Example setup program for the 3DM-GQ7-GNSS/INS, and 3DM-CV7-GNSS/INS using C++. More...

Macros
#define	WHEELED_VEHICLE_APPLICATION false
	Enable configuration for wheeled-vehicle constraints. More...

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	configureGnssMessageFormat (mip::Interface &_device, const uint8_t _gnssDataDescriptorSet)
	Configures message format for GNSS data streaming. More...

static void	configureFilterMessageFormat (mip::Interface &_device)
	Configures message format for filter data streaming. More...

static void	configureAntennaOffset (mip::Interface &_device, const mip::Vector3f _antennaOffset, const uint8_t _antennaId)
	Configures the GNSS antenna offset parameters for the device. More...

static void	initializeFilter (mip::Interface &_device)
	Initializes and resets the navigation filter. More...

static void	displayGnssFixState (const mip::data_gnss::FixInfo *_fixInfoArray, const uint8_t _arrayIndex)
	Displays the current GNSS fix state for a specific antenna when changes occur. 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	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...

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...

Detailed Description

This example shows a basic setup to configure the navigation filter with GNSS heading, and GNSS position and velocity as the heading sources to stream filter data for the 3DM-GQ7-GNSS/INS, and 3DM-CV7-GNSS/INS devices using C++. This is not an exhaustive example of all settings for those devices. If this example does not meet your specific setup needs, please consult the MIP SDK API documentation for the proper commands.

License

Copyright: Copyright (c) 2025 MicroStrain by HBK Licensed under MIT License

Macro Definition Documentation

◆ WHEELED_VEHICLE_APPLICATION

#define WHEELED_VEHICLE_APPLICATION false

Function Documentation

◆ logCallback()

static void logCallback	(	void *	_user,
		const microstrain_log_level	_level,
		const char *	_format,
		va_list	_args
	)

static

Processes and formats log messages from the MIP SDK based on severity level. Routes messages to appropriate output streams - errors and fatal messages go to stderr while other levels go to stdout. Each message is prefixed with its severity level name.

Parameters

_user	Pointer to user data (unused in this implementation)
_level	Log message severity level from microstrain_log_level enum
_format	Printf-style format string for the message
_args	Variable argument list containing message parameters

◆ captureGyroBias()

static void captureGyroBias ( mip::Interface & _device )

static

Parameters

_device Reference to the initialized MIP device interface

◆ configureGnssMessageFormat()

static void configureGnssMessageFormat	(	mip::Interface &	_device,
		const uint8_t	_gnssDataDescriptorSet
	)

static

Sets up GNSS data output by:

Querying device base rate
Validating desired sample rate against base rate
Calculating proper decimation
Configuring message format with:
- Fix information

Parameters

_device	Reference to the initialized MIP device interface
_gnssDataDescriptorSet	Data descriptor set for the GNSS ID to configure

◆ configureFilterMessageFormat()

static void configureFilterMessageFormat ( mip::Interface & _device )

static

Sets up filter data output by:

Querying device base rate
Validating desired sample rate against base rate
Calculating proper decimation
Configuring message format with:
- GPS timestamp
- Filter status
- LLH position
- NED velocity
- Euler angles

Parameters

_device Reference to the initialized MIP device interface

◆ configureAntennaOffset()

static void configureAntennaOffset	(	mip::Interface &	_device,
		const mip::Vector3f	_antennaOffset,
		const uint8_t	_antennaId
	)

static

Sets up the physical antenna offset values relative to the device's reference point. The offset is specified in meters using a 3D vector:

X: forward/back
Y: left/right
Z: up/down

Parameters

_device	Reference to the initialized MIP device interface
_antennaOffset	Antenna offset to set
_antennaId	Antenna ID to configure the offset for

Note: Offset values are specific to physical device setup and may need to be adjusted based on actual antenna placement

◆ initializeFilter()

static void initializeFilter ( mip::Interface & _device )

static

Configures the navigation filter by:

