Sets the sensor-to-vehicle frame transformation using Yaw, Pitch, and Roll Euler angles. More...

Classes
struct	mip::commands_3dm::Sensor2VehicleTransformEuler

Functions
TypedResult< Sensor2VehicleTransformEuler >	mip::commands_3dm::writeSensor2VehicleTransformEuler (C::mip_interface &device, float roll, float pitch, float yaw)

TypedResult< Sensor2VehicleTransformEuler >	mip::commands_3dm::readSensor2VehicleTransformEuler (C::mip_interface &device, float rollOut, float pitchOut, float *yawOut)

TypedResult< Sensor2VehicleTransformEuler >	mip::commands_3dm::saveSensor2VehicleTransformEuler (C::mip_interface &device)

TypedResult< Sensor2VehicleTransformEuler >	mip::commands_3dm::loadSensor2VehicleTransformEuler (C::mip_interface &device)

TypedResult< Sensor2VehicleTransformEuler >	mip::commands_3dm::defaultSensor2VehicleTransformEuler (C::mip_interface &device)

Detailed Description

These are the Yaw, Pitch, and Roll mounting angles of the sensor with respect to vehicle frame of reference, and describe the transformation of vectors from the sensor body frame to the vehicle frame.

Note: This is the transformation, the inverse of the rotation defined in our legacy products.

The transformation may be stored in the device as a matrix or quaternion. When Euler angles are read back from the device, they may not be exactly equal to the Euler angles used to set the transformation, but they are functionally equivalent, such that they result in the same transformation.

This transformation to the vehicle frame will be applied to the following output quantities:

IMU:
Scaled Acceleration
Scaled Gyro
Scaled Magnetometer
Delta Theta
Delta Velocity
Complementary Filter Orientation

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

◆ writeSensor2VehicleTransformEuler()

TypedResult< Sensor2VehicleTransformEuler > mip::commands_3dm::writeSensor2VehicleTransformEuler	(	C::mip_interface &	device,
		float	roll,
		float	pitch,
		float	yaw
	)

◆ readSensor2VehicleTransformEuler()

TypedResult< Sensor2VehicleTransformEuler > mip::commands_3dm::readSensor2VehicleTransformEuler	(	C::mip_interface &	device,
		float *	rollOut,
		float *	pitchOut,
		float *	yawOut
	)

◆ saveSensor2VehicleTransformEuler()

TypedResult< Sensor2VehicleTransformEuler > mip::commands_3dm::saveSensor2VehicleTransformEuler ( C::mip_interface & device )

◆ loadSensor2VehicleTransformEuler()

TypedResult< Sensor2VehicleTransformEuler > mip::commands_3dm::loadSensor2VehicleTransformEuler ( C::mip_interface & device )

◆ defaultSensor2VehicleTransformEuler()

TypedResult< Sensor2VehicleTransformEuler > mip::commands_3dm::defaultSensor2VehicleTransformEuler ( C::mip_interface & device )

Classes