Set the sensor to vehicle frame transformation using a using a 3 x 3 direction cosine matrix EQSTART M_{ned}^{veh} EQEND, stored in row-major order in a 9-element array. More...

Classes
struct	mip::commands_3dm::Sensor2VehicleTransformDcm

Functions
TypedResult< Sensor2VehicleTransformDcm >	mip::commands_3dm::writeSensor2VehicleTransformDcm (C::mip_interface &device, const float *dcm)

TypedResult< Sensor2VehicleTransformDcm >	mip::commands_3dm::readSensor2VehicleTransformDcm (C::mip_interface &device, float *dcmOut)

TypedResult< Sensor2VehicleTransformDcm >	mip::commands_3dm::saveSensor2VehicleTransformDcm (C::mip_interface &device)

TypedResult< Sensor2VehicleTransformDcm >	mip::commands_3dm::loadSensor2VehicleTransformDcm (C::mip_interface &device)

TypedResult< Sensor2VehicleTransformDcm >	mip::commands_3dm::defaultSensor2VehicleTransformDcm (C::mip_interface &device)

Detailed Description

These angles define the transformation of vectors from the sensor body frame to the fixed vehicle frame, according to:
EQSTART v^{veh} = M_{sen}^{veh} v^{sen} EQEND

Where:

EQSTART v^{sen} EQEND is a 3-element vector expressed in the sensor body frame.
EQSTART v^{veh} EQEND is the same 3-element vector expressed in the vehicle frame.

The matrix elements are stored is row-major order: EQSTART M_{sen}^{veh} = \begin{bmatrix} M_{11}, M_{12}, M_{13}, M_{21}, M_{22}, M_{23}, M_{31}, M_{32}, M_{33} \end{bmatrix} EQEND

The transformation may be stored in the device as a matrix or a quaternion. When EQSTART M_{sen}^{veh} EQEND is read back from the device, it may not be exactly equal to array used to set the transformation, but it is functionally equivalent.

This transformation affects the following output quantities:

IMU:
Scaled Acceleration
Scaled Gyro
Scaled Magnetometer
Delta Theta
Delta Velocity

Estimation Filter:
Estimated Orientation, Quaternion
Estimated Orientation, Matrix
Estimated Orientation, Euler Angles
Estimated Linear Acceleration
Estimated Angular Rate
Estimated Gravity Vector

Changing this setting will force all low-pass filters, the complementary filter, and the estimation filter to reset.

Function Documentation

◆ writeSensor2VehicleTransformDcm()

TypedResult< Sensor2VehicleTransformDcm > mip::commands_3dm::writeSensor2VehicleTransformDcm	(	C::mip_interface &	device,
		const float *	dcm
	)

◆ readSensor2VehicleTransformDcm()

TypedResult< Sensor2VehicleTransformDcm > mip::commands_3dm::readSensor2VehicleTransformDcm	(	C::mip_interface &	device,
		float *	dcmOut
	)

◆ saveSensor2VehicleTransformDcm()

TypedResult< Sensor2VehicleTransformDcm > mip::commands_3dm::saveSensor2VehicleTransformDcm ( C::mip_interface & device )

◆ loadSensor2VehicleTransformDcm()

TypedResult< Sensor2VehicleTransformDcm > mip::commands_3dm::loadSensor2VehicleTransformDcm ( C::mip_interface & device )

◆ defaultSensor2VehicleTransformDcm()

TypedResult< Sensor2VehicleTransformDcm > mip::commands_3dm::defaultSensor2VehicleTransformDcm ( C::mip_interface & device )

Classes