sbgEComCmdSensor.h File Reference

Motion profile, aiding assignment & sensor installation commands. More...

#include <sbgCommon.h>
#include <sbgECom.h>
#include "sbgEComCmdCommon.h"

Go to the source code of this file.

Data Structures
struct	_SbgEComAidingAssignConf
struct	_SbgEComSensorAlignmentInfo
struct	_SbgEComInitConditionConf

Typedefs
typedef enum _SbgEComModulePortAssignment	SbgEComModulePortAssignment
typedef enum _SbgEComModuleSyncAssignment	SbgEComModuleSyncAssignment
typedef enum _SbgEComOdometerPinAssignment	SbgEComOdometerPinAssignment
typedef enum _SbgEComMotionProfileStdIds	SbgEComMotionProfileStdIds
typedef struct _SbgEComAidingAssignConf	SbgEComAidingAssignConf
typedef struct _SbgEComSensorAlignmentInfo	SbgEComSensorAlignmentInfo
typedef struct _SbgEComInitConditionConf	SbgEComInitConditionConf

Enumerations
enum	_SbgEComModulePortAssignment {   SBG_ECOM_MODULE_PORT_A = 0 ,   SBG_ECOM_MODULE_PORT_B = 1 ,   SBG_ECOM_MODULE_PORT_C = 2 ,   SBG_ECOM_MODULE_PORT_D = 3 ,   SBG_ECOM_MODULE_PORT_E = 4 ,   SBG_ECOM_MODULE_INTERNAL = 5 ,   SBG_ECOM_MODULE_DISABLED = 0xFF }
enum	_SbgEComModuleSyncAssignment {   SBG_ECOM_MODULE_SYNC_DISABLED = 0 ,   SBG_ECOM_MODULE_SYNC_IN_A = 1 ,   SBG_ECOM_MODULE_SYNC_IN_B = 2 ,   SBG_ECOM_MODULE_SYNC_IN_C = 3 ,   SBG_ECOM_MODULE_SYNC_IN_D = 4 ,   SBG_ECOM_MODULE_SYNC_INTERNAL = 5 ,   SBG_ECOM_MODULE_SYNC_OUT_A = 6 ,   SBG_ECOM_MODULE_SYNC_OUT_B = 7 }
enum	_SbgEComOdometerPinAssignment {   SBG_ECOM_MODULE_ODO_DISABLED = 0 ,   SBG_ECOM_MODULE_ODO_A = 1 ,   SBG_ECOM_MODULE_ODO_A_B = 2 ,   SBG_ECOM_MODULE_ODO_CAN = 3 }
enum	_SbgEComMotionProfileStdIds {   SBG_ECOM_MOTION_PROFILE_GENERAL_PURPOSE = 1 ,   SBG_ECOM_MOTION_PROFILE_AUTOMOTIVE = 2 ,   SBG_ECOM_MOTION_PROFILE_MARINE = 3 ,   SBG_ECOM_MOTION_PROFILE_AIRPLANE = 4 ,   SBG_ECOM_MOTION_PROFILE_HELICOPTER = 5 ,   SBG_ECOM_MOTION_PROFILE_PEDESTRIAN = 6 ,   SBG_ECOM_MOTION_PROFILE_UAV_ROTARY_WING = 7 ,   SBG_ECOM_MOTION_PROFILE_HEAVY_MACHINERY = 8 ,   SBG_ECOM_MOTION_PROFILE_STATIC = 9 ,   SBG_ECOM_MOTION_PROFILE_TRUCK = 10 ,   SBG_ECOM_MOTION_PROFILE_RAILWAY = 11 }

Functions
SbgErrorCode	sbgEComCmdSensorSetMotionProfileId (SbgEComHandle *pHandle, SbgEComMotionProfileStdIds modelId)
SbgErrorCode	sbgEComCmdSensorGetMotionProfileId (SbgEComHandle *pHandle, SbgEComMotionProfileStdIds *pModelId)
SbgErrorCode	sbgEComCmdSensorGetInitCondition (SbgEComHandle *pHandle, SbgEComInitConditionConf *pConf)
SbgErrorCode	sbgEComCmdSensorSetInitCondition (SbgEComHandle *pHandle, const SbgEComInitConditionConf *pConf)
SbgErrorCode	sbgEComCmdSensorGetAidingAssignment (SbgEComHandle *pHandle, SbgEComAidingAssignConf *pConf)
SbgErrorCode	sbgEComCmdSensorSetAidingAssignment (SbgEComHandle *pHandle, const SbgEComAidingAssignConf *pConf)
SbgErrorCode	sbgEComCmdSensorGetAlignmentAndLeverArm (SbgEComHandle *pHandle, SbgEComSensorAlignmentInfo *pAlignConf, float *pLeverArm)
SbgErrorCode	sbgEComCmdSensorSetAlignmentAndLeverArm (SbgEComHandle *pHandle, const SbgEComSensorAlignmentInfo *pAlignConf, const float *pLeverArm)

Detailed Description

Motion profile, aiding assignment & sensor installation commands.

Author

SBG Systems

Date

11 June 2014

Copyright

Copyright (C) 2022, SBG Systems SAS. All rights reserved.

License

The MIT license

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Typedef Documentation

SbgEComModulePortAssignment

typedef enum _SbgEComModulePortAssignment SbgEComModulePortAssignment

Ports available for the modules.

