7_series_ins_example.cpp File Reference

#include <microstrain/connections/serial/serial_connection.hpp>
#include <microstrain/logging.hpp>
#include <mip/mip_interface.hpp>
#include <mip/definitions/commands_3dm.hpp>
#include <mip/definitions/commands_aiding.hpp>
#include <mip/definitions/commands_base.hpp>
#include <mip/definitions/commands_filter.hpp>
#include <mip/definitions/data_filter.hpp>
#include <mip/definitions/data_shared.hpp>
#include <chrono>
#include <cstdarg>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <math.h>

Functions
static void	logCallback (void *_user, const microstrain_log_level _level, const char *_format, va_list _args)
	Custom logging callback for MIP SDK message formatting and output. More...
static void	captureGyroBias (mip::Interface &_device)
	Captures and configures device gyro bias. More...
static void	configureFilterMessageFormat (mip::Interface &_device)
	Configures message format for filter data streaming. More...
static void	configureExternalAidingHeading (mip::Interface &_device)
	Configures a heading reference frame for external aiding measurements. More...
static void	configureExternalAidingGnssAntenna (mip::Interface &_device)
	Configures a GNSS antenna reference frame for external aiding measurements. More...
static void	configureExternalAidingNedVelocity (mip::Interface &_device)
	Configures a body frame velocity reference frame for external aiding measurements. More...
static void	initializeFilter (mip::Interface &_device)
	Initializes and resets the navigation filter. More...
static void	displayFilterState (const mip::data_filter::FilterMode _filterState)
	Displays the current filter state when changes occur. More...
static mip::Timestamp	getCurrentTimestamp ()
	Gets the current system timestamp in milliseconds. More...
static void	initializeDevice (mip::Interface &_device)
	Initializes and configures a MIP device interface. More...
static void	sendSimulatedHeadingData (mip::Interface &_device, const mip::commands_aiding::Time &_aidingTime)
	Sends simulated external heading measurements to the device. More...
static void	sendSimulatedPositionData (mip::Interface &_device, const mip::commands_aiding::Time &_aidingTime)
	Sends simulated external position measurements to the device. More...
static void	sendSimulatedNedVelocityData (mip::Interface &_device, const mip::commands_aiding::Time &_aidingTime)
	Sends simulated external NED velocity measurements to the device. More...
static void	sendSimulatedVehicleFrameVelocityData (mip::Interface &_device, const mip::commands_aiding::Time &_aidingTime)
	Sends simulated external vehicle frame velocity measurements to the device. More...
static void	terminate (microstrain::Connection *_connection, const char *_message, const bool _successful)
	Handles graceful program termination and cleanup. More...
static void	terminate (mip::Interface &_device, const mip::CmdResult _cmdResult, const char *_format,...)
	Handles graceful program termination and command failure cleanup. More...
int	main (const int argc, const char *argv[])

Variables
static constexpr const char *	PORT_NAME = "/dev/ttyACM0"
	Set the port name for the connection (Serial/USB) More...
static constexpr uint32_t	BAUDRATE = 115200
	Set the baudrate for the connection (Serial/USB) More...
static constexpr uint16_t	SAMPLE_RATE_HZ = 1
	Streaming rate in Hz. More...
static constexpr uint32_t	RUN_TIME_SECONDS = 30
	Example run time. More...
static constexpr uint64_t	TIME_OF_ARRIVAL_LATENCY_NS = 100 * 1000000
	Time of arrival latency in nanoseconds. More...
static constexpr uint8_t	HEADING_FRAME_CONFIG_ID = 1
	Frame config ID for external heading. More...
static constexpr uint8_t	GNSS_FRAME_CONFIG_ID = 2
	Frame config ID for external GNSS antenna. More...
static constexpr uint8_t	BODY_VELOCITY_FRAME_CONFIG_ID = 3
	Frame config ID for body frame velocity. More...

Function Documentation

main()

int main	(	const int	argc,
		const char *	argv[]
	)