Example setup program for the 3DM-CV7-INS, and 3DM-GV7-INS using C++. 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	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...

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...

Detailed Description

This example shows a basic setup to configure the navigation filter with external heading, and GNSS position and velocity as the heading sources to stream filter data using simulated external aiding measurements for the 3DM-CV7-INS, and 3DM-GV7-INS 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

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

◆ 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

◆ configureExternalAidingHeading()

static void configureExternalAidingHeading ( mip::Interface & _device )

static

Sets up a heading reference frame for external sensor data:

Translation: [0, 0, 0] m
Rotation: [0, 0, 0] deg (no rotation)

The frame is configured with tracking enabled and uses an Euler angle rotation format.

Parameters

_device Reference to the initialized MIP device interface

Note: This function is typically called during device initialization to establish the coordinate system relationships for external measurements. Frame IDs correspond to those used in external measurement functions.

◆ configureExternalAidingGnssAntenna()

static void configureExternalAidingGnssAntenna ( mip::Interface & _device )

static

Sets up a GNSS antenna reference frame for external sensor data:

Translation: [0, 1, 0] m (1m offset in Y-axis)
Rotation: [0, 0, 0] deg (no rotation)

The frame is configured with tracking enabled and uses an Euler angle rotation format.

Parameters

_device Reference to the initialized MIP device interface

Note: This function is typically called during device initialization to establish the coordinate system relationships for external measurements. Frame IDs correspond to those used in external measurement functions.

◆ configureExternalAidingNedVelocity()

static void configureExternalAidingNedVelocity ( mip::Interface & _device )

static

Sets up a body frame velocity reference frame for external sensor data:

Translation: [1, 0, 0] m (1m offset in X-axis)
Rotation: [0, 0, 90] deg (90 deg yaw rotation)

The frame is configured with tracking enabled and uses an Euler angle rotation format.

Parameters

_device Reference to the initialized MIP device interface

Note: This function is typically called during device initialization to establish the coordinate system relationships for external measurements. Frame IDs correspond to those used in external measurement functions.

◆ initializeFilter()

static void initializeFilter ( mip::Interface & _device )

static

Configures the navigation filter by:

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

Parameters

_device Reference to the initialized MIP device interface

◆ 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

◆ sendSimulatedHeadingData()

static void sendSimulatedHeadingData	(	mip::Interface &	_device,
		const mip::commands_aiding::Time &	_aidingTime
	)

static

Provides simulated true heading data to the device for filter aiding. Uses fixed values:

Heading: 0.0 deg (North)
Uncertainty: 0.001 radians

Parameters

_device	Reference to the initialized MIP device interface
_aidingTime	Reference to the timestamp for the external measurement

Note: Issues warning if the command fails but does not terminate execution. Used for testing external aiding functionality with known data.

◆ sendSimulatedPositionData()

static void sendSimulatedPositionData	(	mip::Interface &	_device,
		const mip::commands_aiding::Time &	_aidingTime
	)

static

Provides simulated LLH position data to the device for filter aiding. Uses fixed coordinates for MicroStrain headquarters:

Latitude: 44.437 deg N
Longitude: 73.106 deg W
Height: 122.0 m
Uncertainty: 1.0 m in all axes

Parameters

_device	Reference to the initialized MIP device interface
_aidingTime	Reference to the timestamp for the external measurement

Note: Issues warning if the command fails but does not terminate execution. Used for testing external aiding functionality with a known location.

◆ sendSimulatedNedVelocityData()

static void sendSimulatedNedVelocityData	(	mip::Interface &	_device,
		const mip::commands_aiding::Time &	_aidingTime
	)

static

Provides simulated North-East-Down velocity data to the device for filter aiding. Uses stationary target values:

Velocity: [0, 0, 0] m/s (stationary)
Uncertainty: 0.1 m/s in all axes

Parameters

_device	Reference to the initialized MIP device interface
_aidingTime	Reference to the timestamp for the external measurement

Note: Issues warning if the command fails but does not terminate execution. Used for testing external aiding functionality with stationary data.

◆ sendSimulatedVehicleFrameVelocityData()

static void sendSimulatedVehicleFrameVelocityData	(	mip::Interface &	_device,
		const mip::commands_aiding::Time &	_aidingTime
	)

static

Provides simulated body-frame velocity data to the device for filter aiding. Uses stationary target values:

Velocity: [0, 0, 0] m/s (stationary in body frame)
Uncertainty: 0.1 m/s in all axes

Parameters

_device	Reference to the initialized MIP device interface
_aidingTime	Reference to the timestamp for the external measurement

Note: Issues warning if the command fails but does not terminate execution. Used for testing external aiding functionality with vehicle-relative data.

◆ 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

◆ TIME_OF_ARRIVAL_LATENCY_NS

constexpr uint64_t TIME_OF_ARRIVAL_LATENCY_NS = 100 * 1000000

staticconstexpr

Note: This is the time it takes to package the command before it arrives and is typically around 100 ms

◆ HEADING_FRAME_CONFIG_ID

constexpr uint8_t HEADING_FRAME_CONFIG_ID = 1

staticconstexpr

◆ GNSS_FRAME_CONFIG_ID

constexpr uint8_t GNSS_FRAME_CONFIG_ID = 2

staticconstexpr

◆ BODY_VELOCITY_FRAME_CONFIG_ID

constexpr uint8_t BODY_VELOCITY_FRAME_CONFIG_ID = 3

staticconstexpr

Functions

Variables

Detailed Description

License

Function Documentation

◆ logCallback()

◆ captureGyroBias()

◆ configureFilterMessageFormat()

◆ configureExternalAidingHeading()

◆ configureExternalAidingGnssAntenna()

◆ configureExternalAidingNedVelocity()

◆ initializeFilter()

◆ displayFilterState()

◆ getCurrentTimestamp()

◆ initializeDevice()

◆ sendSimulatedHeadingData()

◆ sendSimulatedPositionData()

◆ sendSimulatedNedVelocityData()

◆ sendSimulatedVehicleFrameVelocityData()

◆ terminate() [1/2]

◆ terminate() [2/2]

Variable Documentation

◆ PORT_NAME

◆ BAUDRATE

◆ SAMPLE_RATE_HZ

◆ RUN_TIME_SECONDS

◆ TIME_OF_ARRIVAL_LATENCY_NS

◆ HEADING_FRAME_CONFIG_ID

◆ GNSS_FRAME_CONFIG_ID

◆ BODY_VELOCITY_FRAME_CONFIG_ID