16_t &	presWindowSize,
		protocol::uart::FilterMode	magFilterMode,
		protocol::uart::FilterMode	accelFilterMode,
		protocol::uart::FilterMode	gyroFilterMode,
		protocol::uart::FilterMode	tempFilterMode,
		protocol::uart::FilterMode	presFilterMode,
		bool	waitForReply = true
	)

Writes to the IMU Filtering Configuration register.

Parameters

[in]	magWindowSize	Value for the MagWindowSize field.
[in]	accelWindowSize	Value for the AccelWindowSize field.
[in]	gyroWindowSize	Value for the GyroWindowSize field.
[in]	tempWindowSize	Value for the TempWindowSize field.
[in]	presWindowSize	Value for the PresWindowSize field.
[in]	magFilterMode	Value for the MagFilterMode field.
[in]	accelFilterMode	Value for the AccelFilterMode field.
[in]	gyroFilterMode	Value for the GyroFilterMode field.
[in]	tempFilterMode	Value for the TempFilterMode field.
[in]	presFilterMode	Value for the PresFilterMode field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeImuRateConfiguration	(	ImuRateConfigurationRegister &	fields,
		bool	waitForReply = true
	)

Writes to the IMU Rate Configuration register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeImuRateConfiguration	(	const uint16_t &	imuRate,
		const uint16_t &	navDivisor,
		const float &	filterTargetRate,
		const float &	filterMinRate,
		bool	waitForReply = true
	)

Writes to the IMU Rate Configuration register.

Parameters

[in]	imuRate	Value for the imuRate field.
[in]	navDivisor	Value for the NavDivisor field.
[in]	filterTargetRate	Value for the filterTargetRate field.
[in]	filterMinRate	Value for the filterMinRate field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeIndoorHeadingModeControl	(	const float &	maxRateError,
		bool	waitForReply = true
	)

Writes to the Indoor Heading Mode Control register.

Parameters

[in]	maxRateError	The register's Max Rate Error field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeInsAdvancedConfiguration	(	InsAdvancedConfigurationRegister &	fields,
		bool	waitForReply = true
	)

Writes to the INS Advanced Configuration register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeInsAdvancedConfiguration	(	const uint8_t &	useMag,
		const uint8_t &	usePres,
		const uint8_t &	posAtt,
		const uint8_t &	velAtt,
		const uint8_t &	velBias,
		protocol::uart::FoamInit	useFoam,
		const uint8_t &	gpsCovType,
		const uint8_t &	velCount,
		const float &	velInit,
		const float &	moveOrigin,
		const float &	gpsTimeout,
		const float &	deltaLimitPos,
		const float &	deltaLimitVel,
		const float &	minPosUncertainty,
		const float &	minVelUncertainty,
		bool	waitForReply = true
	)

Writes to the INS Advanced Configuration register.

Parameters

[in]	useMag	Value for the UseMag field.
[in]	usePres	Value for the UsePres field.
[in]	posAtt	Value for the PosAtt field.
[in]	velAtt	Value for the VelAtt field.
[in]	velBias	Value for the VelBias field.
[in]	useFoam	Value for the UseFoam field.
[in]	gpsCovType	Value for the GPSCovType field.
[in]	velCount	Value for the VelCount field.
[in]	velInit	Value for the VelInit field.
[in]	moveOrigin	Value for the MoveOrigin field.
[in]	gpsTimeout	Value for the GPSTimeout field.
[in]	deltaLimitPos	Value for the DeltaLimitPos field.
[in]	deltaLimitVel	Value for the DeltaLimitVel field.
[in]	minPosUncertainty	Value for the MinPosUncertainty field.
[in]	minVelUncertainty	Value for the MinVelUncertainty field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeInsBasicConfigurationVn200	(	InsBasicConfigurationRegisterVn200 &	fields,
		bool	waitForReply = true
	)

Writes to the INS Basic Configuration register for a VN-200 sensor.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeInsBasicConfigurationVn200	(	protocol::uart::Scenario	scenario,
		const uint8_t &	ahrsAiding,
		bool	waitForReply = true
	)

Writes to the INS Basic Configuration register for a VN-200 sensor.

