#include "nps_ins.h"
#include <sys/time.h>
#include "nps_fdm.h"
#include <time.h>
#include <stdio.h>
#include "nps_sensors.h"
#include <stdlib.h>

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Data Structures
struct	VectornavData

Macros
#define	VN_DATA_START 10

#define	VN_BUFFER_SIZE 512

#define	GPS_SEC_IN_DAY 86400

Functions
void	ins_vectornav_init (void)
	Initialize Vectornav struct. More...

void	ins_vectornav_event (void)
	Event handling for Vectornav. More...

static short	vn_calculate_crc (unsigned char data[], unsigned int length)
	Calculates the 16-bit CRC for the given ASCII or binary message. More...

void	nps_ins_init (void)

static uint64_t	vn_get_time_of_week (void)

void	nps_ins_fetch_data (struct NpsFdm *fdm_ins)
	Fetch data from FDM and store them into vectornav packet NOTE: some noise is being added, see Vectornav specifications for details about the precision: http://www.vectornav.com/products/vn-200/specifications. More...

uint16_t	nps_ins_fill_buffer (void)

Variables
static uint8_t	VN_SYNC = 0xFA

static uint8_t	VN_OUTPUT_GROUP = 0x39

static uint16_t	VN_GROUP_FIELD_1 = 0x01E9

static uint16_t	VN_GROUP_FIELD_2 = 0x061A

static uint16_t	VN_GROUP_FIELD_3 = 0x0140

static uint16_t	VN_GROUP_FIELD_4 = 0x0009

uint8_t	vn_buffer [VN_BUFFER_SIZE]

uint8_t *	ins_buffer

struct VectornavData	vn_data

Data Structure Documentation

◆ VectornavData

struct VectornavData

Definition at line 50 of file nps_ins_vectornav.c.

Data Fields
float	Accel[3]
float	AngularRate[3]
uint8_t	Fix
uint16_t	InsStatus
float	LinearAccelBody[3]
uint8_t	NumSats
double	Position[3]
float	PosU[3]
uint64_t	TimeStartup
uint64_t	Tow
float	VelBody[3]
float	Velocity[3]
float	VelU
float	YawPitchRoll[3]
float	YprU[3]

Macro Definition Documentation

◆ GPS_SEC_IN_DAY

#define GPS_SEC_IN_DAY 86400

Definition at line 37 of file nps_ins_vectornav.c.

◆ VN_BUFFER_SIZE

#define VN_BUFFER_SIZE 512

Definition at line 36 of file nps_ins_vectornav.c.

◆ VN_DATA_START

#define VN_DATA_START 10

Definition at line 35 of file nps_ins_vectornav.c.

Function Documentation

◆ ins_vectornav_event()

void ins_vectornav_event ( void )

Event handling for Vectornav.

Definition at line 73 of file nps_ins_vectornav.c.

References ins_vectornav_propagate(), ins_vn, VNPacket::msg_available, vn200_event(), vn200_read_message(), InsVectornav::vn_data, and InsVectornav::vn_packet.

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◆ ins_vectornav_init()

void ins_vectornav_init ( void )

Initialize Vectornav struct.

Definition at line 71 of file nps_ins_vectornav.c.

References InsVectornav::accel_i, InsVectornav::body_to_imu, VNPacket::chksm_error, DefaultPeriodic, VNPacket::framing_error, VNPacket::hdr_error, ins_init_origin_i_from_flightplan(), ins_vn, INS_VN_BODY_TO_IMU_PHI, INS_VN_BODY_TO_IMU_PSI, INS_VN_BODY_TO_IMU_THETA, INT32_VECT3_ZERO, InsVectornav::ltp_accel_i, InsVectornav::ltp_def, InsVectornav::ltp_initialized, InsVectornav::ltp_pos_i, InsVectornav::ltp_speed_i, VNPacket::msg_available, VNPacket::msg_idx, VNPacket::noise_error, orientationSetEulers_f(), VNPacket::overrun_error, register_periodic_telemetry(), send_accel(), send_accel_scaled(), send_gyro(), send_gyro_scaled(), send_ins(), send_ins_ref(), send_ins_z(), send_vn_info(), VNPacket::status, InsVectornav::vn_data, InsVectornav::vn_packet, InsVectornav::vn_rate, InsVectornav::vn_status, VNMsgSync, and VNNotTracking.

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◆ nps_ins_fetch_data()

void nps_ins_fetch_data ( struct NpsFdm * fdm_ins )

Fetch data from FDM and store them into vectornav packet NOTE: some noise is being added, see Vectornav specifications for details about the precision: http://www.vectornav.com/products/vn-200/specifications.

Definition at line 125 of file nps_ins_vectornav.c.

References VectornavData::Accel, VectornavData::AngularRate, NpsFdm::body_accel, NpsFdm::body_ecef_accel, NpsFdm::body_ecef_rotvel, VectornavData::Fix, VectornavData::InsStatus, VectornavData::LinearAccelBody, NpsFdm::ltp_ecef_vel, NpsFdm::ltp_to_body_eulers, VectornavData::NumSats, DoubleRates::p, DoubleEulers::phi, VectornavData::Position, VectornavData::PosU, DoubleEulers::psi, DoubleRates::q, DoubleRates::r, sensors, DoubleEulers::theta, NpsFdm::time, VectornavData::TimeStartup, VectornavData::Tow, VectornavData::VelBody, VectornavData::Velocity, VectornavData::VelU, vn_data, vn_get_time_of_week(), DoubleVect3::x, NedCoor_d::x, DoubleVect3::y, NedCoor_d::y, VectornavData::YawPitchRoll, VectornavData::YprU, DoubleVect3::z, and NedCoor_d::z.