Data Sets (DIDs)
Data Sets (DIDs)¶
Data Sets in the form of C structures are available through binary protocol and provide access to system configuration and output data. The data sets are defined in SDK/src/data_sets.h of the InertialSense SDK.
INS / AHRS Output¶
DID_INS_1¶
INS output: euler rotation w/ respect to NED, NED position from reference LLA.
ins_1_t
| Field | Type | Description |
|---|---|---|
| week | uint32_t | GPS number of weeks since January 6th, 1980 |
| timeOfWeek | double | GPS time of week (since Sunday morning) in seconds |
| insStatus | uint32_t | INS status flags (eInsStatusFlags). Copy of DID_SYS_PARAMS.insStatus |
| hdwStatus | uint32_t | Hardware status flags (eHdwStatusFlags). Copy of DID_SYS_PARAMS.hdwStatus |
| theta | float[3] | Euler angles: roll, pitch, yaw in radians with respect to NED |
| uvw | float[3] | Velocity U, V, W in meters per second. Convert to NED velocity using "vectorBodyToReference( uvw, theta, vel_ned )". |
| lla | double[3] | WGS84 latitude, longitude, height above ellipsoid (degrees,degrees,meters) |
| ned | float[3] | North, east and down (meters) offset from reference latitude, longitude, and altitude to current latitude, longitude, and altitude |
DID_INS_2¶
INS output: quaternion rotation w/ respect to NED, ellipsoid altitude
ins_2_t
| Field | Type | Description |
|---|---|---|
| week | uint32_t | GPS number of weeks since January 6th, 1980 |
| timeOfWeek | double | GPS time of week (since Sunday morning) in seconds |
| insStatus | uint32_t | INS status flags (eInsStatusFlags). Copy of DID_SYS_PARAMS.insStatus |
| hdwStatus | uint32_t | Hardware status flags (eHdwStatusFlags). Copy of DID_SYS_PARAMS.hdwStatus |
| qn2b | float[4] | Quaternion body rotation with respect to NED: W, X, Y, Z |
| uvw | float[3] | Velocity U, V, W in meters per second. Convert to NED velocity using "quatRot(vel_ned, qn2b, uvw)". |
| lla | double[3] | WGS84 latitude, longitude, height above ellipsoid in meters (not MSL) |
DID_INS_3¶
Inertial navigation data with quaternion NED to body rotation and ECEF position.
ins_3_t
| Field | Type | Description |
|---|---|---|
| week | uint32_t | GPS number of weeks since January 6th, 1980 |
| timeOfWeek | double | GPS time of week (since Sunday morning) in seconds |
| insStatus | uint32_t | INS status flags (eInsStatusFlags). Copy of DID_SYS_PARAMS.insStatus |
| hdwStatus | uint32_t | Hardware status flags (eHdwStatusFlags). Copy of DID_SYS_PARAMS.hdwStatus |
| qn2b | float[4] | Quaternion body rotation with respect to NED: W, X, Y, Z |
| uvw | float[3] | Velocity U, V, W in meters per second. Convert to NED velocity using "quatRot(vel_ned, qn2b, uvw)". |
| lla | double[3] | WGS84 latitude, longitude, height above ellipsoid in meters (not MSL) |
| msl | float | height above mean sea level (MSL) in meters |
DID_INS_4¶
INS output: quaternion rotation w/ respect to ECEF, ECEF position.
ins_4_t
| Field | Type | Description |
|---|---|---|
| week | uint32_t | GPS number of weeks since January 6th, 1980 |
| timeOfWeek | double | GPS time of week (since Sunday morning) in seconds |
| insStatus | uint32_t | INS status flags (eInsStatusFlags). Copy of DID_SYS_PARAMS.insStatus |
| hdwStatus | uint32_t | Hardware status flags (eHdwStatusFlags). Copy of DID_SYS_PARAMS.hdwStatus |
| qe2b | float[4] | Quaternion body rotation with respect to ECEF: W, X, Y, Z |
| ve | float[3] | Velocity in ECEF (earth-centered earth-fixed) frame in meters per second |
| ecef | double[3] | Position in ECEF (earth-centered earth-fixed) frame in meters |
Inertial Measurement Unit (IMU)¶
DID_IMU¶
Inertial measurement unit data down-sampled from IMU rate (DID_FLASH_CONFIG.startupImuDtMs (1KHz)) to navigation update rate (DID_FLASH_CONFIG.startupNavDtMs) as an anti-aliasing filter to reduce noise and preserve accuracy. Minimum data period is DID_FLASH_CONFIG.startupNavDtMs (1KHz max).
imu_t
| Field | Type | Description |
|---|---|---|
| time | double | Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset |
| status | uint32_t | IMU Status (eImuStatus) |
| I | imus_t | Inertial Measurement Unit (IMU) |
DID_IMU_RAW¶
IMU data averaged from DID_IMU3_RAW. Use this IMU data for output data rates faster than DID_FLASH_CONFIG.startupNavDtMs. Otherwise we recommend use of DID_IMU or DID_PIMU as they are oversampled and contain less noise.
imu_t
| Field | Type | Description |
|---|---|---|
| time | double | Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset |
| status | uint32_t | IMU Status (eImuStatus) |
| I | imus_t | Inertial Measurement Unit (IMU) |
DID_PIMU¶
Preintegrated IMU (a.k.a. Coning and Sculling integral) in body/IMU frame. Updated at IMU rate. Also know as delta theta delta velocity, or preintegrated IMU (PIMU). For clarification, the name "Preintegrated IMU" or "PIMU" throughout our User Manual. This data is integrated from the IMU data at the IMU update rate (startupImuDtMs, default 1ms). The integration period (dt) and output data rate are the same as the NAV rate (startupNavDtMs) and cannot be output at any other rate. If a faster output data rate is desired, DID_IMU_RAW can be used instead. PIMU data acts as a form of compression, adding the benefit of higher integration rates for slower output data rates, preserving the IMU data without adding filter delay and addresses antialiasing. It is most effective for systems that have higher dynamics and lower communications data rates. The minimum data period is DID_FLASH_CONFIG.startupImuDtMs or 4, whichever is larger (250Hz max). The PIMU value can be converted to IMU by dividing PIMU by dt (i.e. IMU = PIMU / dt)
pimu_t
| Field | Type | Description |
|---|---|---|
| time | double | Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset |
| dt | float | Integral period in seconds for delta theta and delta velocity. This is configured using DID_FLASH_CONFIG.startupNavDtMs. |
| status | uint32_t | IMU Status (eImuStatus) |
| theta | float[3] | IMU delta theta (gyroscope {p,q,r} integral) in radians in sensor frame |
| vel | float[3] | IMU delta velocity (accelerometer {x,y,z} integral) in m/s in sensor frame |
Sensor Output¶
DID_BAROMETER¶
Barometric pressure sensor data
barometer_t
| Field | Type | Description |
|---|---|---|
| time | double | Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset |
| bar | float | Barometric pressure in kilopascals |
| mslBar | float | MSL altitude from barometric pressure sensor in meters |
| barTemp | float | Temperature of barometric pressure sensor in Celsius |
| humidity | float | Relative humidity as a percent (%rH). Range is 0% - 100% |
DID_MAGNETOMETER¶
Magnetometer sensor output
magnetometer_t
| Field | Type | Description |
|---|---|---|
| time | double | Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset |
| mag | float[3] | Magnetometers in Gauss |
DID_MAG_CAL¶
Magnetometer calibration
mag_cal_t
| Field | Type | Description |
|---|---|---|
| state | uint32_t | Mag recalibration state. COMMANDS: 1=multi-axis, 2=single-axis, 101=abort, STATUS: 200=running, 201=done (see eMagCalState) |
| progress | float | Mag recalibration progress indicator: 0-100 % |
| declination | float | Magnetic declination estimate |
DID_SYS_SENSORS¶
System sensor information
sys_sensors_t
| Field | Type | Description |
|---|---|---|
| time | double | Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset |
| temp | float | Temperature in Celsius |
| pqr | float[3] | Gyros in radians / second |
| acc | float[3] | Accelerometers in meters / second squared |
| mag | float[3] | Magnetometers in Gauss |
| bar | float | Barometric pressure in kilopascals |
| barTemp | float | Temperature of barometric pressure sensor in Celsius |
| mslBar | float | MSL altitude from barometric pressure sensor in meters |
| humidity | float | Relative humidity as a percent (%rH). Range is 0% - 100% |
| vin | float | EVB system input voltage in volts. uINS pin 5 (G2/AN2). Use 10K/1K resistor divider between Vin and GND. |
| ana1 | float | ADC analog input in volts. uINS pin 4, (G1/AN1). |
| ana3 | float | ADC analog input in volts. uINS pin 19 (G3/AN3). |
| ana4 | float | ADC analog input in volts. uINS pin 20 (G4/AN4). |
GPS / GNSS¶
DID_GPS1_POS¶
GPS 1 position data. This comes from DID_GPS1_RCVR_POS or DID_GPS1_RTK_POS, depending on whichever is more accurate.
gps_pos_t
| Field | Type | Description |
|---|---|---|
| week | uint32_t | GPS number of weeks since January 6th, 1980 |
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| status | uint32_t | (see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag |
| ecef | double[3] | Position in ECEF {x,y,z} (m) |
| lla | double[3] | Position - WGS84 latitude, longitude, height above ellipsoid (not MSL) (degrees, m) |
| hMSL | float | Height above mean sea level (MSL) in meters |
| hAcc | float | Horizontal accuracy in meters |
| vAcc | float | Vertical accuracy in meters |
| pDop | float | Position dilution of precision (unitless) |
| cnoMean | float | Average of all non-zero satellite carrier to noise ratios (signal strengths) in dBHz |
| towOffset | double | Time sync offset between local time since boot up to GPS time of week in seconds. Add this to IMU and sensor time to get GPS time of week in seconds. |
| leapS | uint8_t | GPS leap second (GPS-UTC) offset. Receiver's best knowledge of the leap seconds offset from UTC to GPS time. Subtract from GPS time of week to get UTC time of week. (18 seconds as of December 31, 2016) |
| satsUsed | uint8_t | Number of satellites used |
| cnoMeanSigma | uint8_t | Standard deviation of cnoMean over past 5 seconds (dBHz x10) |
| reserved | uint8_t | Reserved for future use |
DID_GPS1_RCVR_POS¶
GPS 1 position data from GNSS receiver.
gps_pos_t
| Field | Type | Description |
|---|---|---|
| week | uint32_t | GPS number of weeks since January 6th, 1980 |
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| status | uint32_t | (see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag |
| ecef | double[3] | Position in ECEF {x,y,z} (m) |
| lla | double[3] | Position - WGS84 latitude, longitude, height above ellipsoid (not MSL) (degrees, m) |
| hMSL | float | Height above mean sea level (MSL) in meters |
| hAcc | float | Horizontal accuracy in meters |
| vAcc | float | Vertical accuracy in meters |
| pDop | float | Position dilution of precision (unitless) |
| cnoMean | float | Average of all non-zero satellite carrier to noise ratios (signal strengths) in dBHz |
| towOffset | double | Time sync offset between local time since boot up to GPS time of week in seconds. Add this to IMU and sensor time to get GPS time of week in seconds. |
| leapS | uint8_t | GPS leap second (GPS-UTC) offset. Receiver's best knowledge of the leap seconds offset from UTC to GPS time. Subtract from GPS time of week to get UTC time of week. (18 seconds as of December 31, 2016) |
| satsUsed | uint8_t | Number of satellites used |
| cnoMeanSigma | uint8_t | Standard deviation of cnoMean over past 5 seconds (dBHz x10) |
| reserved | uint8_t | Reserved for future use |
DID_GPS1_RTK_POS¶
GPS RTK position data
gps_pos_t
| Field | Type | Description |
|---|---|---|
| week | uint32_t | GPS number of weeks since January 6th, 1980 |
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| status | uint32_t | (see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag |
| ecef | double[3] | Position in ECEF {x,y,z} (m) |
| lla | double[3] | Position - WGS84 latitude, longitude, height above ellipsoid (not MSL) (degrees, m) |
| hMSL | float | Height above mean sea level (MSL) in meters |
| hAcc | float | Horizontal accuracy in meters |
| vAcc | float | Vertical accuracy in meters |
| pDop | float | Position dilution of precision (unitless) |
| cnoMean | float | Average of all non-zero satellite carrier to noise ratios (signal strengths) in dBHz |
| towOffset | double | Time sync offset between local time since boot up to GPS time of week in seconds. Add this to IMU and sensor time to get GPS time of week in seconds. |
| leapS | uint8_t | GPS leap second (GPS-UTC) offset. Receiver's best knowledge of the leap seconds offset from UTC to GPS time. Subtract from GPS time of week to get UTC time of week. (18 seconds as of December 31, 2016) |
| satsUsed | uint8_t | Number of satellites used |
| cnoMeanSigma | uint8_t | Standard deviation of cnoMean over past 5 seconds (dBHz x10) |
| reserved | uint8_t | Reserved for future use |
DID_GPS1_RTK_POS_MISC¶
RTK precision position related data.