Parameters

[in]	scenario	Value for the Scenario field.
[in]	ahrsAiding	Value for the AhrsAiding field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeInsBasicConfigurationVn300	(	InsBasicConfigurationRegisterVn300 &	fields,
		bool	waitForReply = true
	)

Writes to the INS Basic Configuration register for a VN-300 sensor.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeInsBasicConfigurationVn300	(	protocol::uart::Scenario	scenario,
		const uint8_t &	ahrsAiding,
		const uint8_t &	estBaseline,
		bool	waitForReply = true
	)

Writes to the INS Basic Configuration register for a VN-300 sensor.

Parameters

[in]	scenario	Value for the Scenario field.
[in]	ahrsAiding	Value for the AhrsAiding field.
[in]	estBaseline	Value for the EstBaseline field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeMagneticAndGravityReferenceVectors	(	MagneticAndGravityReferenceVectorsRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Magnetic and Gravity Reference Vectors register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeMagneticAndGravityReferenceVectors	(	const vn::math::vec3f &	magRef,
		const vn::math::vec3f &	accRef,
		bool	waitForReply = true
	)

Writes to the Magnetic and Gravity Reference Vectors register.

Parameters

[in]	magRef	Value for the MagRef field.
[in]	accRef	Value for the AccRef field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeMagnetometerCalibrationControl	(	MagnetometerCalibrationControlRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Magnetometer Calibration Control register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeMagnetometerCalibrationControl	(	protocol::uart::HsiMode	hsiMode,
		protocol::uart::HsiOutput	hsiOutput,
		const uint8_t &	convergeRate,
		bool	waitForReply = true
	)

Writes to the Magnetometer Calibration Control register.

Parameters

[in]	hsiMode	Value for the HSIMode field.
[in]	hsiOutput	Value for the HSIOutput field.
[in]	convergeRate	Value for the ConvergeRate field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeMagnetometerCompensation	(	MagnetometerCompensationRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Magnetometer Compensation register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeMagnetometerCompensation	(	const vn::math::mat3f &	c,
		const vn::math::vec3f &	b,
		bool	waitForReply = true
	)

Writes to the Magnetometer Compensation register.

Parameters

[in]	c	Value for the C field.
[in]	b	Value for the B field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeReferenceFrameRotation	(	const vn::math::mat3f &	c,
		bool	waitForReply = true
	)

Writes to the Reference Frame Rotation register.

Parameters

[in]	c	The register's C field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeReferenceVectorConfiguration	(	ReferenceVectorConfigurationRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Reference Vector Configuration register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeReferenceVectorConfiguration	(	const uint8_t &	useMagModel,
		const uint8_t &	useGravityModel,
		const uint32_t &	recalcThreshold,
		const float &	year,
		const vn::math::vec3d &	position,
		bool	waitForReply = true
	)

Writes to the Reference Vector Configuration register.

Parameters

[in]	useMagModel	Value for the UseMagModel field.
[in]	useGravityModel	Value for the UseGravityModel field.
[in]	recalcThreshold	Value for the RecalcThreshold field.
[in]	year	Value for the Year field.
[in]	position	Value for the Position field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeSerialBaudRate	(	const uint32_t &	baudrate,
		uint8_t	port,
		bool	waitForReply = true
	)

Writes to the Serial Baud Rate register for the specified port.

Parameters

[in]	baudrate	The register's Baud Rate field.
[in]	port	The port number to write to.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeSerialBaudRate	(	const uint32_t &	baudrate,
		bool	waitForReply = true
	)

Writes to the Serial Baud Rate register.