Enabling GNSS position and velocity aiding measurements
Enabling dual-antenna GNSS heading aiding measurements
Configuring filter initialization settings:
- Setting initial position and velocity to zero
- Enabling automatic position/velocity/attitude determination
- Configuring dual-antenna kinematic alignment
Resetting the filter to apply new settings

Parameters

_device Reference to the initialized MIP device interface

◆ displayGnssFixState()

static void displayGnssFixState	(	const mip::data_gnss::FixInfo *	_fixInfoArray,
		const uint8_t	_arrayIndex
	)

static

Outputs readable messages for GNSS fix state transitions:

3D fix
2D fix
Time-only fix
No fix
Invalid fix
RTK float
RTK fixed
Differential fix Also indicates whether the current fix is valid based on flag checks.

Parameters

_fixInfoArray	Pointer to an array of GNSS fix information structures containing fix types and validity flags
_arrayIndex	Zero-based index into the fix info array identifying which GNSS receiver to report (0 = primary antenna, 1 = secondary antenna)

◆ displayFilterState()

static void displayFilterState ( const mip::data_filter::FilterMode _filterState )

static

Outputs readable messages for filter state transitions:

Initialization mode
Vertical gyro mode
AHRS mode
Full navigation mode

Parameters

_filterState Current filter mode from the MIP device interface

◆ getCurrentTimestamp()

static mip::Timestamp getCurrentTimestamp ( )

static

Provides system time measurement using std::chrono for milliseconds since epoch. Uses system_clock to get wall-clock time that corresponds to calendar time and can be synchronized with external time sources.

Note: Update this function to use a different time source if needed for your specific application requirements

Returns: Current timestamp in milliseconds since epoch

◆ initializeDevice()

static void initializeDevice ( mip::Interface & _device )

static

Performs a complete device initialization sequence:

Verifies device communication with a ping command
Sets the device to idle mode to ensure reliable configuration
Queries and displays detailed device information
Loads default device settings for a known state

Parameters

_device Reference to a MIP device interface to initialize

◆ terminate() [1/2]

static void terminate	(	microstrain::Connection *	_connection,
		const char *	_message,
		const bool	_successful
	)

static

Handles graceful shutdown when errors occur:

Outputs provided error message
Closes device connection if open
Exits with appropriate status code

Parameters

_connection	Pointer to the device connection to close
_message	Error message to display
_successful	Whether termination is due to success or failure

◆ terminate() [2/2]

static void terminate	(	mip::Interface &	_device,
		const mip::CmdResult	_cmdResult,
		const char *	_format,
			...
	)

static

Handles command failure scenarios:

Formats and displays an error message with command result
Closes device connection
Exits with failure status

Parameters

_device	MIP device interface for the command that failed
_cmdResult	Result code from a failed command
_format	Printf-style format string for error message
...	Variable arguments for format string

Variable Documentation

◆ PORT_NAME

constexpr const char* PORT_NAME = "/dev/ttyACM0"

staticconstexpr

◆ BAUDRATE

constexpr uint32_t BAUDRATE = 115200

staticconstexpr

Note: For native serial connections this needs to be 115200 due to the device default settings command Use mip::commands_base::*CommSpeed() to write and save the baudrate on the device

◆ SAMPLE_RATE_HZ

constexpr uint16_t SAMPLE_RATE_HZ = 1

staticconstexpr

◆ RUN_TIME_SECONDS

constexpr uint32_t RUN_TIME_SECONDS = 30

staticconstexpr

Macros

Functions

Variables

Detailed Description

License

Macro Definition Documentation

◆ WHEELED_VEHICLE_APPLICATION

Function Documentation

◆ logCallback()

◆ captureGyroBias()

◆ configureGnssMessageFormat()

◆ configureFilterMessageFormat()

◆ configureAntennaOffset()

◆ initializeFilter()

◆ displayGnssFixState()

◆ displayFilterState()

◆ getCurrentTimestamp()

◆ initializeDevice()

◆ terminate() [1/2]

◆ terminate() [2/2]

Variable Documentation

◆ PORT_NAME

◆ BAUDRATE

◆ SAMPLE_RATE_HZ

◆ RUN_TIME_SECONDS