Vectornav VN-200 INS subsystem. More...

#include "std.h"
#include "mcu_periph/uart.h"
#include "math/pprz_algebra.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_geodetic_float.h"
#include "math/pprz_isa.h"

Include dependency graph for vn200_serial.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures
struct	VNPacket

struct	VNData

Macros
#define	VN_SYNC 0xFA

#define	VN_OUTPUT_GROUP 0x39

#define	VN_GROUP_BYTES 8

#define	VN_BUFFER_SIZE 512

#define	VN_HEADER_SIZE 9

#define	VN_PAYLOAD_SIZE 144

Enumerations
enum	VNMsgStatus { VNMsgSync, VNMsgHeader, VNMsgGroup, VNMsgData, VNMsgCheck }

enum	VNStatus { VNNotTracking, VNOutOfSpecs, VNOK }

Functions
void	vn200_event (struct VNPacket *vnp)

void	vn200_read_message (struct VNPacket vnp, struct VNData vndata)
	Read received message and populate data struct with new measurements. More...

void	vn200_parse (struct VNPacket *vnp, uint8_t c)
	Packet Collection & state machine. More...

Detailed Description

Vectornav VN-200 INS subsystem.

Author: Michal Podhradsky micha.nosp@m.l.po.nosp@m.dhrad.nosp@m.sky@.nosp@m.aggie.nosp@m.mail.nosp@m..usu..nosp@m.edu

Definition in file vn200_serial.h.

Data Structure Documentation

struct VNPacket

Definition at line 62 of file vn200_serial.h.

Data Fields
uint16_t	calc_chk
uint32_t	chksm_error
uint16_t	counter
uint16_t	datalength
uint16_t	framing_error
uint32_t	hdr_error
bool	msg_available
uint8_t	msg_buf[VN_BUFFER_SIZE]
uint8_t	msg_idx
uint16_t	noise_error
uint16_t	overrun_error
uint16_t	rec_chk
enum VNMsgStatus	status

struct VNData

Definition at line 84 of file vn200_serial.h.

Collaboration diagram for VNData:

Data Fields
struct FloatVect3	accel	Acceleration in the imu frame, m/s.
struct FloatEulers	attitude	Attitude, float, [rad], yaw, pitch, roll.
uint8_t	err	see page 122 of VN-200 datasheet
uint8_t	gps_fix	None\|2D\|3D.
struct FloatRates	gyro	Rates in the imu frame m/s.
uint16_t	ins_status	see page 122 of VN-200 datasheet
struct FloatVect3	lin_accel	Linear acceleration in imu frame [m/s^2].
uint8_t	mode	0-not tracking, 1 - poor performance, 2- OK
uint64_t	nanostamp
uint8_t	num_sv	number of visible satellites
double	pos_lla[3]
float	pos_u[3]	The current GPS position uncertainty in the North East Down (NED) coordinate frame, given in meters.
float	timestamp	Time since VN startup [s].
uint64_t	tow	tow (in nanoseconds), uint64
struct FloatVect3	vel_body	The estimated velocity in the imu frame, given in m/s.
struct NedCoor_f	vel_ned	The estimated velocity in the North East Down (NED) frame, given in m/s.
float	vel_u	NED velocity uncertainty [m/s].
float	ypr[3]	yaw, pitch, roll [deg]
struct FloatEulers	ypr_u	Attitude uncertainty, 1sigma, float, [degrees], yaw, pitch, roll.