Parameters

[in]	baudrate	The register's Baud Rate field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeStartupFilterBiasEstimate	(	StartupFilterBiasEstimateRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Startup Filter Bias Estimate register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeStartupFilterBiasEstimate	(	const vn::math::vec3f &	gyroBias,
		const vn::math::vec3f &	accelBias,
		const float &	pressureBias,
		bool	waitForReply = true
	)

Writes to the Startup Filter Bias Estimate register.

Parameters

[in]	gyroBias	Value for the GyroBias field.
[in]	accelBias	Value for the AccelBias field.
[in]	pressureBias	Value for the PressureBias field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeSynchronizationControl	(	SynchronizationControlRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Synchronization Control register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeSynchronizationControl	(	protocol::uart::SyncInMode	syncInMode,
		protocol::uart::SyncInEdge	syncInEdge,
		const uint16_t &	syncInSkipFactor,
		protocol::uart::SyncOutMode	syncOutMode,
		protocol::uart::SyncOutPolarity	syncOutPolarity,
		const uint16_t &	syncOutSkipFactor,
		const uint32_t &	syncOutPulseWidth,
		bool	waitForReply = true
	)

Writes to the Synchronization Control register.

Parameters

[in]	syncInMode	Value for the SyncInMode field.
[in]	syncInEdge	Value for the SyncInEdge field.
[in]	syncInSkipFactor	Value for the SyncInSkipFactor field.
[in]	syncOutMode	Value for the SyncOutMode field.
[in]	syncOutPolarity	Value for the SyncOutPolarity field.
[in]	syncOutSkipFactor	Value for the SyncOutSkipFactor field.
[in]	syncOutPulseWidth	Value for the SyncOutPulseWidth field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeSynchronizationStatus	(	SynchronizationStatusRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Synchronization Status register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeSynchronizationStatus	(	const uint32_t &	syncInCount,
		const uint32_t &	syncInTime,
		const uint32_t &	syncOutCount,
		bool	waitForReply = true
	)

Writes to the Synchronization Status register.

Parameters

[in]	syncInCount	Value for the SyncInCount field.
[in]	syncInTime	Value for the SyncInTime field.
[in]	syncOutCount	Value for the SyncOutCount field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeUserTag	(	const std::string &	tag,
		bool	waitForReply = true
	)

Writes to the User Tag register.

Parameters

[in]	tag	The register's Tag field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeVelocityCompensationControl	(	VelocityCompensationControlRegister &	fields,
		bool	waitForReply = true
	)

Writes to the Velocity Compensation Control register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeVelocityCompensationControl	(	protocol::uart::VelocityCompensationMode	mode,
		const float &	velocityTuning,
		const float &	rateTuning,
		bool	waitForReply = true
	)

Writes to the Velocity Compensation Control register.

Parameters

[in]	mode	Value for the Mode field.
[in]	velocityTuning	Value for the VelocityTuning field.
[in]	rateTuning	Value for the RateTuning field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeVelocityCompensationMeasurement	(	const vn::math::vec3f &	velocity,
		bool	waitForReply = true
	)

Writes to the Velocity Compensation Measurement register.

Parameters

[in]	velocity	The register's Velocity field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeVpeAccelerometerAdvancedTuning	(	VpeAccelerometerAdvancedTuningRegister &	fields,
		bool	waitForReply = true
	)

Writes to the VPE Accelerometer Advanced Tuning register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeVpeAccelerometerAdvancedTuning	(	const vn::math::vec3f &	minFiltering,
		const vn::math::vec3f &	maxFiltering,
		const float &	maxAdaptRate,
		const float &	disturbanceWindow,
		const float &	maxTuning,
		bool	waitForReply = true
	)

Writes to the VPE Accelerometer Advanced Tuning register.