gps_rtk_misc_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| accuracyPos | float[3] | Accuracy - estimated standard deviations of the solution assuming a priori error model and error parameters by the positioning options. []: standard deviations {ECEF - x,y,z} or {north, east, down} (meters) |
| accuracyCov | float[3] | Accuracy - estimated standard deviations of the solution assuming a priori error model and error parameters by the positioning options. []: Absolute value of means square root of estimated covariance NE, EU, UN |
| arThreshold | float | Ambiguity resolution threshold for validation |
| gDop | float | Geometric dilution of precision (meters) |
| hDop | float | Horizontal dilution of precision (meters) |
| vDop | float | Vertical dilution of precision (meters) |
| baseLla | double[3] | Base Position - latitude, longitude, height (degrees, meters) |
| cycleSlipCount | uint32_t | Cycle slip counter |
| roverGpsObservationCount | uint32_t | Rover gps observation element counter |
| baseGpsObservationCount | uint32_t | Base station gps observation element counter |
| roverGlonassObservationCount | uint32_t | Rover glonass observation element counter |
| baseGlonassObservationCount | uint32_t | Base station glonass observation element counter |
| roverGalileoObservationCount | uint32_t | Rover galileo observation element counter |
| baseGalileoObservationCount | uint32_t | Base station galileo observation element counter |
| roverBeidouObservationCount | uint32_t | Rover beidou observation element counter |
| baseBeidouObservationCount | uint32_t | Base station beidou observation element counter |
| roverQzsObservationCount | uint32_t | Rover qzs observation element counter |
| baseQzsObservationCount | uint32_t | Base station qzs observation element counter |
| roverGpsEphemerisCount | uint32_t | Rover gps ephemeris element counter |
| baseGpsEphemerisCount | uint32_t | Base station gps ephemeris element counter |
| roverGlonassEphemerisCount | uint32_t | Rover glonass ephemeris element counter |
| baseGlonassEphemerisCount | uint32_t | Base station glonass ephemeris element counter |
| roverGalileoEphemerisCount | uint32_t | Rover galileo ephemeris element counter |
| baseGalileoEphemerisCount | uint32_t | Base station galileo ephemeris element counter |
| roverBeidouEphemerisCount | uint32_t | Rover beidou ephemeris element counter |
| baseBeidouEphemerisCount | uint32_t | Base station beidou ephemeris element counter |
| roverQzsEphemerisCount | uint32_t | Rover qzs ephemeris element counter |
| baseQzsEphemerisCount | uint32_t | Base station qzs ephemeris element counter |
| roverSbasCount | uint32_t | Rover sbas element counter |
| baseSbasCount | uint32_t | Base station sbas element counter |
| baseAntennaCount | uint32_t | Base station antenna position element counter |
| ionUtcAlmCount | uint32_t | Ionosphere model, utc and almanac count |
| correctionChecksumFailures | uint32_t | Number of checksum failures from received corrections |
| timeToFirstFixMs | uint32_t | Time to first RTK fix. |
DID_GPS1_RTK_POS_REL¶
RTK precision position base to rover relative info.
gps_rtk_rel_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| differentialAge | float | Age of differential (seconds) |
| arRatio | float | Ambiguity resolution ratio factor for validation |
| baseToRoverVector | float[3] | Vector from base to rover (m) in ECEF - If Compassing enabled, this is the 3-vector from antenna 2 to antenna 1 |
| baseToRoverDistance | float | Distance from base to rover (m) |
| baseToRoverHeading | float | Angle from north to baseToRoverVector in local tangent plane. (rad) |
| baseToRoverHeadingAcc | float | Accuracy of baseToRoverHeading. (rad) |
| status | uint32_t | (see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag |
DID_GPS1_SAT¶
GPS 1 GNSS satellite information: sat identifiers, carrier to noise ratio, elevation and azimuth angles, pseudo range residual.
gps_sat_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| numSats | uint32_t | Number of satellites in the sky |
| sat | gps_sat_sv_t[50] | Satellite information list |
DID_GPS1_VEL¶
GPS 1 velocity data
gps_vel_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| vel | float[3] | GPS Velocity. Velocity is in ECEF {vx,vy,vz} (m/s) if status bit GPS_STATUS_FLAGS_GPS_NMEA_DATA (0x00008000) is NOT set. Velocity is in local tangent plane with no vertical velocity {vNorth, vEast, 0} (m/s) if status bit GPS_STATUS_FLAGS_GPS_NMEA_DATA (0x00008000) is set. |
| sAcc | float | Speed accuracy in meters / second |
| status | uint32_t | (see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag |
DID_GPS1_VERSION¶
GPS 1 version info
gps_version_t
| Field | Type | Description |
|---|---|---|
| swVersion | uint8_t[30] | Software version |
| hwVersion | uint8_t[10] | Hardware version |
| extension | gps_extension_ver_t[6] | Extension 30 bytes array description |
DID_GPS2_POS¶
GPS 2 position data
gps_pos_t
| Field | Type | Description |
|---|---|---|
| week | uint32_t | GPS number of weeks since January 6th, 1980 |
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| status | uint32_t | (see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag |
| ecef | double[3] | Position in ECEF {x,y,z} (m) |
| lla | double[3] | Position - WGS84 latitude, longitude, height above ellipsoid (not MSL) (degrees, m) |
| hMSL | float | Height above mean sea level (MSL) in meters |
| hAcc | float | Horizontal accuracy in meters |
| vAcc | float | Vertical accuracy in meters |
| pDop | float | Position dilution of precision (unitless) |
| cnoMean | float | Average of all non-zero satellite carrier to noise ratios (signal strengths) in dBHz |
| towOffset | double | Time sync offset between local time since boot up to GPS time of week in seconds. Add this to IMU and sensor time to get GPS time of week in seconds. |
| leapS | uint8_t | GPS leap second (GPS-UTC) offset. Receiver's best knowledge of the leap seconds offset from UTC to GPS time. Subtract from GPS time of week to get UTC time of week. (18 seconds as of December 31, 2016) |
| satsUsed | uint8_t | Number of satellites used |
| cnoMeanSigma | uint8_t | Standard deviation of cnoMean over past 5 seconds (dBHz x10) |
| reserved | uint8_t | Reserved for future use |
DID_GPS2_RTK_CMP_MISC¶
RTK Dual GNSS RTK compassing related data.
gps_rtk_misc_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| accuracyPos | float[3] | Accuracy - estimated standard deviations of the solution assuming a priori error model and error parameters by the positioning options. []: standard deviations {ECEF - x,y,z} or {north, east, down} (meters) |
| accuracyCov | float[3] | Accuracy - estimated standard deviations of the solution assuming a priori error model and error parameters by the positioning options. []: Absolute value of means square root of estimated covariance NE, EU, UN |
| arThreshold | float | Ambiguity resolution threshold for validation |
| gDop | float | Geometric dilution of precision (meters) |
| hDop | float | Horizontal dilution of precision (meters) |
| vDop | float | Vertical dilution of precision (meters) |
| baseLla | double[3] | Base Position - latitude, longitude, height (degrees, meters) |
| cycleSlipCount | uint32_t | Cycle slip counter |
| roverGpsObservationCount | uint32_t | Rover gps observation element counter |
| baseGpsObservationCount | uint32_t | Base station gps observation element counter |
| roverGlonassObservationCount | uint32_t | Rover glonass observation element counter |
| baseGlonassObservationCount | uint32_t | Base station glonass observation element counter |
| roverGalileoObservationCount | uint32_t | Rover galileo observation element counter |
| baseGalileoObservationCount | uint32_t | Base station galileo observation element counter |
| roverBeidouObservationCount | uint32_t | Rover beidou observation element counter |
| baseBeidouObservationCount | uint32_t | Base station beidou observation element counter |
| roverQzsObservationCount | uint32_t | Rover qzs observation element counter |
| baseQzsObservationCount | uint32_t | Base station qzs observation element counter |
| roverGpsEphemerisCount | uint32_t | Rover gps ephemeris element counter |
| baseGpsEphemerisCount | uint32_t | Base station gps ephemeris element counter |
| roverGlonassEphemerisCount | uint32_t | Rover glonass ephemeris element counter |
| baseGlonassEphemerisCount | uint32_t | Base station glonass ephemeris element counter |
| roverGalileoEphemerisCount | uint32_t | Rover galileo ephemeris element counter |
| baseGalileoEphemerisCount | uint32_t | Base station galileo ephemeris element counter |
| roverBeidouEphemerisCount | uint32_t | Rover beidou ephemeris element counter |
| baseBeidouEphemerisCount | uint32_t | Base station beidou ephemeris element counter |
| roverQzsEphemerisCount | uint32_t | Rover qzs ephemeris element counter |
| baseQzsEphemerisCount | uint32_t | Base station qzs ephemeris element counter |
| roverSbasCount | uint32_t | Rover sbas element counter |
| baseSbasCount | uint32_t | Base station sbas element counter |
| baseAntennaCount | uint32_t | Base station antenna position element counter |
| ionUtcAlmCount | uint32_t | Ionosphere model, utc and almanac count |
| correctionChecksumFailures | uint32_t | Number of checksum failures from received corrections |
| timeToFirstFixMs | uint32_t | Time to first RTK fix. |
DID_GPS2_RTK_CMP_REL¶
Dual GNSS RTK compassing / moving base to rover (GPS 1 to GPS 2) relative info.
gps_rtk_rel_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| differentialAge | float | Age of differential (seconds) |
| arRatio | float | Ambiguity resolution ratio factor for validation |
| baseToRoverVector | float[3] | Vector from base to rover (m) in ECEF - If Compassing enabled, this is the 3-vector from antenna 2 to antenna 1 |
| baseToRoverDistance | float | Distance from base to rover (m) |
| baseToRoverHeading | float | Angle from north to baseToRoverVector in local tangent plane. (rad) |
| baseToRoverHeadingAcc | float | Accuracy of baseToRoverHeading. (rad) |
| status | uint32_t | (see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag |
DID_GPS2_SAT¶
GPS 2 GNSS satellite information: sat identifiers, carrier to noise ratio, elevation and azimuth angles, pseudo range residual.
gps_sat_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| numSats | uint32_t | Number of satellites in the sky |
| sat | gps_sat_sv_t[50] | Satellite information list |
DID_GPS2_VEL¶
GPS 2 velocity data
gps_vel_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| vel | float[3] | GPS Velocity. Velocity is in ECEF {vx,vy,vz} (m/s) if status bit GPS_STATUS_FLAGS_GPS_NMEA_DATA (0x00008000) is NOT set. Velocity is in local tangent plane with no vertical velocity {vNorth, vEast, 0} (m/s) if status bit GPS_STATUS_FLAGS_GPS_NMEA_DATA (0x00008000) is set. |
| sAcc | float | Speed accuracy in meters / second |
| status | uint32_t | (see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag |
DID_GPS2_VERSION¶
GPS 2 version info
gps_version_t
| Field | Type | Description |
|---|---|---|
| swVersion | uint8_t[30] | Software version |
| hwVersion | uint8_t[10] | Hardware version |
| extension | gps_extension_ver_t[6] | Extension 30 bytes array description |
DID_GPS_RTK_OPT¶
RTK options - requires little endian CPU.
