Helpful class for working with VectorNav sensors. More...

#include <sensors.h>

Inheritance diagram for vn::sensors::VnSensor:

Public Types
enum	Family { VnSensor_Family_Unknown, VnSensor_Family_Vn100, VnSensor_Family_Vn200, VnSensor_Family_Vn300 }

typedef void(*	RawDataReceivedHandler) (void userData, const char rawData, size_t length, size_t runningIndex)
	Defines a callback handler that can received notification when the VnSensor receives raw data from its port. More...

typedef void(*	PossiblePacketFoundHandler) (void *userData, protocol::uart::Packet &possiblePacket, size_t packetStartRunningIndex)
	Defines the signature for a method that can receive notifications of new possible packets found. More...

typedef void(*	AsyncPacketReceivedHandler) (void *userData, protocol::uart::Packet &asyncPacket, size_t packetStartRunningIndex)
	Defines the signature for a method that can receive notifications of when a new asynchronous data packet (ASCII or BINARY) is received. More...

typedef void(*	ErrorPacketReceivedHandler) (void *userData, protocol::uart::Packet &errorPacket, size_t packetStartRunningIndex)
	Defines the signature for a method that can receive notifications when an error message is received. More...

Public Member Functions
uint32_t	baudrate ()
	Returns the baudrate of the serial port connection. Note this is independent of the sensor's on-board serial baudrate setting. More...

std::string	port ()
	Returns the name of the port the sensor is connected to. More...

protocol::uart::ErrorDetectionMode	sendErrorDetectionMode ()
	Gets the current error detection mode used for commands sent to the sensor. Default is protocol::uart::ErrorDetectionMode::CHECKSUM. More...

void	setSendErrorDetectionMode (protocol::uart::ErrorDetectionMode mode)
	Sets the error detection mode used by the class for commands sent to the sensor. More...

bool	isConnected ()
	Indicates if the VnSensor is connected. More...

uint16_t	responseTimeoutMs ()
	Gets the amount of time in milliseconds to wait for a response during read/writes with the sensor. More...

void	setResponseTimeoutMs (uint16_t timeout)
	Sets the amount of time in milliseconds to wait for a response during read/writes with the sensor. More...

uint16_t	retransmitDelayMs ()
	The delay in milliseconds between retransmitting commands. More...

void	setRetransmitDelayMs (uint16_t delay)
	Sets the delay in milliseconds between command retransmits. More...

bool	verifySensorConnectivity ()
	Checks if we are able to send and receive communication with a sensor. More...

void	connect (const std::string &portName, uint32_t baudrate)
	Connects to a VectorNav sensor. More...

void	connect (xplat::IPort *port)
	Allows connecting to a VectorNav sensor over a vn::common::ISimplePort. More...

void	disconnect ()
	Disconnects from the VectorNav sensor. More...

std::string	transaction (std::string toSend)
	Sends the provided command and returns the response from the sensor. More...

std::string	send (std::string toSend, bool waitForReply=true, protocol::uart::ErrorDetectionMode errorDetectionMode=protocol::uart::ERRORDETECTIONMODE_CHECKSUM)
	Writes a raw data string to the sensor, normally appending an appropriate error detection checksum. More...

void	tare (bool waitForReply=true)
	Issues a tare command to the VectorNav Sensor. More...

void	setGyroBias (bool waitForReply=true)
	Issues a command to the VectorNav Sensor to set the gyro's bias. More...

void	magneticDisturbancePresent (bool disturbancePresent, bool waitForReply=true)
	Command to inform the VectorNav Sensor if there is a magnetic disturbance present. More...

void	accelerationDisturbancePresent (bool disturbancePresent, bool waitForReply=true)
	Command to inform the VectorNav Sensor if there is an acceleration disturbance present. More...

void	writeSettings (bool waitForReply=true)
	Issues a Write Settings command to the VectorNav Sensor. More...

void	restoreFactorySettings (bool waitForReply=true)
	Issues a Restore Factory Settings command to the VectorNav sensor. More...

void	reset (bool waitForReply=true)
	Issues a Reset command to the VectorNav sensor. More...

void	changeBaudRate (uint32_t baudrate)
	Issues a change baudrate to the VectorNav sensor and then reconnects the attached serial port at the new baudrate. More...

