29 #ifndef VN200_SERIAl_H
30 #define VN200_SERIAl_H
46 #define VN_OUTPUT_GROUP 0x39
47 #define VN_GROUP_BYTES 8
49 #define VN_BUFFER_SIZE 512
50 #define VN_HEADER_SIZE 9
51 #define VN_PAYLOAD_SIZE 144
arch independent UART (Universal Asynchronous Receiver/Transmitter) API
struct NedCoor_f vel_ned
The estimated velocity in the North East Down (NED) frame, given in m/s.
uint8_t num_sv
number of visible satellites
struct FloatVect3 lin_accel
Linear acceleration in imu frame [m/s^2].
uint8_t gps_fix
None|2D|3D.
struct FloatEulers attitude
Attitude, float, [rad], yaw, pitch, roll.
uint16_t ins_status
see page 122 of VN-200 datasheet
Paparazzi floating point math for geodetic calculations.
struct FloatVect3 vel_body
The estimated velocity in the imu frame, given in m/s.
float pos_u[3]
The current GPS position uncertainty in the North East Down (NED) coordinate frame, given in meters.
struct FloatEulers ypr_u
Attitude uncertainty, 1sigma, float, [degrees], yaw, pitch, roll.
unsigned long long uint64_t
uint8_t mode
0-not tracking, 1 - poor performance, 2- OK
vector in North East Down coordinates Units: meters
Paparazzi floating point algebra.
void vn200_parse(struct VNPacket *vnp, uint8_t c)
Packet Collection & state machine.
struct FloatVect3 accel
Acceleration in the imu frame, m/s.
Paparazzi generic algebra macros.
Paparazzi atmospheric pressure conversion utilities.
Paparazzi fixed point math for geodetic calculations.
struct FloatRates gyro
Rates in the imu frame m/s.
void vn200_read_message(struct VNPacket *vnp, struct VNData *vndata)
Read received message and populate data struct with new measurements.
float ypr[3]
yaw, pitch, roll [deg]
void vn200_event(struct VNPacket *vnp)
float vel_u
NED velocity uncertainty [m/s].
uint8_t msg_buf[VN_BUFFER_SIZE]
float timestamp
Time since VN startup [s].
uint8_t err
see page 122 of VN-200 datasheet
uint64_t tow
tow (in nanoseconds), uint64