gps_rtk_opt_t
| Field | Type | Description |
|---|---|---|
| mode | int32_t | positioning mode (PMODE_???) |
| soltype | int32_t | solution type (0:forward,1:backward,2:combined) |
| nf | int32_t | number of frequencies (1:L1,2:L1+L2,3:L1+L2+L5) |
| navsys | int32_t | navigation systems |
| elmin | double | elevation mask angle (rad) |
| snrmin | int32_t | Min snr to consider satellite for rtk |
| modear | int32_t | AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) |
| glomodear | int32_t | GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) |
| gpsmodear | int32_t | GPS AR mode (0:off,1:on) |
| sbsmodear | int32_t | SBAS AR mode (0:off,1:on) |
| bdsmodear | int32_t | BeiDou AR mode (0:off,1:on) |
| arfilter | int32_t | AR filtering to reject bad sats (0:off,1:on) |
| maxout | int32_t | obs outage count to reset bias |
| maxrej | int32_t | reject count to reset bias |
| minlock | int32_t | min lock count to fix ambiguity |
| minfixsats | int32_t | min sats to fix integer ambiguities |
| minholdsats | int32_t | min sats to hold integer ambiguities |
| mindropsats | int32_t | min sats to drop sats in AR |
| rcvstds | int32_t | use stdev estimates from receiver to adjust measurement variances |
| minfix | int32_t | min fix count to hold ambiguity |
| armaxiter | int32_t | max iteration to resolve ambiguity |
| dynamics | int32_t | dynamics model (0:none,1:velociy,2:accel) |
| niter | int32_t | number of filter iteration |
| intpref | int32_t | interpolate reference obs (for post mission) |
| rovpos | int32_t | rover position for fixed mode |
| refpos | int32_t | base position for relative mode |
| eratio | double[] | code/phase error ratio |
| err | double[5] | measurement error factor |
| std | double[3] | initial-state std [0]bias,[1]iono [2]trop |
| prn | double[6] | process-noise std [0]bias,[1]iono [2]trop [3]acch [4]accv [5] pos |
| sclkstab | double | satellite clock stability (sec/sec) |
| thresar | double[8] | AR validation threshold |
| elmaskar | double | elevation mask of AR for rising satellite (rad) |
| elmaskhold | double | elevation mask to hold ambiguity (rad) |
| thresslip | double | slip threshold of geometry-free phase (m) |
| thresdop | double | variance for fix-and-hold pseudo measurements (cycle^2) |
| varholdamb | double | gain used for GLO and SBAS sats to adjust ambiguity |
| gainholdamb | double | max difference of time (sec) |
| maxtdiff | double | reset sat biases after this long trying to get fix if not acquired |
| fix_reset_base_msgs | int | reject thresholds of NIS |
| maxinno | double[2] | reject threshold of gdop |
| maxnis_lo | double | baseline length constraint {const,sigma before fix, sigma after fix} (m) |
| maxnis_hi | double | maximum error wrt ubx position (triggers reset if more than this far) (m) |
| maxgdop | double | rover position for fixed mode {x,y,z} (ecef) (m) |
| baseline | double[3] | base position for relative mode {x,y,z} (ecef) (m) |
| max_baseline_error | double | max averaging epochs |
| reset_baseline_error | double | output single by dgps/float/fix/ppp outage |
Raw GPS Data¶
Raw GPS data is contained in the DID_GPS1_RAW, DID_GPS2_RAW, and DID_GPS_BASE_RAW messages of type gps_raw_t. The actual raw data is contained in the union member gps_raw_t.data and should be interpreted based on the value of gps_raw_t.dataType (i.e. as observation, ephemeris, SBAS, or base station position).
DID_GPS1_RAW¶
GPS raw data for rover (observation, ephemeris, etc.) - requires little endian CPU. The contents of data can vary for this message and are determined by dataType field. RTK positioning or RTK compassing must be enabled to stream this message.
gps_raw_t
| Field | Type | Description |
|---|---|---|
| receiverIndex | uint8_t | Receiver index (1=RECEIVER_INDEX_GPS1, 2=RECEIVER_INDEX_EXTERNAL_BASE, or 3=RECEIVER_INDEX_GPS2 ) |
| dataType | uint8_t | Type of data (eRawDataType: 1=observations, 2=ephemeris, 3=glonassEphemeris, 4=SBAS, 5=baseAntenna, 6=IonosphereModel) |
| obsCount | uint8_t | Number of observations in data (obsd_t) when dataType==1 (raw_data_type_observation). |
| reserved | uint8_t | Reserved |
| data | uGpsRawData | Interpret based on dataType (see eRawDataType) |
DID_GPS2_RAW¶
GPS raw data for rover (observation, ephemeris, etc.) - requires little endian CPU. The contents of data can vary for this message and are determined by dataType field. RTK positioning or RTK compassing must be enabled to stream this message.
gps_raw_t
| Field | Type | Description |
|---|---|---|
| receiverIndex | uint8_t | Receiver index (1=RECEIVER_INDEX_GPS1, 2=RECEIVER_INDEX_EXTERNAL_BASE, or 3=RECEIVER_INDEX_GPS2 ) |
| dataType | uint8_t | Type of data (eRawDataType: 1=observations, 2=ephemeris, 3=glonassEphemeris, 4=SBAS, 5=baseAntenna, 6=IonosphereModel) |
| obsCount | uint8_t | Number of observations in data (obsd_t) when dataType==1 (raw_data_type_observation). |
| reserved | uint8_t | Reserved |
| data | uGpsRawData | Interpret based on dataType (see eRawDataType) |
DID_GPS_BASE_RAW¶
GPS raw data for base station (observation, ephemeris, etc.) - requires little endian CPU. The contents of data can vary for this message and are determined by dataType field. RTK positioning or RTK compassing must be enabled to stream this message.
gps_raw_t
| Field | Type | Description |
|---|---|---|
| receiverIndex | uint8_t | Receiver index (1=RECEIVER_INDEX_GPS1, 2=RECEIVER_INDEX_EXTERNAL_BASE, or 3=RECEIVER_INDEX_GPS2 ) |
| dataType | uint8_t | Type of data (eRawDataType: 1=observations, 2=ephemeris, 3=glonassEphemeris, 4=SBAS, 5=baseAntenna, 6=IonosphereModel) |
| obsCount | uint8_t | Number of observations in data (obsd_t) when dataType==1 (raw_data_type_observation). |
| reserved | uint8_t | Reserved |
| data | uGpsRawData | Interpret based on dataType (see eRawDataType) |
Raw GPS Data Buffer Union¶
uGpsRawData
| Field | Type | Description |
|---|---|---|
| obs | obsd_t[] | Satellite observation data |
| eph | eph_t | Satellite non-GLONASS ephemeris data (GPS, Galileo, Beidou, QZSS) |
| gloEph | geph_t | Satellite GLONASS ephemeris data |
| sbas | sbsmsg_t | Satellite-Based Augmentation Systems (SBAS) data |
| sta | sta_t | Base station information (base position, antenna position, antenna height, etc.) |
| ion | ion_model_utc_alm_t | Ionosphere model and UTC parameters |
| buf | uint8_t[1000] | Byte buffer |
GPS Galileo QZSS Ephemeris¶
eph_t
| Field | Type | Description |
|---|---|---|
| sat | int32_t | Satellite number in RTKlib notation. GPS: 1-32, GLONASS: 33-59, Galilleo: 60-89, SBAS: 90-95 |
| iode | int32_t | IODE Issue of Data, Ephemeris (ephemeris version) |
| iodc | int32_t | IODC Issue of Data, Clock (clock version) |
| sva | int32_t | SV accuracy (URA index) IRN-IS-200H p.97 |
| svh | int32_t | SV health GPS/QZS (0:ok) |
| week | int32_t | GPS/QZS: gps week, GAL: galileo week |
| code | int32_t | GPS/QZS: code on L2. (00 = Invalid, 01 = P Code ON, 11 = C/A code ON, 11 = Invalid). GAL/CMP: data sources |
| flag | int32_t | GPS/QZS: L2 P data flag (indicates that the NAV data stream was commanded OFF on the P-code of the in-phase component of the L2 channel). CMP: nav type |
| toe | gtime_t | Time Of Ephemeris, ephemeris reference epoch in seconds within the week (s) |
| toc | gtime_t | clock data reference time (s) (20.3.4.5) |
| ttr | gtime_t | T_trans (s) |
| A | double | Orbit semi-major axis (m) |
| e | double | Orbit eccentricity (non-dimensional) |
| i0 | double | Orbit inclination angle at reference time (rad) |
| OMG0 | double | Longitude of ascending node of orbit plane at weekly epoch (rad) |
| omg | double | Argument of perigee (rad) |
| M0 | double | Mean anomaly at reference time (rad) |
| deln | double | Mean Motion Difference From Computed Value (rad) |
| OMGd | double | Rate of Right Ascension (rad/s) |
| idot | double | Rate of Inclination Angle (rad/s) |
| crc | double | Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius (m) |
| crs | double | Amplitude of the Sine Harmonic Correction Term to the Orbit Radius (m) |
| cuc | double | Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude (rad) |
| cus | double | Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude (rad) |
| cic | double | Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination (rad) |
| cis | double | Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination (rad) |
| toes | double | Time Of Ephemeris, ephemeris reference epoch in seconds within the week (s), same as |
| fit | double | Fit interval (h) (0: 4 hours, 1: greater than 4 hours) |
| f0 | double | SV clock offset, af0 (s) |
| f1 | double | SV clock drift, af1 (s/s, non-dimensional) |
| f2 | double | SV clock drift rate, af2 (1/s) |
| tgd | double[4] | Group delay parameters GPS/QZS: tgd[0] = TGD (IRN-IS-200H p.103). Galilleo: tgd[0] = BGD E5a/E1, tgd[1] = BGD E5b/E1. Beidou: tgd[0] = BGD1, tgd[1] = BGD2 |
| Adot | double | Adot for CNAV, not used |
| ndot | double | First derivative of mean motion n (second derivative of mean anomaly M), ndot for CNAV (rad/s/s). Not used. |
GLONASS Ephemeris¶
geph_t
| Field | Type | Description |
|---|---|---|
| sat | int32_t | Satellite number in RTKlib notation. GPS: 1-32, GLONASS: 33-59, Galilleo: 60-89, SBAS: 90-95 |
| iode | int32_t | IODE (0-6 bit of tb field) |
| frq | int32_t | satellite frequency number |
| svh | int32_t | satellite health |
| sva | int32_t | satellite accuracy |
| age | int32_t | satellite age of operation |
| toe | gtime_t | Ephemeris reference epoch in seconds within the week in GPS time gpst (s) |
| tof | gtime_t | message frame time in gpst (s) |
| pos | double[3] | satellite position (ecef) (m) |
| vel | double[3] | satellite velocity (ecef) (m/s) |
| acc | double[3] | satellite acceleration (ecef) (m/s^2) |
| taun | double | SV clock bias (s) |
| gamn | double | relative frequency bias |
| dtaun | double | delay between L1 and L2 (s) |
SBAS¶
sbsmsg_t
| Field | Type | Description |
|---|---|---|
| week | int32_t | receiption time - week |
| tow | int32_t | reception time - tow |
| prn | int32_t | SBAS satellite PRN number |
| msg | uint8_t[29] | SBAS message (226bit) padded by 0 |
| reserved | uint8_t[3] | reserved for alighment |
Station Parameters¶
sta_t
| Field | Type | Description |
|---|---|---|
| deltype | int32_t | antenna delta type (0:enu,1:xyz) |
| pos | double[3] | station position (ecef) (m) |
| del | double[3] | antenna position delta (e/n/u or x/y/z) (m) |
| hgt | double | antenna height (m) |
| stationId | int32_t | station id |
Satellite Observation¶
obs_t
| Field | Type | Description |
|---|---|---|
| n | uint32_t | number of observation slots used |
| nmax | uint32_t | number of observation slots allocated |
| data | obsd_t | observation data buffer |
Satellite information¶
gps_sat_sv_t
| Field | Type | Description |
|---|---|---|
| gnssId | uint8_t | GNSS identifier (see eSatSvGnssId) |
| svId | uint8_t | Satellite identifier |
| elev | int8_t | (deg) Elevation (range: ±90) |
| azim | int16_t | (deg) Azimuth (range: ±180) |
| cno | uint8_t | (dBHz) Carrier to noise ratio (signal strength) |
| status | uint16_t | (see eSatSvStatus) |
Inertial Measurement Unit (IMU)¶
imus_t
| Field | Type | Description |
|---|---|---|
| pqr | float[3] | Gyroscope P, Q, R in radians / second |
| acc | float[3] | Acceleration X, Y, Z in meters / second squared |
Configuration¶
DID_FLASH_CONFIG¶
Flash memory configuration
nvm_flash_cfg_t
| Field | Type | Description |
|---|---|---|
| size | uint32_t | Size of group or union, which is nvm_group_x_t + padding |
| checksum | uint32_t | Checksum, excluding size and checksum |
| key | uint32_t | Manufacturer method for restoring flash defaults |
| startupImuDtMs | uint32_t | IMU sample (system input) period in milliseconds set on startup. Cannot be larger than startupNavDtMs. Zero disables sensor/IMU sampling. |
| startupNavDtMs | uint32_t | Navigation filter (system output) output period in milliseconds set on startup. Used to initialize sysParams.navOutputPeriodMs. |
| ser0BaudRate | uint32_t | Serial port 0 baud rate in bits per second |
| ser1BaudRate | uint32_t | Serial port 1 baud rate in bits per second |
| insRotation | float[3] | Rotation in radians about the X,Y,Z axes from Sensor Frame to Intermediate Output Frame. Order applied: Z,Y,X. |