Family	determineDeviceFamily ()
	This method will connect to the specified serial port, query the attached sensor, and determine the type of device. More...

void	registerRawDataReceivedHandler (void *userData, RawDataReceivedHandler handler)
	Registers a callback method for notification when raw data is received. More...

void	unregisterRawDataReceivedHandler ()
	Unregisters the registered callback method.

void	registerPossiblePacketFoundHandler (void *userData, PossiblePacketFoundHandler handler)
	Registers a callback method for notification when a new possible packet is found. More...

void	unregisterPossiblePacketFoundHandler ()
	Unregisters the registered callback method.

void	registerAsyncPacketReceivedHandler (void *userData, AsyncPacketReceivedHandler handler)
	Registers a callback method for notification when a new asynchronous data packet is received. More...

void	unregisterAsyncPacketReceivedHandler ()
	Unregisters the registered callback method.

void	registerErrorPacketReceivedHandler (void *userData, ErrorPacketReceivedHandler handler)
	Registers a callback method for notification when an error packet is received. More...

void	unregisterErrorPacketReceivedHandler ()
	Unregisters the registered callback method.

BinaryOutputRegister	readBinaryOutput1 ()
	Reads the Binary Output 1 register. More...

void	writeBinaryOutput1 (BinaryOutputRegister &fields, bool waitForReply=true)
	Writes to the Binary Output 1 register. More...

BinaryOutputRegister	readBinaryOutput2 ()
	Reads the Binary Output 2 register. More...

void	writeBinaryOutput2 (BinaryOutputRegister &fields, bool waitForReply=true)
	Writes to the Binary Output 2 register. More...

BinaryOutputRegister	readBinaryOutput3 ()
	Reads the Binary Output 3 register. More...

void	writeBinaryOutput3 (BinaryOutputRegister &fields, bool waitForReply=true)
	Writes to the Binary Output 3 register. More...

uint32_t	readSerialBaudRate (uint8_t port)
	Reads the Serial Baud Rate register for the specified port. More...

void	writeSerialBaudRate (const uint32_t &baudrate, uint8_t port, bool waitForReply=true)
	Writes to the Serial Baud Rate register for the specified port. More...

protocol::uart::AsciiAsync	readAsyncDataOutputType (uint8_t port)
	Reads the Async Data Output Type register. More...

void	writeAsyncDataOutputType (protocol::uart::AsciiAsync ador, uint8_t port, bool waitForReply=true)
	Writes to the Async Data Output Type register. More...

uint32_t	readAsyncDataOutputFrequency (uint8_t port)
	Reads the Async Data Output Frequency register. More...

void	writeAsyncDataOutputFrequency (const uint32_t &adof, uint8_t port, bool waitForReply=true)
	Writes to the Async Data Output Frequency register. More...

InsBasicConfigurationRegisterVn200	readInsBasicConfigurationVn200 ()
	Reads the INS Basic Configuration register for a VN-200 sensor. More...

void	writeInsBasicConfigurationVn200 (InsBasicConfigurationRegisterVn200 &fields, bool waitForReply=true)
	Writes to the INS Basic Configuration register for a VN-200 sensor. More...

void	writeInsBasicConfigurationVn200 (protocol::uart::Scenario scenario, const uint8_t &ahrsAiding, bool waitForReply=true)
	Writes to the INS Basic Configuration register for a VN-200 sensor. More...

InsBasicConfigurationRegisterVn300	readInsBasicConfigurationVn300 ()
	Reads the INS Basic Configuration register for a VN-300 sensor. More...

void	writeInsBasicConfigurationVn300 (InsBasicConfigurationRegisterVn300 &fields, bool waitForReply=true)
	Writes to the INS Basic Configuration register for a VN-300 sensor. More...

void	writeInsBasicConfigurationVn300 (protocol::uart::Scenario scenario, const uint8_t &ahrsAiding, const uint8_t &estBaseline, bool waitForReply=true)
	Writes to the INS Basic Configuration register for a VN-300 sensor. More...

std::string	readUserTag ()
	Reads the User Tag register. More...

void	writeUserTag (const std::string &tag, bool waitForReply=true)
	Writes to the User Tag register. More...

std::string	readModelNumber ()
	Reads the Model Number register. More...

uint32_t	readHardwareRevision ()
	Reads the Hardware Revision register. More...

uint32_t	readSerialNumber ()
	Reads the Serial Number register. More...

std::string	readFirmwareVersion ()
	Reads the Firmware Version register. More...

uint32_t	readSerialBaudRate ()
	Reads the Serial Baud Rate register. More...

void	writeSerialBaudRate (const uint32_t &baudrate, bool waitForReply=true)
	Writes to the Serial Baud Rate register. More...

protocol::uart::AsciiAsync	readAsyncDataOutputType ()
	Reads the Async Data Output Type register. More...

void	writeAsyncDataOutputType (protocol::uart::AsciiAsync ador, bool waitForReply=true)
	Writes to the Async Data Output Type register. More...

uint32_t	readAsyncDataOutputFrequency ()
	Reads the Async Data Output Frequency register. More...

void	writeAsyncDataOutputFrequency (const uint32_t &adof, bool waitForReply=true)
	Writes to the Async Data Output Frequency register. More...

vn::math::vec3f	readYawPitchRoll ()
	Reads the Yaw Pitch Roll register. More...

vn::math::vec4f	readAttitudeQuaternion ()
	Reads the Attitude Quaternion register. More...

