#include "subsystems/imu.h"
#include "peripherals/vn200_serial.h"

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Data Structures
struct	ImuVectornav

Macros
#define	IMU_GYRO_P_SENS_NUM 1

#define	IMU_GYRO_P_SENS_DEN 1

#define	IMU_GYRO_Q_SENS_NUM 1

#define	IMU_GYRO_Q_SENS_DEN 1

#define	IMU_GYRO_R_SENS_NUM 1

#define	IMU_GYRO_R_SENS_DEN 1

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

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

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. More...

void	imu_vectornav_propagate (void)
	Send ABI messages. More...

Variables
struct ImuVectornav	imu_vn

Detailed Description

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

Definition in file imu_vectornav.h.

Data Structure Documentation

◆ ImuVectornav

struct ImuVectornav

Definition at line 39 of file imu_vectornav.h.

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Data Fields
struct VNData	vn_data	Data struct.
float	vn_freq	data frequency
struct VNPacket	vn_packet	Packet struct.
enum VNStatus	vn_status	VN status.

Macro Definition Documentation

◆ IMU_GYRO_P_SENS_DEN

#define IMU_GYRO_P_SENS_DEN 1

Definition at line 61 of file imu_vectornav.h.

◆ IMU_GYRO_P_SENS_NUM

#define IMU_GYRO_P_SENS_NUM 1

Definition at line 57 of file imu_vectornav.h.

◆ IMU_GYRO_Q_SENS_DEN

#define IMU_GYRO_Q_SENS_DEN 1

Definition at line 69 of file imu_vectornav.h.

◆ IMU_GYRO_Q_SENS_NUM

#define IMU_GYRO_Q_SENS_NUM 1

Definition at line 65 of file imu_vectornav.h.

◆ IMU_GYRO_R_SENS_DEN

#define IMU_GYRO_R_SENS_DEN 1

Definition at line 77 of file imu_vectornav.h.

◆ IMU_GYRO_R_SENS_NUM

#define IMU_GYRO_R_SENS_NUM 1

Definition at line 73 of file imu_vectornav.h.

Function Documentation

◆ imu_vectornav_event()

void imu_vectornav_event ( void )

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

Definition at line 109 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 80 of file imu_vectornav.c.

References VNPacket::chksm_error, DefaultPeriodic, 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 128 of file imu_vectornav.c.

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

◆ imu_vectornav_propagate()

void imu_vectornav_propagate ( void )

Send ABI messages.

Definition at line 149 of file imu_vectornav.c.

References Imu::accel, VNData::accel, ACCELS_BFP_OF_REAL, Imu::gyro, VNData::gyro, imu, IMU_VECTORNAV_ID, imu_vn, VNData::nanostamp, RATES_BFP_OF_REAL, and ImuVectornav::vn_data.

Referenced by imu_vectornav_event().

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Variable Documentation

◆ imu_vn

struct ImuVectornav imu_vn

Definition at line 40 of file imu_vectornav.c.

Referenced by imu_vectornav_event(), imu_vectornav_init(), imu_vectornav_periodic(), imu_vectornav_propagate(), and send_vn_info().

Data Structures

Macros

Functions

Variables