| insOffset | float[3] | X,Y,Z offset in meters from Intermediate Output Frame to INS Output Frame. |
| gps1AntOffset | float[3] | X,Y,Z offset in meters in Sensor Frame to GPS 1 antenna. |
| dynamicModel | uint8_t | INS dynamic platform model (see eDynamicModel). Options are: 0=PORTABLE, 2=STATIONARY, 3=PEDESTRIAN, 4=GROUND VEHICLE, 5=SEA, 6=AIRBORNE_1G, 7=AIRBORNE_2G, 8=AIRBORNE_4G, 9=WRIST. Used to balance noise and performance characteristics of the system. The dynamics selected here must be at least as fast as your system or you experience accuracy error. This is tied to the GPS position estimation model and intend in the future to be incorporated into the INS position model. |
| debug | uint8_t | Debug |
| gnssSatSigConst | uint16_t | Satellite system constellation used in GNSS solution. (see eGnssSatSigConst) 0x0003=GPS, 0x000C=QZSS, 0x0030=Galileo, 0x00C0=Beidou, 0x0300=GLONASS, 0x1000=SBAS |
| sysCfgBits | uint32_t | System configuration bits (see eSysConfigBits). |
| refLla | double[3] | Reference latitude, longitude and height above ellipsoid for north east down (NED) calculations (deg, deg, m) |
| lastLla | double[3] | Last latitude, longitude, HAE (height above ellipsoid) used to aid GPS startup (deg, deg, m). Updated when the distance between current LLA and lastLla exceeds lastLlaUpdateDistance. |
| lastLlaTimeOfWeekMs | uint32_t | Last LLA GPS time since week start (Sunday morning) in milliseconds |
| lastLlaWeek | uint32_t | Last LLA GPS number of weeks since January 6th, 1980 |
| lastLlaUpdateDistance | float | Distance between current and last LLA that triggers an update of lastLla |
| ioConfig | uint32_t | Hardware interface configuration bits (see eIoConfig). |
| platformConfig | uint32_t | Hardware platform specifying the IMX carrier board type (i.e. RUG, EVB, IG) and configuration bits (see ePlatformConfig). The platform type is used to simplify the GPS and I/O configuration process. |
| gps2AntOffset | float[3] | X,Y,Z offset in meters in Sensor Frame origin to GPS 2 antenna. |
| zeroVelRotation | float[3] | Euler (roll, pitch, yaw) rotation in radians from INS Sensor Frame to Intermediate ZeroVelocity Frame. Order applied: heading, pitch, roll. |
| zeroVelOffset | float[3] | X,Y,Z offset in meters from Intermediate ZeroVelocity Frame to Zero Velocity Frame. |
| gpsTimeUserDelay | float | (sec) User defined delay for GPS time. This parameter can be used to account for GPS antenna cable delay. |
| magDeclination | float | Earth magnetic field (magnetic north) declination (heading offset from true north) in radians |
| gpsTimeSyncPeriodMs | uint32_t | Time between GPS time synchronization pulses in milliseconds. Requires reboot to take effect. |
| startupGPSDtMs | uint32_t | GPS measurement (system input) update period in milliseconds set on startup. 200ms minimum (5Hz max). |
| RTKCfgBits | uint32_t | RTK configuration bits (see eRTKConfigBits). |
| sensorConfig | uint32_t | Sensor config to specify the full-scale sensing ranges and output rotation for the IMU and magnetometer (see eSensorConfig in data_sets.h) |
| gpsMinimumElevation | float | Minimum elevation of a satellite above the horizon to be used in the solution (radians). Low elevation satellites may provide degraded accuracy, due to the long signal path through the atmosphere. |
| ser2BaudRate | uint32_t | Serial port 2 baud rate in bits per second |
| wheelConfig | wheel_config_t | Wheel encoder: euler angles describing the rotation from imu to left wheel |
| magInterferenceThreshold | float | Magnetometer interference sensitivity threshold. Typical range is 2-10 (3 default) and 1000 to disable mag interference detection. |
DID_NMEA_BCAST_PERIOD¶
Set broadcast periods for NMEA messages
nmea_msgs_t
| Field | Type | Description |
|---|---|---|
| options | uint32_t | Options: Port selection[0x0=current, 0x1=ser0, 0x2=ser1, 0x4=ser2, 0x8=USB, 0x100=preserve, 0x200=Persistant] (see RMC_OPTIONS_...) |
| msgCount | uint8_t | The number of messages being set in this message |
DID_RMC¶
Realtime Message Controller (RMC). The data sets available through RMC are driven by the availability of the data. The RMC provides updates from various data sources (i.e. sensors) as soon as possible with minimal latency. Several of the data sources (sensors) output data at different data rates that do not all correspond. The RMC is provided so that broadcast of sensor data is done as soon as it becomes available. All RMC messages can be enabled using the standard Get Data packet format.
rmc_t
| Field | Type | Description |
|---|---|---|
| bits | uint64_t | Data stream enable bits for the specified ports. (see RMC_BITS_...) |
| options | uint32_t | Options to select alternate ports to output data, etc. (see RMC_OPTIONS_...) |
Command¶
DID_SYS_CMD¶
System commands. Both the command and invCommand fields must be set at the same time for a command to take effect.
system_command_t
| Field | Type | Description |
|---|---|---|
| command | uint32_t | System commands (see eSystemCommand) 1=save current persistent messages, 5=zero motion, 97=save flash, 99=software reset. "invCommand" (following variable) must be set to bitwise inverse of this value for this command to be processed. |
| invCommand | uint32_t | Error checking field that must be set to bitwise inverse of command field for the command to take effect. |
EVB-2¶
DID_EVB_FLASH_CFG¶
EVB configuration.
evb_flash_cfg_t
| Field | Type | Description |
|---|---|---|
| size | uint32_t | Size of this struct |
| checksum | uint32_t | Checksum, excluding size and checksum |
| key | uint32_t | Manufacturer method for restoring flash defaults |
| cbPreset | uint8_t | Communications bridge preset. (see eEvb2ComBridgePreset) |
| reserved1 | uint8_t[3] | Communications bridge forwarding |
| cbf | uint32_t[EVB2_PORT_COUNT] | Communications bridge options (see eEvb2ComBridgeOptions) |
| cbOptions | uint32_t | Config bits (see eEvbFlashCfgBits) |
| bits | uint32_t | Radio preamble ID (PID) - 0x0 to 0x9. Only radios with matching PIDs can communicate together. Different PIDs minimize interference between multiple sets of networks. Checked before the network ID. |
| radioPID | uint32_t | Radio network ID (NID) - 0x0 to 0x7FFF. Only radios with matching NID can communicate together. Checked after the preamble ID. |
| radioNID | uint32_t | Radio power level - Transmitter output power level. (XBee PRO SX 0=20dBm, 1=27dBm, 2=30dBm) |
| radioPowerLevel | uint32_t | WiFi SSID and PSK |
| wifi | evb_wifi_t[3] | Server IP and port |
| server | evb_server_t[3] | Encoder tick to wheel rotation conversion factor (in radians). Encoder tick count per revolution on 1 channel x gear ratio x 2pi. |
| encoderTickToWheelRad | float | CAN baudrate |
| CANbaud_kbps | uint32_t | CAN receive address |
| can_receive_address | uint32_t | EVB port for uINS communications and SD card logging. 0=uINS-Ser0 (default), 1=uINS-Ser1, SP330=5, 6=GPIO_H8 (use eEvb2CommPorts) |
| uinsComPort | uint8_t | EVB port for uINS aux com and RTK corrections. 0=uINS-Ser0, 1=uINS-Ser1 (default), 5=SP330, 6=GPIO_H8 (use eEvb2CommPorts) |
| uinsAuxPort | uint8_t | Enable radio RTK filtering, etc. (see eEvb2PortOptions) |
| reserved2 | uint8_t[2] | Baud rate for EVB serial port H3 (SP330 RS233 and RS485/422). |
| portOptions | uint32_t | Baud rate for EVB serial port H4 (TLL to external radio). |
| h3sp330BaudRate | uint32_t | Baud rate for EVB serial port H8 (TLL). |
| h4xRadioBaudRate | uint32_t | Wheel encoder configuration (see eWheelCfgBits) |
| h8gpioBaudRate | uint32_t | Wheel update period. Sets the wheel encoder and control update period. (ms) |
DID_EVB_STATUS¶
EVB monitor and log control interface.
evb_status_t
| Field | Type | Description |
|---|---|---|
| week | uint32_t | GPS number of weeks since January 6th, 1980 |
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| firmwareVer | uint8_t[4] | Firmware (software) version |
| evbStatus | uint32_t | Status (eEvbStatus) |
| loggerMode | uint32_t | Data logger control state. (see eEvb2LoggerMode) |
| loggerElapsedTimeMs | uint32_t | logger |
| wifiIpAddr | uint32_t | WiFi IP address |
| sysCommand | uint32_t | System command (see eSystemCommand). 99 = software reset |
| towOffset | double | Time sync offset between local time since boot up to GPS time of week in seconds. Add this to IMU and sensor time to get GPS time of week in seconds. |
General¶
DID_BIT¶
System built-in self-test
bit_t
| Field | Type | Description |
|---|---|---|
| state | uint32_t | Built-in self-test state (see eBitState) |
| hdwBitStatus | uint32_t | Hardware BIT status (see eHdwBitStatusFlags) |
| calBitStatus | uint32_t | Calibration BIT status (see eCalBitStatusFlags) |
| tcPqrBias | float | Temperature calibration bias |
| tcAccBias | float | Temperature calibration slope |
| tcPqrSlope | float | Temperature calibration linearity |
| tcAccSlope | float | Gyro error (rad/s) |
| tcPqrLinearity | float | Accelerometer error (m/s^2) |
| tcAccLinearity | float | Angular rate standard deviation |
| pqr | float | Acceleration standard deviation |
| acc | float | Self-test mode (see eBitTestMode) |
DID_CAN_CONFIG¶
Addresses for CAN messages
can_config_t
| Field | Type | Description |
|---|---|---|
| can_period_mult | uint16_t[] | Broadcast period multiple - CAN time message. 0 to disable. |
| can_transmit_address | uint32_t[] | Transmit address. |
| can_baudrate_kbps | uint16_t | Baud rate (kbps) (See can_baudrate_t for valid baud rates) |
| can_receive_address | uint32_t | Receive address. |
DID_DEV_INFO¶
Device information
dev_info_t
| Field | Type | Description |
|---|---|---|
| reserved | uint16_t | Reserved bits |
| hardware | uint16_t | Hardware: 1=uINS, 2=EVB, 3=IMX, 4=GPX (see eDevInfoHardware) |
| serialNumber | uint32_t | Serial number |
| hardwareVer | uint8_t[4] | Hardware version |
| firmwareVer | uint8_t[4] | Firmware (software) version |
| buildNumber | uint32_t | Build number |
| protocolVer | uint8_t[4] | Communications protocol version |
| repoRevision | uint32_t | Repository revision number |
| manufacturer | char[24] | Manufacturer name |
| buildType | uint8_t | Build type (Release: 'a'=ALPHA, 'b'=BETA, 'c'=RELEASE CANDIDATE, 'r'=PRODUCTION RELEASE, 'd'=debug) |
| buildYear | uint8_t | Build date year - 2000 |
| buildMonth | uint8_t | Build date month |
| buildDay | uint8_t | Build date day |
| buildHour | uint8_t | Build time hour |
| buildMinute | uint8_t | Build time minute |
| buildSecond | uint8_t | Build time second |
| buildMillisecond | uint8_t | Build time millisecond |
| addInfo | char[24] | Additional info |
| firmwareMD5Hash | uint32_t[4] | Firmware MD5 hash |
DID_DIAGNOSTIC_MESSAGE¶
Diagnostic message
diag_msg_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| messageLength | uint32_t | Message length, including null terminator |
| message | char[256] | Message data, max size of message is 256 |
DID_EVB_DEBUG_ARRAY¶
debug_array_t
| Field | Type | Description |
|---|---|---|
DID_EVB_DEV_INFO¶
EVB device information
dev_info_t
| Field | Type | Description |
|---|---|---|
| reserved | uint16_t | Reserved bits |
| hardware | uint16_t | Hardware: 1=uINS, 2=EVB, 3=IMX, 4=GPX (see eDevInfoHardware) |
| serialNumber | uint32_t | Serial number |
| hardwareVer | uint8_t[4] | Hardware version |
| firmwareVer | uint8_t[4] | Firmware (software) version |
| buildNumber | uint32_t | Build number |
| protocolVer | uint8_t[4] | Communications protocol version |
| repoRevision | uint32_t | Repository revision number |
| manufacturer | char[24] | Manufacturer name |
| buildType | uint8_t | Build type (Release: 'a'=ALPHA, 'b'=BETA, 'c'=RELEASE CANDIDATE, 'r'=PRODUCTION RELEASE, 'd'=debug) |
| buildYear | uint8_t | Build date year - 2000 |
| buildMonth | uint8_t | Build date month |
| buildDay | uint8_t | Build date day |
| buildHour | uint8_t | Build time hour |
| buildMinute | uint8_t | Build time minute |
| buildSecond | uint8_t | Build time second |
| buildMillisecond | uint8_t | Build time millisecond |
| addInfo | char[24] | Additional info |
| firmwareMD5Hash | uint32_t[4] | Firmware MD5 hash |
DID_EVB_RTOS_INFO¶
EVB-2 RTOS information.