QuaternionMagneticAccelerationAndAngularRatesRegister	readQuaternionMagneticAccelerationAndAngularRates ()
	Reads the Quaternion, Magnetic, Acceleration and Angular Rates register. More...

vn::math::vec3f	readMagneticMeasurements ()
	Reads the Magnetic Measurements register. More...

vn::math::vec3f	readAccelerationMeasurements ()
	Reads the Acceleration Measurements register. More...

vn::math::vec3f	readAngularRateMeasurements ()
	Reads the Angular Rate Measurements register. More...

MagneticAccelerationAndAngularRatesRegister	readMagneticAccelerationAndAngularRates ()
	Reads the Magnetic, Acceleration and Angular Rates register. More...

MagneticAndGravityReferenceVectorsRegister	readMagneticAndGravityReferenceVectors ()
	Reads the Magnetic and Gravity Reference Vectors register. More...

void	writeMagneticAndGravityReferenceVectors (MagneticAndGravityReferenceVectorsRegister &fields, bool waitForReply=true)
	Writes to the Magnetic and Gravity Reference Vectors register. More...

void	writeMagneticAndGravityReferenceVectors (const vn::math::vec3f &magRef, const vn::math::vec3f &accRef, bool waitForReply=true)
	Writes to the Magnetic and Gravity Reference Vectors register. More...

FilterMeasurementsVarianceParametersRegister	readFilterMeasurementsVarianceParameters ()
	Reads the Filter Measurements Variance Parameters register. More...

void	writeFilterMeasurementsVarianceParameters (FilterMeasurementsVarianceParametersRegister &fields, bool waitForReply=true)
	Writes to the Filter Measurements Variance Parameters register. More...

void	writeFilterMeasurementsVarianceParameters (const float &angularWalkVariance, const vn::math::vec3f &angularRateVariance, const vn::math::vec3f &magneticVariance, const vn::math::vec3f &accelerationVariance, bool waitForReply=true)
	Writes to the Filter Measurements Variance Parameters register. More...

MagnetometerCompensationRegister	readMagnetometerCompensation ()
	Reads the Magnetometer Compensation register. More...

void	writeMagnetometerCompensation (MagnetometerCompensationRegister &fields, bool waitForReply=true)
	Writes to the Magnetometer Compensation register. More...

void	writeMagnetometerCompensation (const vn::math::mat3f &c, const vn::math::vec3f &b, bool waitForReply=true)
	Writes to the Magnetometer Compensation register. More...

FilterActiveTuningParametersRegister	readFilterActiveTuningParameters ()
	Reads the Filter Active Tuning Parameters register. More...

void	writeFilterActiveTuningParameters (FilterActiveTuningParametersRegister &fields, bool waitForReply=true)
	Writes to the Filter Active Tuning Parameters register. More...

void	writeFilterActiveTuningParameters (const float &magneticDisturbanceGain, const float &accelerationDisturbanceGain, const float &magneticDisturbanceMemory, const float &accelerationDisturbanceMemory, bool waitForReply=true)
	Writes to the Filter Active Tuning Parameters register. More...

AccelerationCompensationRegister	readAccelerationCompensation ()
	Reads the Acceleration Compensation register. More...

void	writeAccelerationCompensation (AccelerationCompensationRegister &fields, bool waitForReply=true)
	Writes to the Acceleration Compensation register. More...

void	writeAccelerationCompensation (const vn::math::mat3f &c, const vn::math::vec3f &b, bool waitForReply=true)
	Writes to the Acceleration Compensation register. More...

vn::math::mat3f	readReferenceFrameRotation ()
	Reads the Reference Frame Rotation register. More...

void	writeReferenceFrameRotation (const vn::math::mat3f &c, bool waitForReply=true)
	Writes to the Reference Frame Rotation register. More...

YawPitchRollMagneticAccelerationAndAngularRatesRegister	readYawPitchRollMagneticAccelerationAndAngularRates ()
	Reads the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register. More...

CommunicationProtocolControlRegister	readCommunicationProtocolControl ()
	Reads the Communication Protocol Control register. More...

void	writeCommunicationProtocolControl (CommunicationProtocolControlRegister &fields, bool waitForReply=true)
	Writes to the Communication Protocol Control register. More...

void	writeCommunicationProtocolControl (protocol::uart::CountMode serialCount, protocol::uart::StatusMode serialStatus, protocol::uart::CountMode spiCount, protocol::uart::StatusMode spiStatus, protocol::uart::ChecksumMode serialChecksum, protocol::uart::ChecksumMode spiChecksum, protocol::uart::ErrorMode errorMode, bool waitForReply=true)
	Writes to the Communication Protocol Control register. More...

