Vectornav VN-200 IMU module, to be used with other AHRS/INS algorithms. More...

#include "modules/imu/imu_vectornav.h"
#include "mcu_periph/sys_time.h"
#include "modules/core/abi.h"
#include "generated/airframe.h"
#include "modules/datalink/telemetry.h"

Include dependency graph for imu_vectornav.c:

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Functions
static void	send_vn_info (struct transport_tx trans, struct link_device dev)

void	imu_vectornav_init (void)
	Init IMU struct and set up ABI messages.

void	imu_vectornav_event (void)
	Event function to read and parse data from the serial port.

void	imu_vectornav_periodic (void)
	Periodic function checks for the frequency of packets, triggers warning in case the IMU stops sending data and performs initial configuration if needed.

void	imu_vectornav_propagate (void)
	Send ABI messages.

Variables
struct ImuVectornav	imu_vn

Detailed Description

Vectornav VN-200 IMU module, to be used with other AHRS/INS algorithms.

Definition in file imu_vectornav.c.

Function Documentation

◆ imu_vectornav_event()

void imu_vectornav_event ( void )

Event function to read and parse data from the serial port.

Definition at line 105 of file imu_vectornav.c.

References imu_vectornav_propagate(), imu_vn, VNPacket::msg_available, vn200_event(), vn200_read_message(), ImuVectornav::vn_data, and ImuVectornav::vn_packet.

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◆ imu_vectornav_init()

void imu_vectornav_init ( void )

Init IMU struct and set up ABI messages.

Definition at line 76 of file imu_vectornav.c.

References VNPacket::chksm_error, DefaultPeriodic, foo, VNPacket::framing_error, VNPacket::hdr_error, imu_vn, VNPacket::msg_available, VNPacket::msg_idx, VNPacket::noise_error, VNPacket::overrun_error, register_periodic_telemetry(), send_vn_info(), VNPacket::status, ImuVectornav::vn_data, ImuVectornav::vn_freq, ImuVectornav::vn_packet, ImuVectornav::vn_status, VNMsgSync, and VNNotTracking.

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◆ imu_vectornav_periodic()

void imu_vectornav_periodic ( void )

Periodic function checks for the frequency of packets, triggers warning in case the IMU stops sending data and performs initial configuration if needed.

Definition at line 124 of file imu_vectornav.c.

References VNPacket::counter, foo, imu_vn, ImuVectornav::vn_freq, ImuVectornav::vn_packet, ImuVectornav::vn_status, VNNotTracking, and VNOK.