evb_rtos_info_t
| Field | Type | Description |
|---|---|---|
| freeHeapSize | uint32_t | Heap high water mark bytes |
| mallocSize | uint32_t | Total memory allocated using RTOS pvPortMalloc() |
| freeSize | uint32_t | Total memory freed using RTOS vPortFree() |
| task | rtos_task_t[] | Tasks |
DID_GPS1_SIG¶
GPS 1 GNSS signal information.
gps_sig_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| numSigs | uint32_t | Number of satellite signals in the following satelliate signal list |
| sig | gps_sig_sv_t[100] | Satellite signal list |
DID_GPS1_TIMEPULSE¶
gps_timepulse_t
| Field | Type | Description |
|---|---|---|
DID_GPS2_SIG¶
GPS 2 GNSS signal information.
gps_sig_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| numSigs | uint32_t | Number of satellite signals in the following satelliate signal list |
| sig | gps_sig_sv_t[100] | Satellite signal list |
DID_GPX_BIT¶
GPX BIT test
GPX_bit_t
| Field | Type | Description |
|---|---|---|
| results | uint32_t | Calibration BIT status (see eCalBitStatusFlags) |
| command | uint8_t | Command |
| port | uint8_t | Built-in self-test state |
DID_GPX_DEBUG_ARRAY¶
GPX debug
debug_array_t
| Field | Type | Description |
|---|---|---|
DID_GPX_DEV_INFO¶
GPX device information
dev_info_t
| Field | Type | Description |
|---|---|---|
| reserved | uint16_t | Reserved bits |
| hardware | uint16_t | Hardware: 1=uINS, 2=EVB, 3=IMX, 4=GPX (see eDevInfoHardware) |
| serialNumber | uint32_t | Serial number |
| hardwareVer | uint8_t[4] | Hardware version |
| firmwareVer | uint8_t[4] | Firmware (software) version |
| buildNumber | uint32_t | Build number |
| protocolVer | uint8_t[4] | Communications protocol version |
| repoRevision | uint32_t | Repository revision number |
| manufacturer | char[24] | Manufacturer name |
| buildType | uint8_t | Build type (Release: 'a'=ALPHA, 'b'=BETA, 'c'=RELEASE CANDIDATE, 'r'=PRODUCTION RELEASE, 'd'=debug) |
| buildYear | uint8_t | Build date year - 2000 |
| buildMonth | uint8_t | Build date month |
| buildDay | uint8_t | Build date day |
| buildHour | uint8_t | Build time hour |
| buildMinute | uint8_t | Build time minute |
| buildSecond | uint8_t | Build time second |
| buildMillisecond | uint8_t | Build time millisecond |
| addInfo | char[24] | Additional info |
| firmwareMD5Hash | uint32_t[4] | Firmware MD5 hash |
DID_GPX_FLASH_CFG¶
GPX flash configuration
gpx_flash_cfg_t
| Field | Type | Description |
|---|---|---|
| size | uint32_t | Size of this struct |
| checksum | uint32_t | Checksum, excluding size and checksum |
| key | uint32_t | Manufacturer method for restoring flash defaults |
| ser0BaudRate | uint32_t | Serial port 0 baud rate in bits per second |
| ser1BaudRate | uint32_t | Serial port 1 baud rate in bits per second |
| ser2BaudRate | uint32_t | Serial port 2 baud rate in bits per second |
| startupGPSDtMs | uint32_t | GPS measurement (system input data) update period in milliseconds set on startup. 200ms minimum (5Hz max). |
| gps1AntOffset | float[3] | X,Y,Z offset in meters in Sensor Frame to GPS 1 antenna. |
| gps2AntOffset | float[3] | X,Y,Z offset in meters in Sensor Frame to GPS 2 antenna. |
| gnssSatSigConst | uint16_t | Satellite system constellation used in GNSS solution. (see eGnssSatSigConst) 0x0003=GPS, 0x000C=QZSS, 0x0030=Galileo, 0x00C0=Beidou, 0x0300=GLONASS, 0x1000=SBAS |
| dynamicModel | uint8_t | Dynamic platform model (see eDynamicModel). Options are: 0=PORTABLE, 2=STATIONARY, 3=PEDESTRIAN, 4=GROUND VEHICLE, 5=SEA, 6=AIRBORNE_1G, 7=AIRBORNE_2G, 8=AIRBORNE_4G, 9=WRIST. Used to balance noise and performance characteristics of the system. The dynamics selected here must be at least as fast as your system or you experience accuracy error. This is tied to the GPS position estimation model and intend in the future to be incorporated into the INS position model. |
| debug | uint8_t | Debug |
| gpsTimeSyncPeriodMs | uint32_t | Time between GPS time synchronization pulses in milliseconds. Requires reboot to take effect. |
| gpsTimeUserDelay | float | (sec) User defined delay for GPS time. This parameter can be used to account for GPS antenna cable delay. |
| gpsMinimumElevation | float | Minimum elevation of a satellite above the horizon to be used in the solution (radians). Low elevation satellites may provide degraded accuracy, due to the long signal path through the atmosphere. |
| RTKCfgBits | uint32_t | RTK configuration bits (see eRTKConfigBits). |
DID_GPX_RMC¶
GPX rmc
rmc_t
| Field | Type | Description |
|---|---|---|
| bits | uint64_t | Data stream enable bits for the specified ports. (see RMC_BITS_...) |
| options | uint32_t | Options to select alternate ports to output data, etc. (see RMC_OPTIONS_...) |
DID_GPX_RTOS_INFO¶
GPX RTOs info
gpx_rtos_info_t
| Field | Type | Description |
|---|---|---|
| freeHeapSize | uint32_t | Heap high water mark bytes |
| mallocSize | uint32_t | Total memory allocated using RTOS pvPortMalloc() |
| freeSize | uint32_t | Total memory freed using RTOS vPortFree() |
| task | rtos_task_t[] | Tasks |
DID_GPX_STATUS¶
GPX status
gpx_status_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| status | uint32_t | Status (eGpxStatus) |
| grmcBitsSer0 | uint64_t | GRMC BITS |
| grmcBitsSer1 | uint64_t | Hardware status flags (eHdwStatusFlags) |
| grmcBitsSer2 | uint64_t | MCU temperature (not available yet) |
| grmcBitsUSB | uint64_t | Nav output period (ms). |
| grmcNMEABitsSer0 | uint64_t | Flash config checksum used with host SDK synchronization |
| grmcNMEABitsSer1 | uint64_t | RTK Mode bits (see eRTKConfigBits) |
| grmcNMEABitsSer2 | uint64_t | GNSS status (see RunState) |
DID_GROUND_VEHICLE¶
Static configuration for wheel transform measurements.
ground_vehicle_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| status | uint32_t | Ground vehicle status flags (eGroundVehicleStatus) |
| mode | uint32_t | Current mode of the ground vehicle. Use this field to apply commands. (see eGroundVehicleMode) |
| wheelConfig | wheel_config_t | Wheel transform, track width, and wheel radius. |
DID_IMU3_RAW¶
Triple IMU data calibrated from DID_IMU3_UNCAL. We recommend use of DID_IMU or DID_PIMU as they are oversampled and contain less noise.
imu3_t
| Field | Type | Description |
|---|---|---|
| time | double | Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset |
| status | uint32_t | IMU Status (eImuStatus) |
| I | imus_t[3] | Inertial Measurement Units (IMUs) |
DID_IMU3_UNCAL¶
Uncalibrated triple IMU data. We recommend use of DID_IMU or DID_PIMU as they are calibrated and oversampled and contain less noise. Minimum data period is DID_FLASH_CONFIG.startupImuDtMs or 4, whichever is larger (250Hz max).
imu3_t
| Field | Type | Description |
|---|---|---|
| time | double | Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset |
| status | uint32_t | IMU Status (eImuStatus) |
| I | imus_t[3] | Inertial Measurement Units (IMUs) |
DID_IMU_MAG¶
DID_IMU + DID_MAGNETOMETER. Only one of DID_IMU_MAG or DID_PIMU_MAG should be streamed simultaneously.
imu_mag_t
| Field | Type | Description |
|---|---|---|
| imu | imu_t | imu - raw or pre-integrated depending on data id |
| mag | magnetometer_t | mag |
DID_INFIELD_CAL¶
Measure and correct IMU calibration error. Estimate INS rotation to align INS with vehicle.
infield_cal_t
| Field | Type | Description |
|---|---|---|
| state | uint32_t | Used to set and monitor the state of the infield calibration system. (see eInfieldCalState) |
| status | uint32_t | Infield calibration status. (see eInfieldCalStatus) |
| sampleTimeMs | uint32_t | Number of samples used in IMU average. sampleTimeMs = 0 means "imu" member contains the IMU bias from flash. |
| imu | imus_t[3] | Dual purpose variable. 1.) This is the averaged IMU sample when sampleTimeMs != 0. 2.) This is a mirror of the motion calibration IMU bias from flash when sampleTimeMs = 0. |
| calData | infield_cal_vaxis_t[3] | Collected data used to solve for the bias error and INS rotation. Vertical axis: 0 = X, 1 = Y, 2 = Z |
DID_INL2_MAG_OBS_INFO¶
INL2 magnetometer calibration information.
inl2_mag_obs_info_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | Timestamp in milliseconds |
| Ncal_samples | uint32_t | Number of calibration samples |
| ready | uint32_t | Data ready to be processed |
| calibrated | uint32_t | Calibration data present. Set to -1 to force mag recalibration. |
| auto_recal | uint32_t | Allow mag to auto-recalibrate |
| outlier | uint32_t | Bad sample data |
| magHdg | float | Heading from magnetometer |
| insHdg | float | Heading from INS |
| magInsHdgDelta | float | Difference between mag heading and (INS heading plus mag declination) |
| nis | float | Normalized innovation squared (likelihood metric) |
| nis_threshold | float | Threshold for maximum NIS |
| Wcal | float[9] | Magnetometer calibration matrix. Must be initialized with a unit matrix, not zeros! |
| activeCalSet | uint32_t | Active calibration set (0 or 1) |
| magHdgOffset | float | Offset between magnetometer heading and estimate heading |
| Tcal | float | Scaled computed variance between calibrated magnetometer samples. |
| bias_cal | float[3] | Calibrated magnetometer output can be produced using: Bcal = Wcal * (Braw - bias_cal) |
DID_INL2_NED_SIGMA¶
Standard deviation of INL2 EKF estimates in the NED frame.
inl2_ned_sigma_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | unsigned | Timestamp in milliseconds |
| StdPosNed | float[3] | NED position error sigma |
| StdVelNed | float[3] | NED velocity error sigma |
| StdAttNed | float[3] | NED attitude error sigma |
| StdAccBias | float[3] | Acceleration bias error sigma |
| StdGyrBias | float[3] | Angular rate bias error sigma |
| StdBarBias | float | Barometric altitude bias error sigma |
| StdMagDeclination | float | Mag declination error sigma |
DID_INL2_STATES¶
INS Extended Kalman Filter (EKF) states
inl2_states_t
| Field | Type | Description |
|---|---|---|
| timeOfWeek | double | GPS time of week (since Sunday morning) in seconds |
| qe2b | float[4] | Quaternion body rotation with respect to ECEF |
| ve | float[3] | (m/s) Velocity in ECEF frame |
| ecef | double[3] | (m) Position in ECEF frame |
| biasPqr | float[3] | (rad/s) Gyro bias |
| biasAcc | float[3] | (m/s^2) Accelerometer bias |
| biasBaro | float | (m) Barometer bias |
| magDec | float | (rad) Magnetic declination |
| magInc | float | (rad) Magnetic inclination |
DID_INL2_STATUS¶
inl2_status_t
| Field | Type | Description |
|---|---|---|
DID_INTERNAL_DIAGNOSTIC¶
Internal diagnostic info
internal_diagnostic_t
| Field | Type | Description |
|---|---|---|
| gapCountSerialDriver | uint32_t[6] | Count of gap of more than 0.5 seconds receiving serial data, driver level, one entry for each com port |
| gapCountSerialParser | uint32_t[6] | Count of gap of more than 0.5 seconds receiving serial data, class / parser level, one entry for each com port |
| rxOverflowCount | uint32_t[6] | Count of rx overflow, one entry for each com port |
| txOverflowCount | uint32_t[6] | Count of tx overflow, one entry for each com port |
| checksumFailCount | uint32_t[6] | Count of checksum failures, one entry for each com port |
DID_IO¶
I/O
io_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| gpioStatus | uint32_t | General purpose I/O status |
DID_MANUFACTURING_INFO¶
Manufacturing info
manufacturing_info_t
| Field | Type | Description |
|---|---|---|
| serialNumber | uint32_t | Inertial Sense serial number |
| hardwareId | uint16_t | Hardware ID: This is a packed identifier, which includes the Hardware Type, hardwareVer Major, and hardwareVer Minor |
| lotNumber | uint16_t | Inertial Sense lot number |
| date | char[16] | Inertial Sense manufacturing date (YYYYMMDDHHMMSS) |
| key | uint32_t | Key - write: unlock manufacturing info, read: number of times OTP has been set, 15 max |
| platformType | int32_t | Platform / carrier board (ePlatformConfig::PLATFORM_CFG_TYPE_MASK). Only valid if greater than zero. |
| reserved | int32_t | Microcontroller unique identifier, 128 bits for SAM / 96 for STM32 |
DID_PIMU_MAG¶
DID_PIMU + DID_MAGNETOMETER. Only one of DID_IMU_MAG or DID_PIMU_MAG should be streamed simultaneously.