SynchronizationControlRegister	readSynchronizationControl ()
	Reads the Synchronization Control register. More...

void	writeSynchronizationControl (SynchronizationControlRegister &fields, bool waitForReply=true)
	Writes to the Synchronization Control register. More...

void	writeSynchronizationControl (protocol::uart::SyncInMode syncInMode, protocol::uart::SyncInEdge syncInEdge, const uint16_t &syncInSkipFactor, protocol::uart::SyncOutMode syncOutMode, protocol::uart::SyncOutPolarity syncOutPolarity, const uint16_t &syncOutSkipFactor, const uint32_t &syncOutPulseWidth, bool waitForReply=true)
	Writes to the Synchronization Control register. More...

SynchronizationStatusRegister	readSynchronizationStatus ()
	Reads the Synchronization Status register. More...

void	writeSynchronizationStatus (SynchronizationStatusRegister &fields, bool waitForReply=true)
	Writes to the Synchronization Status register. More...

void	writeSynchronizationStatus (const uint32_t &syncInCount, const uint32_t &syncInTime, const uint32_t &syncOutCount, bool waitForReply=true)
	Writes to the Synchronization Status register. More...

FilterBasicControlRegister	readFilterBasicControl ()
	Reads the Filter Basic Control register. More...

void	writeFilterBasicControl (FilterBasicControlRegister &fields, bool waitForReply=true)
	Writes to the Filter Basic Control register. More...

void	writeFilterBasicControl (protocol::uart::MagneticMode magMode, protocol::uart::ExternalSensorMode extMagMode, protocol::uart::ExternalSensorMode extAccMode, protocol::uart::ExternalSensorMode extGyroMode, const vn::math::vec3f &gyroLimit, bool waitForReply=true)
	Writes to the Filter Basic Control register. More...

VpeBasicControlRegister	readVpeBasicControl ()
	Reads the VPE Basic Control register. More...

void	writeVpeBasicControl (VpeBasicControlRegister &fields, bool waitForReply=true)
	Writes to the VPE Basic Control register. More...

void	writeVpeBasicControl (protocol::uart::VpeEnable enable, protocol::uart::HeadingMode headingMode, protocol::uart::VpeMode filteringMode, protocol::uart::VpeMode tuningMode, bool waitForReply=true)
	Writes to the VPE Basic Control register. More...

VpeMagnetometerBasicTuningRegister	readVpeMagnetometerBasicTuning ()
	Reads the VPE Magnetometer Basic Tuning register. More...

void	writeVpeMagnetometerBasicTuning (VpeMagnetometerBasicTuningRegister &fields, bool waitForReply=true)
	Writes to the VPE Magnetometer Basic Tuning register. More...

void	writeVpeMagnetometerBasicTuning (const vn::math::vec3f &baseTuning, const vn::math::vec3f &adaptiveTuning, const vn::math::vec3f &adaptiveFiltering, bool waitForReply=true)
	Writes to the VPE Magnetometer Basic Tuning register. More...

VpeMagnetometerAdvancedTuningRegister	readVpeMagnetometerAdvancedTuning ()
	Reads the VPE Magnetometer Advanced Tuning register. More...

void	writeVpeMagnetometerAdvancedTuning (VpeMagnetometerAdvancedTuningRegister &fields, bool waitForReply=true)
	Writes to the VPE Magnetometer Advanced Tuning register. More...

void	writeVpeMagnetometerAdvancedTuning (const vn::math::vec3f &minFiltering, const vn::math::vec3f &maxFiltering, const float &maxAdaptRate, const float &disturbanceWindow, const float &maxTuning, bool waitForReply=true)
	Writes to the VPE Magnetometer Advanced Tuning register. More...

VpeAccelerometerBasicTuningRegister	readVpeAccelerometerBasicTuning ()
	Reads the VPE Accelerometer Basic Tuning register. More...

void	writeVpeAccelerometerBasicTuning (VpeAccelerometerBasicTuningRegister &fields, bool waitForReply=true)
	Writes to the VPE Accelerometer Basic Tuning register. More...

void	writeVpeAccelerometerBasicTuning (const vn::math::vec3f &baseTuning, const vn::math::vec3f &adaptiveTuning, const vn::math::vec3f &adaptiveFiltering, bool waitForReply=true)
	Writes to the VPE Accelerometer Basic Tuning register. More...

