xsens.h File Reference

Parser for the Xsens protocol. More...

#include "std.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_geodetic_float.h"
#include "math/pprz_geodetic_int.h"

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Data Structures
struct	XsensTime
struct	Xsens

Functions
void	xsens_init (void)
void	xsens_periodic (void)
void	parse_xsens_msg (void)

Variables
struct Xsens	xsens

Detailed Description

Parser for the Xsens protocol.

Definition in file xsens.h.

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Data Structure Documentation

struct XsensTime

Definition at line 39 of file xsens.h.

Data Fields
int8_t	day
int8_t	hour
int8_t	min
int8_t	month
int32_t	nanosec
int8_t	sec
int16_t	year

struct Xsens

Definition at line 49 of file xsens.h.

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Data Fields
struct FloatVect3	accel
bool	accel_available
struct FloatEulers	euler
struct FloatRates	gyro
bool	gyro_available
struct LlaCoor_f	lla_f
struct FloatVect3	mag
bool	mag_available
volatile bool	msg_received
volatile bool	new_attitude
struct FloatQuat	quat
struct XsensTime	time
uint16_t	time_stamp
struct FloatVect3	vel	NED velocity in m/s.

Function Documentation

void parse_xsens_msg

(

void

)

Definition at line 185 of file xsens.c.

References Xsens::accel, Xsens::accel_available, LlaCoor_f::alt, XsensTime::day, DefaultChannel, DefaultDevice, Xsens::euler, gps, GPS_FIX_3D, GPS_FIX_NONE, GPS_NB_CHANNELS, GPS_VALID_HMSL_BIT, GPS_VALID_POS_LLA_BIT, GPS_VALID_VEL_NED_BIT, Xsens::gyro, Xsens::gyro_available, XsensTime::hour, LlaCoor_f::lat, LED_ON, LED_TOGGLE, LLA_BFP_OF_REAL, Xsens::lla_f, LlaCoor_f::lon, Xsens::mag, Xsens::mag_available, XsensTime::min, Min, XsensTime::month, XsensTime::nanosec, Xsens::new_attitude, offset, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatQuat::qi, Xsens::quat, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, XsensTime::sec, FloatEulers::theta, Xsens::time, Xsens::time_stamp, TRUE, GpsState::valid_fields, Xsens::vel, wgs84_ellipsoid_to_geoid_i(), FloatVect3::x, xsens, xsens_declination, xsens_errorcode, xsens_gps_arm_x, xsens_gps_arm_y, xsens_gps_arm_z, xsens_id, xsens_msg_buf, xsens_msg_status, xsens_output_mode, xsens_output_settings, FloatVect3::y, XsensTime::year, and FloatVect3::z.

Referenced by imu_xsens_event(), and ins_xsens_event().

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void xsens_init

(

void

)

Definition at line 114 of file xsens.c.

References UNINIT, xsens_configured, xsens_msg_status, XSENS_OUTPUT_MODE, xsens_output_mode, XSENS_OUTPUT_SETTINGS, xsens_output_settings, xsens_status, and xsens_time_stamp.

Referenced by imu_xsens_init(), and ins_xsens_init().

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void xsens_periodic

(

void

)

Definition at line 125 of file xsens.c.

References xsens_configured, xsens_declination, xsens_output_mode, and xsens_output_settings.

Variable Documentation

struct Xsens xsens

Definition at line 110 of file xsens.c.

Referenced by handle_ins_msg(), imu_xsens_event(), ins_xsens_event(), parse_xsens_msg(), and update_state_interface().