(0x13,0x01) Frame Config

Defines an aiding frame associated with a specific sensor frame ID. The frame ID used in this command should mirror the frame ID used in the aiding command (if that aiding measurement is measured in this reference frame). More...

Classes
union	mip::C::mip_aiding_frame_config_command_rotation
struct	mip::C::mip_aiding_frame_config_command
struct	mip::C::mip_aiding_frame_config_response

Typedefs
typedef enum mip_aiding_frame_config_command_format	mip::C::mip_aiding_frame_config_command_format
typedef union mip_aiding_frame_config_command_rotation	mip::C::mip_aiding_frame_config_command_rotation
typedef struct mip_aiding_frame_config_command	mip::C::mip_aiding_frame_config_command
typedef struct mip_aiding_frame_config_response	mip::C::mip_aiding_frame_config_response

Enumerations
enum	mip::C::mip_aiding_frame_config_command_format { mip::C::MIP_AIDING_FRAME_CONFIG_COMMAND_FORMAT_EULER = 1, mip::C::MIP_AIDING_FRAME_CONFIG_COMMAND_FORMAT_QUATERNION = 2 }

Functions
void	mip::C::insert_mip_aiding_frame_config_command (microstrain_serializer *serializer, const mip_aiding_frame_config_command *self)
void	mip::C::extract_mip_aiding_frame_config_command (microstrain_serializer *serializer, mip_aiding_frame_config_command *self)
void	mip::C::insert_mip_aiding_frame_config_response (microstrain_serializer *serializer, const mip_aiding_frame_config_response *self)
void	mip::C::extract_mip_aiding_frame_config_response (microstrain_serializer *serializer, mip_aiding_frame_config_response *self)
mip_cmd_result	mip::C::mip_aiding_write_frame_config (mip_interface *device, uint8_t frame_id, mip_aiding_frame_config_command_format format, bool tracking_enabled, const float *translation, const mip_aiding_frame_config_command_rotation *rotation)
mip_cmd_result	mip::C::mip_aiding_read_frame_config (mip_interface *device, uint8_t frame_id, mip_aiding_frame_config_command_format format, bool *tracking_enabled_out, float *translation_out, mip_aiding_frame_config_command_rotation *rotation_out)
mip_cmd_result	mip::C::mip_aiding_save_frame_config (mip_interface *device, uint8_t frame_id)
mip_cmd_result	mip::C::mip_aiding_load_frame_config (mip_interface *device, uint8_t frame_id)
mip_cmd_result	mip::C::mip_aiding_default_frame_config (mip_interface *device, uint8_t frame_id)

Detailed Description

Defines an aiding frame associated with a specific sensor frame ID. The frame ID used in this command should mirror the frame ID used in the aiding command (if that aiding measurement is measured in this reference frame).

This transform satisfies the following relationship:

EQSTART p^{veh} = R p^{sensor_frame} + t EQEND

Where:
EQSTART R EQEND is rotation matrix defined by the rotation component and EQSTART t EQEND is the translation vector

EQSTART p^{sensor_frame} EQEND is a 3-element position vector expressed in the external sensor frame
EQSTART p^{veh} EQEND is a 3-element position vector expressed in the vehicle frame

Rotation can be defined using Euler angles OR quaternions. If Format selector is set to Euler Angles, the fourth element in the rotation vector is ignored and should be set to 0.

When the tracking_enabled flag is 1, the Kalman filter will track errors in the provided frame definition; when 0, no errors are tracked.

Example: GNSS antenna lever arm

Frame ID: 1 Format: 1 (Euler) Translation: [0,1,] (GNSS with a 1 meter Y offset in the vehicle frame) Rotation: [0,0,0,0] (Rotational component is not relevant for GNSS measurements, set to zero)

Typedef Documentation

mip_aiding_frame_config_command

typedef struct mip_aiding_frame_config_command mip::C::mip_aiding_frame_config_command

mip_aiding_frame_config_command_format

typedef enum mip_aiding_frame_config_command_format mip::C::mip_aiding_frame_config_command_format

mip_aiding_frame_config_command_rotation

typedef union mip_aiding_frame_config_command_rotation mip::C::mip_aiding_frame_config_command_rotation

mip_aiding_frame_config_response

typedef struct mip_aiding_frame_config_response mip::C::mip_aiding_frame_config_response

Enumeration Type Documentation

mip_aiding_frame_config_command_format

enum mip::C::mip_aiding_frame_config_command_format

Enumerator
MIP_AIDING_FRAME_CONFIG_COMMAND_FORMAT_EULER	Translation vector followed by euler angles (roll, pitch, yaw).
MIP_AIDING_FRAME_CONFIG_COMMAND_FORMAT_QUATERNION	Translation vector followed by quaternion (w, x, y, z).

Function Documentation

extract_mip_aiding_frame_config_command()

void mip::C::extract_mip_aiding_frame_config_command	(	microstrain_serializer *	serializer,
		mip_aiding_frame_config_command *	self
	)

extract_mip_aiding_frame_config_response()

void mip::C::extract_mip_aiding_frame_config_response	(	microstrain_serializer *	serializer,
		mip_aiding_frame_config_response *	self
	)

insert_mip_aiding_frame_config_command()

void mip::C::insert_mip_aiding_frame_config_command	(	microstrain_serializer *	serializer,
		const mip_aiding_frame_config_command *	self
	)

insert_mip_aiding_frame_config_response()

void mip::C::insert_mip_aiding_frame_config_response	(	microstrain_serializer *	serializer,
		const mip_aiding_frame_config_response *	self
	)

mip_aiding_default_frame_config()

mip_cmd_result mip::C::mip_aiding_default_frame_config	(	mip_interface *	device,
		uint8_t	frame_id
	)

mip_aiding_load_frame_config()

mip_cmd_result mip::C::mip_aiding_load_frame_config	(	mip_interface *	device,
		uint8_t	frame_id
	)

mip_aiding_read_frame_config()

mip_cmd_result mip::C::mip_aiding_read_frame_config	(	mip_interface *	device,
		uint8_t	frame_id,
		mip_aiding_frame_config_command_format	format,
		bool *	tracking_enabled_out,
		float *	translation_out,
		mip_aiding_frame_config_command_rotation *	rotation_out
	)

mip_aiding_save_frame_config()

mip_cmd_result mip::C::mip_aiding_save_frame_config	(	mip_interface *	device,
		uint8_t	frame_id
	)

mip_aiding_write_frame_config()

mip_cmd_result mip::C::mip_aiding_write_frame_config	(	mip_interface *	device,
		uint8_t	frame_id,
		mip_aiding_frame_config_command_format	format,
		bool	tracking_enabled,
		const float *	translation,
		const mip_aiding_frame_config_command_rotation *	rotation
	)