pimu_mag_t
| Field | Type | Description |
|---|---|---|
| pimu | pimu_t | Preintegrated IMU |
| mag | magnetometer_t | Magnetometer |
DID_PORT_MONITOR¶
Data rate and status monitoring for each communications port.
port_monitor_t
| Field | Type | Description |
|---|---|---|
| port | port_monitor_set_t[6] | Port monitor set |
DID_POSITION_MEASUREMENT¶
External position estimate
pos_measurement_t
| Field | Type | Description |
|---|---|---|
| timeOfWeek | double | GPS time of week (since Sunday morning) in seconds |
| ecef | double[3] | Position in ECEF (earth-centered earth-fixed) frame in meters |
| psi | float | Heading with respect to NED frame (rad |
DID_REFERENCE_IMU¶
Raw reference or truth IMU used for manufacturing calibration and testing. Input from testbed.
imu_t
| Field | Type | Description |
|---|---|---|
| time | double | Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset |
| status | uint32_t | IMU Status (eImuStatus) |
| I | imus_t | Inertial Measurement Unit (IMU) |
DID_REFERENCE_MAGNETOMETER¶
Reference or truth magnetometer used for manufacturing calibration and testing
magnetometer_t
| Field | Type | Description |
|---|---|---|
| time | double | Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset |
| mag | float[3] | Magnetometers in Gauss |
DID_REFERENCE_PIMU¶
Reference or truth IMU used for manufacturing calibration and testing
pimu_t
| Field | Type | Description |
|---|---|---|
| time | double | Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset |
| dt | float | Integral period in seconds for delta theta and delta velocity. This is configured using DID_FLASH_CONFIG.startupNavDtMs. |
| status | uint32_t | IMU Status (eImuStatus) |
| theta | float[3] | IMU delta theta (gyroscope {p,q,r} integral) in radians in sensor frame |
| vel | float[3] | IMU delta velocity (accelerometer {x,y,z} integral) in m/s in sensor frame |
DID_ROS_COVARIANCE_POSE_TWIST¶
INL2 EKF covariances matrix lower diagonals
ros_covariance_pose_twist_t
| Field | Type | Description |
|---|---|---|
| timeOfWeek | double | GPS time of week (since Sunday morning) in seconds |
| covPoseLD | float[21] | (rad^2, m^2) EKF attitude and position error covariance matrix lower diagonal in body (attitude) and ECEF (position) frames |
| covTwistLD | float[21] | ((m/s)^2, (rad/s)^2) EKF velocity and angular rate error covariance matrix lower diagonal in ECEF (velocity) and body (attitude) frames |
DID_RTOS_INFO¶
RTOS information.
rtos_info_t
| Field | Type | Description |
|---|---|---|
| freeHeapSize | uint32_t | Heap high water mark bytes |
| mallocSize | uint32_t | Total memory allocated using RTOS pvPortMalloc() |
| freeSize | uint32_t | Total memory freed using RTOS vPortFree() |
| task | rtos_task_t[] | Tasks |
DID_RUNTIME_PROFILER¶
System runtime profiler
runtime_profiler_t
| Field | Type | Description |
|---|---|---|
DID_SCOMP¶
sensor_compensation_t
| Field | Type | Description |
|---|---|---|
DID_SENSORS_ADC¶
sys_sensors_adc_t
| Field | Type | Description |
|---|---|---|
DID_SENSORS_ADC_SIGMA¶
sys_sensors_adc_t
| Field | Type | Description |
|---|---|---|
DID_SENSORS_MCAL¶
Temperature compensated and motion calibrated IMU output.
sensors_w_temp_t
| Field | Type | Description |
|---|---|---|
| imu3 | imu3_t | (°C) Temperature of IMU. Units only apply for calibrated data. |
| temp | f_t[3] | (uT) Magnetometers. Units only apply for calibrated data. |
DID_SENSORS_TCAL¶
Temperature compensated IMU output.
sensors_w_temp_t
| Field | Type | Description |
|---|---|---|
| imu3 | imu3_t | (°C) Temperature of IMU. Units only apply for calibrated data. |
| temp | f_t[3] | (uT) Magnetometers. Units only apply for calibrated data. |
DID_SENSORS_TC_BIAS¶
sensors_t
| Field | Type | Description |
|---|---|---|
| time | double | Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset |
| temp | float | Temperature in Celsius |
| pqr | float[3] | Gyros in radians / second |
| acc | float[3] | Accelerometers in meters / second squared |
| mag | float[3] | Magnetometers in Gauss |
| bar | float | Barometric pressure in kilopascals |
| barTemp | float | Temperature of barometric pressure sensor in Celsius |
| mslBar | float | MSL altitude from barometric pressure sensor in meters |
| humidity | float | Relative humidity as a percent (%rH). Range is 0% - 100% |
| vin | float | EVB system input voltage in volts. uINS pin 5 (G2/AN2). Use 10K/1K resistor divider between Vin and GND. |
| ana1 | float | ADC analog input in volts. uINS pin 4, (G1/AN1). |
| ana3 | float | ADC analog input in volts. uINS pin 19 (G3/AN3). |
| ana4 | float | ADC analog input in volts. uINS pin 20 (G4/AN4). |
DID_SENSORS_UCAL¶
Uncalibrated IMU output.
sensors_w_temp_t
| Field | Type | Description |
|---|---|---|
| imu3 | imu3_t | (°C) Temperature of IMU. Units only apply for calibrated data. |
| temp | f_t[3] | (uT) Magnetometers. Units only apply for calibrated data. |
DID_STROBE_IN_TIME¶
Timestamp for input strobe.
strobe_in_time_t
| Field | Type | Description |
|---|---|---|
| week | uint32_t | GPS number of weeks since January 6th, 1980 |
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| pin | uint16_t | Strobe input pin (i.e. G1, G2, G5, or G9) |
| count | uint16_t | Strobe serial index number |
DID_SURVEY_IN¶
Survey in, used to determine position for RTK base station. Base correction output cannot run during a survey and will be automatically disabled if a survey is started.
survey_in_t
| Field | Type | Description |
|---|---|---|
| state | uint32_t | State of current survey, eSurveyInStatus |
| maxDurationSec | uint32_t | Maximum time (milliseconds) survey will run if minAccuracy is not first achieved. (ignored if 0). |
| minAccuracy | float | Required horizontal accuracy (m) for survey to complete before maxDuration. (ignored if 0) |
| elapsedTimeSec | uint32_t | Elapsed time (seconds) of the survey. |
| hAccuracy | float | Approximate horizontal accuracy of the survey (m). |
| lla | double[3] | The current surveyed latitude, longitude, altitude (deg, deg, m) |
DID_SYS_FAULT¶
System fault information
system_fault_t
| Field | Type | Description |
|---|---|---|
| status | uint32_t | System fault status |
| g1Task | uint32_t | Fault Type at HardFault |
| g2FileNum | uint32_t | Multipurpose register - Line number of fault |
| g3LineNum | uint32_t | Multipurpose register - File number at fault |
| g4 | uint32_t | Multipurpose register - at time of fault. |
| g5Lr | uint32_t | Multipurpose register - link register value at time of fault. |
| pc | uint32_t | Program Counter value at time of fault |
| psr | uint32_t | Program Status Register value at time of fault |
DID_SYS_PARAMS¶
System parameters / info
sys_params_t
| Field | Type | Description |
|---|---|---|
| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds |
| insStatus | uint32_t | INS status flags (eInsStatusFlags) |
| hdwStatus | uint32_t | Hardware status flags (eHdwStatusFlags) |
| imuTemp | float | IMU temperature |
| baroTemp | float | Baro temperature |
| mcuTemp | float | MCU temperature (not available yet) |
| sysStatus | uint32_t | System status flags (eSysStatusFlags) |
| imuSamplePeriodMs | uint32_t | IMU sample period (ms). Zero disables sampling. |
| navOutputPeriodMs | uint32_t | Preintegrated IMU (PIMU) integration period and navigation/AHRS filter output period (ms). |
| sensorTruePeriod | double | Actual sample period relative to GPS PPS (sec) |
| flashCfgChecksum | uint32_t | Flash config checksum used with host SDK synchronization |
| navUpdatePeriodMs | uint32_t | Navigation/AHRS filter update period (ms) |
| genFaultCode | uint32_t | General fault code descriptor (eGenFaultCodes). Set to zero to reset fault code. |
DID_WHEEL_ENCODER¶
Wheel encoder data to be fused with GPS-INS measurements, set DID_GROUND_VEHICLE for configuration before sending this message
wheel_encoder_t
| Field | Type | Description |
|---|---|---|
| timeOfWeek | double | Time of measurement wrt current week |
| status | uint32_t | Status Word |
| theta_l | float | Left wheel angle (rad) |
| theta_r | float | Right wheel angle (rad) |
| omega_l | float | Left wheel angular rate (rad/s) |
| omega_r | float | Right wheel angular rate (rad/s) |
| wrap_count_l | uint32_t | Left wheel revolution count |
| wrap_count_r | uint32_t | Right wheel revolution count |
Enumerations and Defines¶
System status and configuration is made available through various enumeration and #defines.