VpeAccelerometerAdvancedTuningRegister	readVpeAccelerometerAdvancedTuning ()
	Reads the VPE Accelerometer Advanced Tuning register. More...

void	writeVpeAccelerometerAdvancedTuning (VpeAccelerometerAdvancedTuningRegister &fields, bool waitForReply=true)
	Writes to the VPE Accelerometer Advanced Tuning register. More...

void	writeVpeAccelerometerAdvancedTuning (const vn::math::vec3f &minFiltering, const vn::math::vec3f &maxFiltering, const float &maxAdaptRate, const float &disturbanceWindow, const float &maxTuning, bool waitForReply=true)
	Writes to the VPE Accelerometer Advanced Tuning register. More...

VpeGyroBasicTuningRegister	readVpeGyroBasicTuning ()
	Reads the VPE Gyro Basic Tuning register. More...

void	writeVpeGyroBasicTuning (VpeGyroBasicTuningRegister &fields, bool waitForReply=true)
	Writes to the VPE Gyro Basic Tuning register. More...

void	writeVpeGyroBasicTuning (const vn::math::vec3f &angularWalkVariance, const vn::math::vec3f &baseTuning, const vn::math::vec3f &adaptiveTuning, bool waitForReply=true)
	Writes to the VPE Gyro Basic Tuning register. More...

vn::math::vec3f	readFilterStartupGyroBias ()
	Reads the Filter Startup Gyro Bias register. More...

void	writeFilterStartupGyroBias (const vn::math::vec3f &bias, bool waitForReply=true)
	Writes to the Filter Startup Gyro Bias register. More...

MagnetometerCalibrationControlRegister	readMagnetometerCalibrationControl ()
	Reads the Magnetometer Calibration Control register. More...

void	writeMagnetometerCalibrationControl (MagnetometerCalibrationControlRegister &fields, bool waitForReply=true)
	Writes to the Magnetometer Calibration Control register. More...

void	writeMagnetometerCalibrationControl (protocol::uart::HsiMode hsiMode, protocol::uart::HsiOutput hsiOutput, const uint8_t &convergeRate, bool waitForReply=true)
	Writes to the Magnetometer Calibration Control register. More...

CalculatedMagnetometerCalibrationRegister	readCalculatedMagnetometerCalibration ()
	Reads the Calculated Magnetometer Calibration register. More...

float	readIndoorHeadingModeControl ()
	Reads the Indoor Heading Mode Control register. More...

void	writeIndoorHeadingModeControl (const float &maxRateError, bool waitForReply=true)
	Writes to the Indoor Heading Mode Control register. More...

vn::math::vec3f	readVelocityCompensationMeasurement ()
	Reads the Velocity Compensation Measurement register. More...

void	writeVelocityCompensationMeasurement (const vn::math::vec3f &velocity, bool waitForReply=true)
	Writes to the Velocity Compensation Measurement register. More...

VelocityCompensationControlRegister	readVelocityCompensationControl ()
	Reads the Velocity Compensation Control register. More...

void	writeVelocityCompensationControl (VelocityCompensationControlRegister &fields, bool waitForReply=true)
	Writes to the Velocity Compensation Control register. More...

void	writeVelocityCompensationControl (protocol::uart::VelocityCompensationMode mode, const float &velocityTuning, const float &rateTuning, bool waitForReply=true)
	Writes to the Velocity Compensation Control register. More...

VelocityCompensationStatusRegister	readVelocityCompensationStatus ()
	Reads the Velocity Compensation Status register. More...

ImuMeasurementsRegister	readImuMeasurements ()
	Reads the IMU Measurements register. More...

GpsConfigurationRegister	readGpsConfiguration ()
	Reads the GPS Configuration register. More...

void	writeGpsConfiguration (GpsConfigurationRegister &fields, bool waitForReply=true)
	Writes to the GPS Configuration register. More...

void	writeGpsConfiguration (protocol::uart::GpsMode mode, protocol::uart::PpsSource ppsSource, bool waitForReply=true)
	Writes to the GPS Configuration register. More...

vn::math::vec3f	readGpsAntennaOffset ()
	Reads the GPS Antenna Offset register. More...

void	writeGpsAntennaOffset (const vn::math::vec3f &position, bool waitForReply=true)
	Writes to the GPS Antenna Offset register. More...

GpsSolutionLlaRegister	readGpsSolutionLla ()
	Reads the GPS Solution - LLA register. More...

GpsSolutionEcefRegister	readGpsSolutionEcef ()
	Reads the GPS Solution - ECEF register. More...

InsSolutionLlaRegister	readInsSolutionLla ()
	Reads the INS Solution - LLA register. More...

InsSolutionEcefRegister	readInsSolutionEcef ()
	Reads the INS Solution - ECEF register. More...