Parameters

[in]	minFiltering	Value for the MinFiltering field.
[in]	maxFiltering	Value for the MaxFiltering field.
[in]	maxAdaptRate	Value for the MaxAdaptRate field.
[in]	disturbanceWindow	Value for the DisturbanceWindow field.
[in]	maxTuning	Value for the MaxTuning field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeVpeAccelerometerBasicTuning	(	VpeAccelerometerBasicTuningRegister &	fields,
		bool	waitForReply = true
	)

Writes to the VPE Accelerometer Basic Tuning register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeVpeAccelerometerBasicTuning	(	const vn::math::vec3f &	baseTuning,
		const vn::math::vec3f &	adaptiveTuning,
		const vn::math::vec3f &	adaptiveFiltering,
		bool	waitForReply = true
	)

Writes to the VPE Accelerometer Basic Tuning register.

Parameters

[in]	baseTuning	Value for the BaseTuning field.
[in]	adaptiveTuning	Value for the AdaptiveTuning field.
[in]	adaptiveFiltering	Value for the AdaptiveFiltering field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeVpeBasicControl	(	VpeBasicControlRegister &	fields,
		bool	waitForReply = true
	)

Writes to the VPE Basic Control register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

Examples:

getting_started/main.cpp.

void vn::sensors::VnSensor::writeVpeBasicControl	(	protocol::uart::VpeEnable	enable,
		protocol::uart::HeadingMode	headingMode,
		protocol::uart::VpeMode	filteringMode,
		protocol::uart::VpeMode	tuningMode,
		bool	waitForReply = true
	)

Writes to the VPE Basic Control register.

Parameters

[in]	enable	Value for the Enable field.
[in]	headingMode	Value for the HeadingMode field.
[in]	filteringMode	Value for the FilteringMode field.
[in]	tuningMode	Value for the TuningMode field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeVpeGyroBasicTuning	(	VpeGyroBasicTuningRegister &	fields,
		bool	waitForReply = true
	)

Writes to the VPE Gyro Basic Tuning register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeVpeGyroBasicTuning	(	const vn::math::vec3f &	angularWalkVariance,
		const vn::math::vec3f &	baseTuning,
		const vn::math::vec3f &	adaptiveTuning,
		bool	waitForReply = true
	)

Writes to the VPE Gyro Basic Tuning register.

Parameters

[in]	angularWalkVariance	Value for the AngularWalkVariance field.
[in]	baseTuning	Value for the BaseTuning field.
[in]	adaptiveTuning	Value for the AdaptiveTuning field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeVpeMagnetometerAdvancedTuning	(	VpeMagnetometerAdvancedTuningRegister &	fields,
		bool	waitForReply = true
	)

Writes to the VPE Magnetometer Advanced Tuning register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeVpeMagnetometerAdvancedTuning	(	const vn::math::vec3f &	minFiltering,
		const vn::math::vec3f &	maxFiltering,
		const float &	maxAdaptRate,
		const float &	disturbanceWindow,
		const float &	maxTuning,
		bool	waitForReply = true
	)

Writes to the VPE Magnetometer Advanced Tuning register.

Parameters

[in]	minFiltering	Value for the MinFiltering field.
[in]	maxFiltering	Value for the MaxFiltering field.
[in]	maxAdaptRate	Value for the MaxAdaptRate field.
[in]	disturbanceWindow	Value for the DisturbanceWindow field.
[in]	maxTuning	Value for the MaxTuning field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeVpeMagnetometerBasicTuning	(	VpeMagnetometerBasicTuningRegister &	fields,
		bool	waitForReply = true
	)

Writes to the VPE Magnetometer Basic Tuning register.

Parameters

[in]	fields	The register's fields.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::writeVpeMagnetometerBasicTuning	(	const vn::math::vec3f &	baseTuning,
		const vn::math::vec3f &	adaptiveTuning,
		const vn::math::vec3f &	adaptiveFiltering,
		bool	waitForReply = true
	)

Writes to the VPE Magnetometer Basic Tuning register.

Parameters

[in]	baseTuning	Value for the BaseTuning field.
[in]	adaptiveTuning	Value for the AdaptiveTuning field.
[in]	adaptiveFiltering	Value for the AdaptiveFiltering field.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.