General¶
DID_EVB_FLASH_CFG.cbPreset¶
(eEvb2ComBridgePreset)
| Field | Value |
|---|---|
| EVB2_CB_PRESET_NA | 0 |
| EVB2_CB_PRESET_ALL_OFF | 1 |
| EVB2_CB_PRESET_RS232 | 2 |
| EVB2_CB_PRESET_RS232_XBEE | 3 |
| EVB2_CB_PRESET_RS422_WIFI | 4 |
| EVB2_CB_PRESET_SPI_RS232 | 5 |
| EVB2_CB_PRESET_USB_HUB_RS232 | 6 |
| EVB2_CB_PRESET_USB_HUB_RS422 | 7 |
| EVB2_CB_PRESET_COUNT | 8 |
DID_EVB_FLASH_CFG.portOptions¶
(eEvb2PortOptions)
| Field | Value |
|---|---|
| EVB2_PORT_OPTIONS_RADIO_RTK_FILTER | 0x00000001 |
| EVB2_PORT_OPTIONS_DEFAULT | EVB2_PORT_OPTIONS_RADIO_RTK_FILTER |
DID_EVB_STATUS.loggerMode¶
(eEvb2LoggerMode)
| Field | Value |
|---|---|
| EVB2_LOG_NA | 0 |
| EVB2_LOG_CMD_START | 2 |
| EVB2_LOG_CMD_STOP | 4 |
| EVB2_LOG_CMD_PURGE | 1002 |
DID_FLASH_CONFIG.gnssSatSigConst¶
(eGnssSatSigConst)
| Field | Value |
|---|---|
| GNSS_SAT_SIG_CONST_GPS | 0x0003 |
| GNSS_SAT_SIG_CONST_QZS | 0x000C |
| GNSS_SAT_SIG_CONST_GAL | 0x0030 |
| GNSS_SAT_SIG_CONST_BDS | 0x00C0 |
| GNSS_SAT_SIG_CONST_GLO | 0x0300 |
| GNSS_SAT_SIG_CONST_SBS | 0x1000 |
| GNSS_SAT_SIG_CONST_IRN | 0x2000 |
| GNSS_SAT_SIG_CONST_IME | 0x4000 |
DID_FLASH_CONFIG.sensorConfig¶
(eSensorConfig)
| Field | Value |
|---|---|
| SENSOR_CFG_GYR_FS_250 | 0x00000000 |
| SENSOR_CFG_GYR_FS_500 | 0x00000001 |
| SENSOR_CFG_GYR_FS_1000 | 0x00000002 |
| SENSOR_CFG_GYR_FS_2000 | 0x00000003 |
| SENSOR_CFG_GYR_FS_4000 | 0x00000004 |
| SENSOR_CFG_GYR_FS_MASK | 0x00000007 |
| SENSOR_CFG_GYR_FS_OFFSET | (int)0 |
| SENSOR_CFG_ACC_FS_2G | 0x00000000 |
| SENSOR_CFG_ACC_FS_4G | 0x00000001 |
| SENSOR_CFG_ACC_FS_8G | 0x00000002 |
| SENSOR_CFG_ACC_FS_16G | 0x00000003 |
| SENSOR_CFG_ACC_FS_MASK | 0x00000030 |
| SENSOR_CFG_ACC_FS_OFFSET | (int)4 |
| SENSOR_CFG_GYR_DLPF_250HZ | 0x00000000 |
| SENSOR_CFG_GYR_DLPF_184HZ | 0x00000001 |
| SENSOR_CFG_GYR_DLPF_92HZ | 0x00000002 |
| SENSOR_CFG_GYR_DLPF_41HZ | 0x00000003 |
| SENSOR_CFG_GYR_DLPF_20HZ | 0x00000004 |
| SENSOR_CFG_GYR_DLPF_10HZ | 0x00000005 |
| SENSOR_CFG_GYR_DLPF_5HZ | 0x00000006 |
| SENSOR_CFG_GYR_DLPF_MASK | 0x00000F00 |
| SENSOR_CFG_GYR_DLPF_OFFSET | (int)8 |
| SENSOR_CFG_ACC_DLPF_218HZ | 0x00000000 |
| SENSOR_CFG_ACC_DLPF_218HZb | 0x00000001 |
| SENSOR_CFG_ACC_DLPF_99HZ | 0x00000002 |
| SENSOR_CFG_ACC_DLPF_45HZ | 0x00000003 |
| SENSOR_CFG_ACC_DLPF_21HZ | 0x00000004 |
| SENSOR_CFG_ACC_DLPF_10HZ | 0x00000005 |
| SENSOR_CFG_ACC_DLPF_5HZ | 0x00000006 |
| SENSOR_CFG_ACC_DLPF_MASK | 0x0000F000 |
| SENSOR_CFG_ACC_DLPF_OFFSET | (int)12 |
| SENSOR_CFG_SENSOR_ROTATION_MASK | 0x00FF0000 |
| SENSOR_CFG_SENSOR_ROTATION_OFFSET | (int)16 |
| SENSOR_CFG_SENSOR_ROTATION_0_0_0 | (int)0 |
| SENSOR_CFG_SENSOR_ROTATION_0_0_90 | (int)1 |
| SENSOR_CFG_SENSOR_ROTATION_0_0_180 | (int)2 |
| SENSOR_CFG_SENSOR_ROTATION_0_0_N90 | (int)3 |
| SENSOR_CFG_SENSOR_ROTATION_90_0_0 | (int)4 |
| SENSOR_CFG_SENSOR_ROTATION_90_0_90 | (int)5 |
| SENSOR_CFG_SENSOR_ROTATION_90_0_180 | (int)6 |
| SENSOR_CFG_SENSOR_ROTATION_90_0_N90 | (int)7 |
| SENSOR_CFG_SENSOR_ROTATION_180_0_0 | (int)8 |
| SENSOR_CFG_SENSOR_ROTATION_180_0_90 | (int)9 |
| SENSOR_CFG_SENSOR_ROTATION_180_0_180 | (int)10 |
| SENSOR_CFG_SENSOR_ROTATION_180_0_N90 | (int)11 |
| SENSOR_CFG_SENSOR_ROTATION_N90_0_0 | (int)12 |
| SENSOR_CFG_SENSOR_ROTATION_N90_0_90 | (int)13 |
| SENSOR_CFG_SENSOR_ROTATION_N90_0_180 | (int)14 |
| SENSOR_CFG_SENSOR_ROTATION_N90_0_N90 | (int)15 |
| SENSOR_CFG_SENSOR_ROTATION_0_90_0 | (int)16 |
| SENSOR_CFG_SENSOR_ROTATION_0_90_90 | (int)17 |
| SENSOR_CFG_SENSOR_ROTATION_0_90_180 | (int)18 |
| SENSOR_CFG_SENSOR_ROTATION_0_90_N90 | (int)19 |
| SENSOR_CFG_SENSOR_ROTATION_0_N90_0 | (int)20 |
| SENSOR_CFG_SENSOR_ROTATION_0_N90_90 | (int)21 |
| SENSOR_CFG_SENSOR_ROTATION_0_N90_180 | (int)22 |
| SENSOR_CFG_SENSOR_ROTATION_0_N90_N90 | (int)23 |
| SENSOR_CFG_IMU_FAULT_DETECT_MASK | 0x0F000000 |
| SENSOR_CFG_IMU_FAULT_DETECT_OFFSET | (int)24 |
| SENSOR_CFG_IMU_FAULT_DETECT_NONE | (int)0 |
| SENSOR_CFG_IMU_FAULT_DETECT_OFFLINE | (int)1 |
| SENSOR_CFG_IMU_FAULT_DETECT_LARGE_BIAS | (int)2 |
| SENSOR_CFG_IMU_FAULT_DETECT_BIAS_JUMPS | (int)3 |
| SENSOR_CFG_IMU_FAULT_DETECT_SENSOR_NOISE | (int)4 |
DID_SYS_CMD.command¶
(eSystemCommand)
| Field | Value |
|---|---|
| SYS_CMD_NONE | 0 |
| SYS_CMD_SAVE_PERSISTENT_MESSAGES | 1 |
| SYS_CMD_ENABLE_BOOTLOADER_AND_RESET | 2 |
| SYS_CMD_ENABLE_SENSOR_STATS | 3 |
| SYS_CMD_ENABLE_RTOS_STATS | 4 |
| SYS_CMD_ZERO_MOTION | 5 |
| SYS_CMD_REF_POINT_STATIONARY | 6 |
| SYS_CMD_REF_POINT_MOVING | 7 |
| SYS_CMD_RESET_RTOS_STATS | 8 |
| SYS_CMD_ENABLE_GPS_LOW_LEVEL_CONFIG | 10 |
| SYS_CMD_DISABLE_SERIAL_PORT_BRIDGE | 11 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_TO_GPS1 | 12 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_TO_GPS2 | 13 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_TO_SER0 | 14 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_TO_SER1 | 15 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_TO_SER2 | 16 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_SER0_TO_GPS1 | 17 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_TO_GPS1 | 18 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_TO_GPS2 | 19 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_TO_USB | 20 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_TO_SER0 | 21 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_TO_SER1 | 22 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_TO_SER2 | 23 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_LOOPBACK | 24 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_SER0_LOOPBACK | 25 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_SER1_LOOPBACK | 26 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_SER2_LOOPBACK | 27 |
| SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_LOOPBACK | 28 |
| SYS_CMD_GPX_ENABLE_BOOTLOADER_MODE | 30 |
| SYS_CMD_GPX_ENABLE_GNSS1_CHIPSET_BOOTLOADER | 31 |
| SYS_CMD_GPX_ENABLE_GNSS2_CHIPSET_BOOTLOADER | 32 |
| SYS_CMD_GPX_ENABLE_GNSS1_PASS_THROUGH | 33 |
| SYS_CMD_GPX_ENABLE_GNSS2_PASS_THROUGH | 34 |
| SYS_CMD_GPX_ENABLE_SERIAL_BRIDGE_CUR_PORT_LOOPBACK | 35 |
| SYS_CMD_TEST_GPIO | 64 |
| SYS_CMD_SAVE_FLASH | 97 |
| SYS_CMD_SAVE_GPS_ASSIST_TO_FLASH_RESET | 98 |
| SYS_CMD_SOFTWARE_RESET | 99 |
| SYS_CMD_MANF_UNLOCK | 1122334455 |
| SYS_CMD_MANF_FACTORY_RESET | 1357924680 |
| SYS_CMD_MANF_CHIP_ERASE | 1357924681 |
| SYS_CMD_MANF_DOWNGRADE_CALIBRATION | 1357924682 |
| SYS_CMD_MANF_ENABLE_ROM_BOOTLOADER | 1357924683 |
DID_SYS_PARAMS.genFaultCode¶
(eGenFaultCodes)
| Field | Value |
|---|---|
| GFC_INS_STATE_ORUN_UVW | 0x00000001 |
| GFC_INS_STATE_ORUN_LAT | 0x00000002 |
| GFC_INS_STATE_ORUN_ALT | 0x00000004 |
| GFC_UNHANDLED_INTERRUPT | 0x00000010 |
| GFC_INIT_SENSORS | 0x00000100 |
| GFC_INIT_SPI | 0x00000200 |
| GFC_CONFIG_SPI | 0x00000400 |
| GFC_INIT_GPS1 | 0x00000800 |
| GFC_INIT_GPS2 | 0x00001000 |
| GFC_FLASH_INVALID_VALUES | 0x00002000 |
| GFC_FLASH_CHECKSUM_FAILURE | 0x00004000 |
| GFC_FLASH_WRITE_FAILURE | 0x00008000 |
| GFC_SYS_FAULT_GENERAL | 0x00010000 |
| GFC_SYS_FAULT_CRITICAL | 0x00020000 |
| GFC_SENSOR_SATURATION | 0x00040000 |
| GFC_INIT_IMU | 0x00100000 |
| GFC_INIT_MAGNETOMETER | 0x00400000 |
| GFC_INIT_BAROMETER | 0x00200000 |
| GFC_INIT_I2C | 0x00800000 |
| GFC_CHIP_ERASE_INVALID | 0x01000000 |
GPS Navigation Fix Type¶
(eGpsNavFixStatus)
| Field | Value |
|---|---|
| GPS_NAV_FIX_NONE | 0x00000000 |
| GPS_NAV_FIX_POSITIONING_3D | 0x00000001 |
| GPS_NAV_FIX_POSITIONING_RTK_FLOAT | 0x00000002 |
| GPS_NAV_FIX_POSITIONING_RTK_FIX | 0x00000003 |
GPS Status¶
(eGpsStatus)
| Field | Value |
|---|---|
| GPS_STATUS_NUM_SATS_USED_MASK | 0x000000FF |
| GPS_STATUS_FIX_NONE | 0x00000000 |
| GPS_STATUS_FIX_DEAD_RECKONING_ONLY | 0x00000100 |
| GPS_STATUS_FIX_2D | 0x00000200 |
| GPS_STATUS_FIX_3D | 0x00000300 |
| GPS_STATUS_FIX_GPS_PLUS_DEAD_RECK | 0x00000400 |
| GPS_STATUS_FIX_TIME_ONLY | 0x00000500 |
| GPS_STATUS_FIX_UNUSED1 | 0x00000600 |
| GPS_STATUS_FIX_UNUSED2 | 0x00000700 |
| GPS_STATUS_FIX_DGPS | 0x00000800 |
| GPS_STATUS_FIX_SBAS | 0x00000900 |
| GPS_STATUS_FIX_RTK_SINGLE | 0x00000A00 |
| GPS_STATUS_FIX_RTK_FLOAT | 0x00000B00 |
| GPS_STATUS_FIX_RTK_FIX | 0x00000C00 |
| GPS_STATUS_FIX_MASK | 0x00001F00 |
| GPS_STATUS_FIX_BIT_OFFSET | (int)8 |
| GPS_STATUS_FLAGS_FIX_OK | 0x00010000 |
| GPS_STATUS_FLAGS_DGPS_USED | 0x00020000 |
| GPS_STATUS_FLAGS_RTK_FIX_AND_HOLD | 0x00040000 |
| GPS_STATUS_FLAGS_WEEK_VALID | 0x00040000 |
| GPS_STATUS_FLAGS_TOW_VALID | 0x00080000 |
| GPS_STATUS_FLAGS_GPS1_RTK_POSITION_ENABLED | 0x00100000 |
| GPS_STATUS_FLAGS_STATIC_MODE | 0x00200000 |
| GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_ENABLED | 0x00400000 |
| GPS_STATUS_FLAGS_GPS1_RTK_RAW_GPS_DATA_ERROR | 0x00800000 |
| GPS_STATUS_FLAGS_GPS1_RTK_BASE_DATA_MISSING | 0x01000000 |
| GPS_STATUS_FLAGS_GPS1_RTK_BASE_POSITION_MOVING | 0x02000000 |
| GPS_STATUS_FLAGS_GPS1_RTK_BASE_POSITION_INVALID | 0x03000000 |
| GPS_STATUS_FLAGS_GPS1_RTK_BASE_POSITION_MASK | 0x03000000 |
| GPS_STATUS_FLAGS_GPS1_RTK_POSITION_VALID | 0x04000000 |
| GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_VALID | 0x08000000 |
| GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_BASELINE_BAD | 0x00002000 |