InsAdvancedConfigurationRegister	readInsAdvancedConfiguration ()
	Reads the INS Advanced Configuration register. More...

void	writeInsAdvancedConfiguration (InsAdvancedConfigurationRegister &fields, bool waitForReply=true)
	Writes to the INS Advanced Configuration register. More...

void	writeInsAdvancedConfiguration (const uint8_t &useMag, const uint8_t &usePres, const uint8_t &posAtt, const uint8_t &velAtt, const uint8_t &velBias, protocol::uart::FoamInit useFoam, const uint8_t &gpsCovType, const uint8_t &velCount, const float &velInit, const float &moveOrigin, const float &gpsTimeout, const float &deltaLimitPos, const float &deltaLimitVel, const float &minPosUncertainty, const float &minVelUncertainty, bool waitForReply=true)
	Writes to the INS Advanced Configuration register. More...

InsStateLlaRegister	readInsStateLla ()
	Reads the INS State - LLA register. More...

InsStateEcefRegister	readInsStateEcef ()
	Reads the INS State - ECEF register. More...

StartupFilterBiasEstimateRegister	readStartupFilterBiasEstimate ()
	Reads the Startup Filter Bias Estimate register. More...

void	writeStartupFilterBiasEstimate (StartupFilterBiasEstimateRegister &fields, bool waitForReply=true)
	Writes to the Startup Filter Bias Estimate register. More...

void	writeStartupFilterBiasEstimate (const vn::math::vec3f &gyroBias, const vn::math::vec3f &accelBias, const float &pressureBias, bool waitForReply=true)
	Writes to the Startup Filter Bias Estimate register. More...

DeltaThetaAndDeltaVelocityRegister	readDeltaThetaAndDeltaVelocity ()
	Reads the Delta Theta and Delta Velocity register. More...

DeltaThetaAndDeltaVelocityConfigurationRegister	readDeltaThetaAndDeltaVelocityConfiguration ()
	Reads the Delta Theta and Delta Velocity Configuration register. More...

void	writeDeltaThetaAndDeltaVelocityConfiguration (DeltaThetaAndDeltaVelocityConfigurationRegister &fields, bool waitForReply=true)
	Writes to the Delta Theta and Delta Velocity Configuration register. More...

void	writeDeltaThetaAndDeltaVelocityConfiguration (protocol::uart::IntegrationFrame integrationFrame, protocol::uart::CompensationMode gyroCompensation, protocol::uart::CompensationMode accelCompensation, bool waitForReply=true)
	Writes to the Delta Theta and Delta Velocity Configuration register. More...

ReferenceVectorConfigurationRegister	readReferenceVectorConfiguration ()
	Reads the Reference Vector Configuration register. More...

void	writeReferenceVectorConfiguration (ReferenceVectorConfigurationRegister &fields, bool waitForReply=true)
	Writes to the Reference Vector Configuration register. More...

void	writeReferenceVectorConfiguration (const uint8_t &useMagModel, const uint8_t &useGravityModel, const uint32_t &recalcThreshold, const float &year, const vn::math::vec3d &position, bool waitForReply=true)
	Writes to the Reference Vector Configuration register. More...

GyroCompensationRegister	readGyroCompensation ()
	Reads the Gyro Compensation register. More...

void	writeGyroCompensation (GyroCompensationRegister &fields, bool waitForReply=true)
	Writes to the Gyro Compensation register. More...

void	writeGyroCompensation (const vn::math::mat3f &c, const vn::math::vec3f &b, bool waitForReply=true)
	Writes to the Gyro Compensation register. More...

ImuFilteringConfigurationRegister	readImuFilteringConfiguration ()
	Reads the IMU Filtering Configuration register. More...

void	writeImuFilteringConfiguration (ImuFilteringConfigurationRegister &fields, bool waitForReply=true)
	Writes to the IMU Filtering Configuration register. More...

void	writeImuFilteringConfiguration (const uint16_t &magWindowSize, const uint16_t &accelWindowSize, const uint16_t &gyroWindowSize, const uint16_t &tempWindowSize, const uint16_t &presWindowSize, protocol::uart::FilterMode magFilterMode, protocol::uart::FilterMode accelFilterMode, protocol::uart::FilterMode gyroFilterMode, protocol::uart::FilterMode tempFilterMode, protocol::uart::FilterMode presFilterMode, bool waitForReply=true)
	Writes to the IMU Filtering Configuration register. More...

GpsCompassBaselineRegister	readGpsCompassBaseline ()
	Reads the GPS Compass Baseline register. More...

void	writeGpsCompassBaseline (GpsCompassBaselineRegister &fields, bool waitForReply=true)
	Writes to the GPS Compass Baseline register. More...

void	writeGpsCompassBaseline (const vn::math::vec3f &position, const vn::math::vec3f &uncertainty, bool waitForReply=true)
	Writes to the GPS Compass Baseline register. More...

GpsCompassEstimatedBaselineRegister	readGpsCompassEstimatedBaseline ()
	Reads the GPS Compass Estimated Baseline register. More...

ImuRateConfigurationRegister	readImuRateConfiguration ()
	Reads the IMU Rate Configuration register. More...

void	writeImuRateConfiguration (ImuRateConfigurationRegister &fields, bool waitForReply=true)
	Writes to the IMU Rate Configuration register. More...

void	writeImuRateConfiguration (const uint16_t &imuRate, const uint16_t &navDivisor, const float &filterTargetRate, const float &filterMinRate, bool waitForReply=true)
	Writes to the IMU Rate Configuration register. More...

YawPitchRollTrueBodyAccelerationAndAngularRatesRegister	readYawPitchRollTrueBodyAccelerationAndAngularRates ()
	Reads the Yaw, Pitch, Roll, True Body Acceleration and Angular Rates register. More...

YawPitchRollTrueInertialAccelerationAndAngularRatesRegister	readYawPitchRollTrueInertialAccelerationAndAngularRates ()
	Reads the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register. More...

Static Public Member Functions
static std::vector< uint32_t >	supportedBaudrates ()
	The list of baudrates supported by VectorNav sensors.

static Family	determineDeviceFamily (std::string modelNumber)
	This method determines which device family a VectorNav sensor belongs to based on the provided model number. More...

Detailed Description

Helpful class for working with VectorNav sensors.

Examples:: getting_started/main.cpp.

Member Typedef Documentation

typedef void(* vn::sensors::VnSensor::AsyncPacketReceivedHandler) (void *userData, protocol::uart::Packet &asyncPacket, size_t packetStartRunningIndex)

Defines the signature for a method that can receive notifications of when a new asynchronous data packet (ASCII or BINARY) is received.

This packet will have already had and pertinent error checking performed and determined to be an asynchronous packet.

Parameters

[in]	userData	Pointer to user data that was initially supplied when the callback was registered via registerAsyncPacketReceivedHandler.
[in]	asyncPacket	The asynchronous packet received.
[in]	packetStartRunningIndex	The running index of the start of the packet.

typedef void(* vn::sensors::VnSensor::ErrorPacketReceivedHandler) (void *userData, protocol::uart::Packet &errorPacket, size_t packetStartRunningIndex)

Defines the signature for a method that can receive notifications when an error message is received.

This packet will have already had and pertinent error checking performed and determined to be an asynchronous packet.

Parameters

[in]	userData	Pointer to user data that was initially supplied when the callback was registered via registerErrorPacketReceivedHandler.
[in]	errorPacket	The error packet received.
[in]	packetStartRunningIndex	The running index of the start of the packet.

typedef void(* vn::sensors::VnSensor::PossiblePacketFoundHandler) (void *userData, protocol::uart::Packet &possiblePacket, size_t packetStartRunningIndex)

Defines the signature for a method that can receive notifications of new possible packets found.

Parameters

[in]	userData	Pointer to user data that was initially supplied when the callback was registered via registerPossiblePacketFoundHandler.
[in]	possiblePacket	The possible packet that was found.
[in]	packetStartRunningIndex	The running index of the start of the packet.

typedef void(* vn::sensors::VnSensor::RawDataReceivedHandler) (void *userData, const char *rawData, size_t length, size_t runningIndex)

Defines a callback handler that can received notification when the VnSensor receives raw data from its port.

Parameters

[in]	userData	Pointer to user data that was initially supplied when the callback was registered via registerRawDataReceivedHandler.
[in]	rawData	Pointer to the raw data.
[in]	length	The number of bytes of raw data.
[in]	runningIndex	The running index of the received data.

Member Enumeration Documentation

enum vn::sensors::VnSensor::Family

Enumerator
VnSensor_Family_Unknown	Unknown device family.
VnSensor_Family_Vn100	A device of the VectorNav VN-100 sensor family.
VnSensor_Family_Vn200	A device of the VectorNav VN-200 sensor family.
VnSensor_Family_Vn300	A device of the VectorNav VN-300 sensor family.

Member Function Documentation

void vn::sensors::VnSensor::accelerationDisturbancePresent	(	bool	disturbancePresent,
		bool	waitForReply = `true`
	)

Command to inform the VectorNav Sensor if there is an acceleration disturbance present.

Parameters

[in]	disturbancePresent	Indicates the presense of an acceleration disturbance.
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

uint32_t vn::sensors::VnSensor::baudrate ( )

Returns the baudrate of the serial port connection. Note this is independent of the sensor's on-board serial baudrate setting.

Returns: The connected baudrate.; The connected baudrate.

void vn::sensors::VnSensor::changeBaudRate ( uint32_t baudrate )

Issues a change baudrate to the VectorNav sensor and then reconnects the attached serial port at the new baudrate.

Parameters

[in] baudrate The new sensor baudrate.

void vn::sensors::VnSensor::connect	(	const std::string &	portName,
		uint32_t	baudrate
	)

Connects to a VectorNav sensor.