| GPS_STATUS_FLAGS_GPS_NMEA_DATA | 0x00008000 |
| GPS_STATUS_FLAGS_GPS_PPS_TIMESYNC | 0x10000000 |
| GPS_STATUS_FLAGS_MASK | 0xFFFFE000 |
| GPS_STATUS_FLAGS_BIT_OFFSET | (int)16 |
Hardware Status Flags¶
(eHdwStatusFlags)
| Field | Value |
|---|---|
| HDW_STATUS_MOTION_GYR_SIG | 0x00000001 |
| HDW_STATUS_MOTION_ACC_SIG | 0x00000002 |
| HDW_STATUS_MOTION_SIG_MASK | 0x00000003 |
| HDW_STATUS_MOTION_GYR_DEV | 0x00000004 |
| HDW_STATUS_MOTION_ACC_DEV | 0x00000008 |
| HDW_STATUS_MOTION_MASK | 0x0000000F |
| HDW_STATUS_GPS_SATELLITE_RX | 0x00000010 |
| HDW_STATUS_STROBE_IN_EVENT | 0x00000020 |
| HDW_STATUS_GPS_TIME_OF_WEEK_VALID | 0x00000040 |
| HDW_STATUS_REFERENCE_IMU_RX | 0x00000080 |
| HDW_STATUS_SATURATION_GYR | 0x00000100 |
| HDW_STATUS_SATURATION_ACC | 0x00000200 |
| HDW_STATUS_SATURATION_MAG | 0x00000400 |
| HDW_STATUS_SATURATION_BARO | 0x00000800 |
| HDW_STATUS_SATURATION_MASK | 0x00000F00 |
| HDW_STATUS_SATURATION_OFFSET | 8 |
| HDW_STATUS_SYSTEM_RESET_REQUIRED | 0x00001000 |
| HDW_STATUS_EKF_USING_REFERENCE_IMU | 0x00002000 |
| HDW_STATUS_MAG_RECAL_COMPLETE | 0x00004000 |
| HDW_STATUS_FLASH_WRITE_PENDING | 0x00008000 |
| HDW_STATUS_ERR_COM_TX_LIMITED | 0x00010000 |
| HDW_STATUS_ERR_COM_RX_OVERRUN | 0x00020000 |
| HDW_STATUS_ERR_NO_GPS_PPS | 0x00040000 |
| HDW_STATUS_GPS_PPS_TIMESYNC | 0x00080000 |
| HDW_STATUS_COM_PARSE_ERR_COUNT_MASK | 0x00F00000 |
| HDW_STATUS_COM_PARSE_ERR_COUNT_OFFSET | 20 |
| HDW_STATUS_BIT_RUNNING | 0x01000000 |
| HDW_STATUS_BIT_PASSED | 0x02000000 |
| HDW_STATUS_BIT_FAULT | 0x03000000 |
| HDW_STATUS_BIT_MASK | 0x03000000 |
| HDW_STATUS_ERR_TEMPERATURE | 0x04000000 |
| HDW_STATUS_SPI_INTERFACE_ENABLED | 0x08000000 |
| HDW_STATUS_FAULT_RESET_MASK | 0x70000000 |
| HDW_STATUS_FAULT_RESET_BACKUP_MODE | 0x10000000 |
| HDW_STATUS_FAULT_RESET_WATCHDOG | 0x20000000 |
| HDW_STATUS_FAULT_RESET_SOFT | 0x30000000 |
| HDW_STATUS_FAULT_RESET_HDW | 0x40000000 |
| HDW_STATUS_FAULT_SYS_CRITICAL | 0x80000000 |
IMU Status¶
(eImuStatus)
| Field | Value |
|---|---|
| IMU_STATUS_SATURATION_IMU1_GYR | 0x00000001 |
| IMU_STATUS_SATURATION_IMU2_GYR | 0x00000002 |
| IMU_STATUS_SATURATION_IMU3_GYR | 0x00000004 |
| IMU_STATUS_SATURATION_IMU1_ACC | 0x00000008 |
| IMU_STATUS_SATURATION_IMU2_ACC | 0x00000010 |
| IMU_STATUS_SATURATION_IMU3_ACC | 0x00000020 |
| IMU_STATUS_SATURATION_MASK | 0x0000003F |
| IMU_STATUS_MAG_UPDATE | 0x00000100 |
| IMU_STATUS_RESERVED2 | 0x00000400 |
| IMU_STATUS_SATURATION_HISTORY | 0x00000100 |
| IMU_STATUS_SAMPLE_RATE_FAULT_HISTORY | 0x00000200 |
| IMU_STATUS_GYR1_OK | 0x00010000 |
| IMU_STATUS_GYR2_OK | 0x00020000 |
| IMU_STATUS_GYR3_OK | 0x00040000 |
| IMU_STATUS_ACC1_OK | 0x00080000 |
| IMU_STATUS_ACC2_OK | 0x00100000 |
| IMU_STATUS_ACC3_OK | 0x00200000 |
| IMU_STATUS_IMU1_OK | (int)(IMU_STATUS_GYR1_OK|IMU_STATUS_ACC1_OK) |
| IMU_STATUS_IMU2_OK | (int)(IMU_STATUS_GYR2_OK|IMU_STATUS_ACC2_OK) |
| IMU_STATUS_IMU3_OK | (int)(IMU_STATUS_GYR3_OK|IMU_STATUS_ACC3_OK) |
| IMU_STATUS_IMU_OK_MASK | 0x003F0000 |
INS status Flags¶
(eInsStatusFlags)
| Field | Value |
|---|---|
| INS_STATUS_HDG_ALIGN_COARSE | 0x00000001 |
| INS_STATUS_VEL_ALIGN_COARSE | 0x00000002 |
| INS_STATUS_POS_ALIGN_COARSE | 0x00000004 |
| INS_STATUS_ALIGN_COARSE_MASK | 0x00000007 |
| INS_STATUS_WHEEL_AIDING_VEL | 0x00000008 |
| INS_STATUS_HDG_ALIGN_FINE | 0x00000010 |
| INS_STATUS_VEL_ALIGN_FINE | 0x00000020 |
| INS_STATUS_POS_ALIGN_FINE | 0x00000040 |
| INS_STATUS_ALIGN_FINE_MASK | 0x00000070 |
| INS_STATUS_GPS_AIDING_HEADING | 0x00000080 |
| INS_STATUS_GPS_AIDING_POS | 0x00000100 |
| INS_STATUS_GPS_UPDATE_IN_SOLUTION | 0x00000200 |
| INS_STATUS_MAG_ACTIVE_CAL_SET | 0x00000400 |
| INS_STATUS_MAG_AIDING_HEADING | 0x00000800 |
| INS_STATUS_NAV_MODE | 0x00001000 |
| INS_STATUS_STATIONARY_MODE | 0x00002000 |
| INS_STATUS_GPS_AIDING_VEL | 0x00004000 |
| INS_STATUS_KINEMATIC_CAL_GOOD | 0x00008000 |
| INS_STATUS_SOLUTION_MASK | 0x000F0000 |
| INS_STATUS_SOLUTION_OFFSET | 16 |
| INS_STATUS_SOLUTION_OFF | 0 |
| INS_STATUS_SOLUTION_ALIGNING | 1 |
| INS_STATUS_SOLUTION_NAV | 3 |
| INS_STATUS_SOLUTION_NAV_HIGH_VARIANCE | 4 |
| INS_STATUS_SOLUTION_AHRS | 5 |
| INS_STATUS_SOLUTION_AHRS_HIGH_VARIANCE | 6 |
| INS_STATUS_SOLUTION_VRS | 7 |
| INS_STATUS_SOLUTION_VRS_HIGH_VARIANCE | 8 |
| INS_STATUS_RTK_COMPASSING_BASELINE_UNSET | 0x00100000 |
| INS_STATUS_RTK_COMPASSING_BASELINE_BAD | 0x00200000 |
| INS_STATUS_RTK_COMPASSING_MASK | (INS_STATUS_RTK_COMPASSING_BASELINE_UNSET|INS_STATUS_RTK_COMPASSING_BASELINE_BAD) |
| INS_STATUS_MAG_RECALIBRATING | 0x00400000 |
| INS_STATUS_MAG_INTERFERENCE_OR_BAD_CAL | 0x00800000 |
| INS_STATUS_GPS_NAV_FIX_MASK | 0x03000000 |
| INS_STATUS_GPS_NAV_FIX_OFFSET | 24 |
| INS_STATUS_RTK_COMPASSING_VALID | 0x04000000 |
| INS_STATUS_RTK_RAW_GPS_DATA_ERROR | 0x08000000 |
| INS_STATUS_RTK_ERR_BASE_DATA_MISSING | 0x10000000 |
| INS_STATUS_RTK_ERR_BASE_POSITION_MOVING | 0x20000000 |
| INS_STATUS_RTK_ERR_BASE_POSITION_INVALID | 0x30000000 |
| INS_STATUS_RTK_ERR_BASE_MASK | 0x30000000 |
| INS_STATUS_RTK_ERROR_MASK | (INS_STATUS_RTK_RAW_GPS_DATA_ERROR|INS_STATUS_RTK_ERR_BASE_MASK) |
| INS_STATUS_RTOS_TASK_PERIOD_OVERRUN | 0x40000000 |
| INS_STATUS_GENERAL_FAULT | 0x80000000 |
Magnetometer Recalibration Mode¶
(eMagCalState)
| Field | Value |
|---|---|
| MAG_CAL_STATE_DO_NOTHING | (int)0 |
| MAG_CAL_STATE_MULTI_AXIS | (int)1 |
| MAG_CAL_STATE_SINGLE_AXIS | (int)2 |
| MAG_CAL_STATE_ABORT | (int)101 |
| MAG_CAL_STATE_RECAL_RUNNING | (int)200 |
| MAG_CAL_STATE_RECAL_COMPLETE | (int)201 |
RTK Configuration¶
(eRTKConfigBits)
| Field | Value |
|---|---|
| RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING | 0x00000001 |
| RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_EXTERNAL | 0x00000002 |
| RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_F9P | 0x00000004 |
| RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING | 0x00000008 |
| RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_MASK | (RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING|RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_EXTERNAL) |
| RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_MASK | (RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING|RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_F9P) |
| RTK_CFG_BITS_ROVER_MODE_MASK | 0x0000000F |
| RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER0 | 0x00000010 |
| RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER1 | 0x00000020 |
| RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER2 | 0x00000040 |
| RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_USB | 0x00000080 |
| RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER0 | 0x00000100 |
| RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER1 | 0x00000200 |
| RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER2 | 0x00000400 |
| RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_USB | 0x00000800 |
| RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER0 | 0x00001000 |
| RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER1 | 0x00002000 |
| RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER2 | 0x00004000 |
| RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_USB | 0x00008000 |
| RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER0 | 0x00010000 |
| RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER1 | 0x00020000 |
| RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER2 | 0x00040000 |
| RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_USB | 0x00080000 |
| RTK_CFG_BITS_BASE_POS_MOVING | 0x00100000 |
| RTK_CFG_BITS_RESERVED1 | 0x00200000 |
| RTK_CFG_BITS_RTK_BASE_IS_IDENTICAL_TO_ROVER | 0x00400000 |
| RTK_CFG_BITS_GPS_PORT_PASS_THROUGH | 0x00800000 |
| RTK_CFG_BITS_ROVER_MODE_ONBOARD_MASK | (RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING|RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING) |
| RTK_CFG_BITS_ALL_MODES_MASK | (RTK_CFG_BITS_ROVER_MODE_MASK|RTK_CFG_BITS_BASE_MODE) |
System Configuration¶
(eSysConfigBits)
| Field | Value |
|---|---|
| UNUSED1 | 0x00000001 |
| SYS_CFG_BITS_ENABLE_MAG_CONTINUOUS_CAL | 0x00000002 |
| SYS_CFG_BITS_AUTO_MAG_RECAL | 0x00000004 |
| SYS_CFG_BITS_DISABLE_MAG_DECL_ESTIMATION | 0x00000008 |
| SYS_CFG_BITS_DISABLE_LEDS | 0x00000010 |
| Magnetometer | multi-axis |
| SYS_CFG_BITS_MAG_RECAL_MODE_MASK | 0x00000700 |
| SYS_CFG_BITS_MAG_RECAL_MODE_OFFSET | 8 |
| SYS_CFG_BITS_MAG_ENABLE_WMM_DECLINATION | 0x00000800 |
| SYS_CFG_BITS_DISABLE_MAGNETOMETER_FUSION | 0x00001000 |
| SYS_CFG_BITS_DISABLE_BAROMETER_FUSION | 0x00002000 |
| SYS_CFG_BITS_DISABLE_GPS1_FUSION | 0x00004000 |
| SYS_CFG_BITS_DISABLE_GPS2_FUSION | 0x00008000 |
| SYS_CFG_BITS_DISABLE_AUTO_ZERO_VELOCITY_UPDATES | 0x00010000 |
| SYS_CFG_BITS_DISABLE_AUTO_ZERO_ANGULAR_RATE_UPDATES | 0x00020000 |
| SYS_CFG_BITS_DISABLE_INS_EKF | 0x00040000 |
| SYS_CFG_BITS_DISABLE_AUTO_BIT_ON_STARTUP | 0x00080000 |
| SYS_CFG_BITS_DISABLE_WHEEL_ENCODER_FUSION | 0x00100000 |
| SYS_CFG_BITS_UNUSED3 | 0x00200000 |
| SYS_CFG_BITS_UNUSED4 | 0x00400000 |
| SYS_CFG_BITS_UNUSED5 | 0x00800000 |
| SYS_CFG_USE_REFERENCE_IMU_IN_EKF | 0x01000000 |
| SYS_CFG_EKF_REF_POINT_STATIONARY_ON_STROBE_INPUT | 0x02000000 |