Parameters

[in]	portName	The name of the serial port to connect to.
[in]	baudrate	The baudrate to connect at.

Examples:: getting_started/main.cpp.

void vn::sensors::VnSensor::connect ( xplat::IPort * port )

Allows connecting to a VectorNav sensor over a vn::common::ISimplePort.

The caller is responsible for properly destroying the vn::common::ISimplePort object when this method is used. Also, if the provided vn::common::ISimplePort is already open, then when the method disconnect is called, VnSensor will not attempt to close the port. However, if the vn::common::ISimplePort is not open, then any subsequent calls to disconnect will close the port.

Parameters

[in] simplePort An vn::common::ISimplePort. May be either currently open or closed.

Family vn::sensors::VnSensor::determineDeviceFamily ( )

This method will connect to the specified serial port, query the attached sensor, and determine the type of device.

Parameters

[in]	portName	The COM port name to connect to.
[in]	baudrate	The baudrate to connect at. This method will query the attached sensor and determine the device family it belongs to.

Returns: The determined device family.

static Family vn::sensors::VnSensor::determineDeviceFamily ( std::string modelNumber )

static

This method determines which device family a VectorNav sensor belongs to based on the provided model number.

Returns: The determined device family.

void vn::sensors::VnSensor::disconnect ( )

Disconnects from the VectorNav sensor.

Exceptions

invalid_operation Thrown if the VnSensor is not connected.

Examples:: getting_started/main.cpp.

void vn::sensors::VnSensor::magneticDisturbancePresent	(	bool	disturbancePresent,
		bool	waitForReply = `true`
	)

Command to inform the VectorNav Sensor if there is a magnetic disturbance present.

Parameters

[in]	disturbancePresent	Indicates the presence of a magnetic disturbance
[in]	waitForReply	Indicates if the method should wait for a response from the sensor.

std::string vn::sensors::VnSensor::port ( )

Returns the name of the port the sensor is connected to.

Returns: The port name.

void vn::sensors::VnSensor::reset ( bool waitForReply = true )

Issues a Reset command to the VectorNav sensor.

Parameters

[in] waitForReply Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::restoreFactorySettings ( bool waitForReply = true )

Issues a Restore Factory Settings command to the VectorNav sensor.

Parameters

[in] waitForReply Indicates if the method should wait for a response from the sensor.

std::string vn::sensors::VnSensor::send	(	std::string	toSend,
		bool	waitForReply = `true`,
		protocol::uart::ErrorDetectionMode	errorDetectionMode = `protocol::uart::ERRORDETECTIONMODE_CHECKSUM`
	)

Writes a raw data string to the sensor, normally appending an appropriate error detection checksum.

No checksum is necessary as any missing checksum will be provided. For example, the following toSend data will be correctly received by the sensor.

$VNRRG,1*42\r\n
$VNRRG,1*42
$VNRRG,1*
$VNRRG,1
VNRRG,1

If waitForReply is true, then the method will wait for a response and return the received response. Otherwise, if false, the method will send the data and return immediately with an empty string.

Parameters

[in]	toSend	The data to send. The method will automatically append a checksum/CRC if none is provided.
[in]	waitForReply	Indicates if the method should wait for a response and return the received response.
[in]	errorDetectionMode	Indicates the error detection mode to append to any packets to send.

Returns: The received response if waitForReply is true; otherwise this will be an empty string.

void vn::sensors::VnSensor::setGyroBias ( bool waitForReply = true )

Issues a command to the VectorNav Sensor to set the gyro's bias.

Parameters

[in] waitForReply Indicates if the method should wait for a response from the sensor.

void vn::sensors::VnSensor::tare ( bool waitForReply = true )

Issues a tare command to the VectorNav Sensor.

Parameters

[in] waitForReply Indicates if the method should wait for a response from the sensor.

std::string vn::sensors::VnSensor::transaction ( std::string toSend )

Sends the provided command and returns the response from the sensor.

If the command does not have an asterisk '*', then a checksum will be performed and appended based on the current error detection mode. Also, if the line-ending \r\n is not present, these will be added also.

Parameters

[in] toSend The command to send to the sensor.

Returns: The response received from the sensor.

bool vn::sensors::VnSensor::verifySensorConnectivity ( )

Checks if we are able to send and receive communication with a sensor.

Returns: true if we can communicate with the sensor; otherwise false.

void vn::sensors::VnSensor::writeSettings ( bool waitForReply = true )

Issues a Write Settings command to the VectorNav Sensor.

Parameters

[in] waitForReply Indicates if the method should wait for a response from the sensor.

The documentation for this class was generated from the following file:

include/vn/sensors.h

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Member Function Documentation