SbgEComModuleSyncAssignment

typedef enum _SbgEComModuleSyncAssignment SbgEComModuleSyncAssignment

Synchronization signals available for the modules.

SbgEComOdometerPinAssignment

typedef enum _SbgEComOdometerPinAssignment SbgEComOdometerPinAssignment

List of configurations available for the odometer.

SbgEComMotionProfileStdIds

typedef enum _SbgEComMotionProfileStdIds SbgEComMotionProfileStdIds

This enum defines the different motion profile IDs available in standard

SbgEComAidingAssignConf

typedef struct _SbgEComAidingAssignConf SbgEComAidingAssignConf

Helper structure for module assignments

SbgEComSensorAlignmentInfo

typedef struct _SbgEComSensorAlignmentInfo SbgEComSensorAlignmentInfo

Helper structure for sensor alignment details

SbgEComInitConditionConf

typedef struct _SbgEComInitConditionConf SbgEComInitConditionConf

Helper structure for sensor Initial condition details

Enumeration Type Documentation

_SbgEComModulePortAssignment

enum _SbgEComModulePortAssignment

Ports available for the modules.

Enumerator
SBG_ECOM_MODULE_PORT_A	Module connected on PORT_A.
SBG_ECOM_MODULE_PORT_B	Module connected on PORT_B.
SBG_ECOM_MODULE_PORT_C	Module connected on PORT_C.
SBG_ECOM_MODULE_PORT_D	Module connected on PORT_D.
SBG_ECOM_MODULE_PORT_E	Module connected on PORT_E.
SBG_ECOM_MODULE_INTERNAL	Module is connected internally.
SBG_ECOM_MODULE_DISABLED	Module is disabled.

_SbgEComModuleSyncAssignment

enum _SbgEComModuleSyncAssignment

Synchronization signals available for the modules.

Enumerator
SBG_ECOM_MODULE_SYNC_DISABLED	Module is disabled.
SBG_ECOM_MODULE_SYNC_IN_A	Synchronization is done using SYNC_IN_A pin.
SBG_ECOM_MODULE_SYNC_IN_B	Synchronization is done using SYNC_IN_B pin.
SBG_ECOM_MODULE_SYNC_IN_C	Synchronization is done using SYNC_IN_C pin.
SBG_ECOM_MODULE_SYNC_IN_D	Synchronization is done using SYNC_IN_D pin.
SBG_ECOM_MODULE_SYNC_INTERNAL	Synchronization is internal.
SBG_ECOM_MODULE_SYNC_OUT_A	Synchronization signal is output on SYNC_OUT_A.
SBG_ECOM_MODULE_SYNC_OUT_B	Synchronization signal is output on SYNC_OUT_B.

_SbgEComOdometerPinAssignment

enum _SbgEComOdometerPinAssignment

List of configurations available for the odometer.

Enumerator
SBG_ECOM_MODULE_ODO_DISABLED	Odometer is disabled.
SBG_ECOM_MODULE_ODO_A	Odometer connected only to ODO_A (unidirectional)..
SBG_ECOM_MODULE_ODO_A_B	Odometer connected to both ODO_A (signal A) and ODO_B (Signal B or direction) for bidirectional odometer..
SBG_ECOM_MODULE_ODO_CAN	Vehicle odometer using CAN (OBD-II).

_SbgEComMotionProfileStdIds

enum _SbgEComMotionProfileStdIds

This enum defines the different motion profile IDs available in standard

Enumerator
SBG_ECOM_MOTION_PROFILE_GENERAL_PURPOSE	Should be used as a default when other profiles do not apply
SBG_ECOM_MOTION_PROFILE_AUTOMOTIVE	Dedicated to car applications with strict lateral velocity constraints.
SBG_ECOM_MOTION_PROFILE_MARINE	Used in marine and underwater applications
SBG_ECOM_MOTION_PROFILE_AIRPLANE	For fixed wings aircraft
SBG_ECOM_MOTION_PROFILE_HELICOPTER	For rotary wing aircraft
SBG_ECOM_MOTION_PROFILE_PEDESTRIAN	Pedestrian applications using foot odometer
SBG_ECOM_MOTION_PROFILE_UAV_ROTARY_WING	For rotary wing UAVs that have low dynamics
SBG_ECOM_MOTION_PROFILE_HEAVY_MACHINERY	For vibrating applications with low dynamics and no specific travel direction
SBG_ECOM_MOTION_PROFILE_STATIC	Static motion profile that delivers stable results for 27/7 operations.
SBG_ECOM_MOTION_PROFILE_TRUCK	Truck applications with medium lateral velocity constraints.
SBG_ECOM_MOTION_PROFILE_RAILWAY	Train applications with relaxed lateral velocity constraints.

Function Documentation

sbgEComCmdSensorSetMotionProfileId()

SbgErrorCode sbgEComCmdSensorSetMotionProfileId	(	SbgEComHandle *	pHandle,
		SbgEComMotionProfileStdIds	modelId
	)

Set the motion profile id used to tune the Kalman Filter to a specific application

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	modelId	Motion profile id to set

Returns

SBG_NO_ERROR if the command has been executed successfully.

sbgEComCmdSensorGetMotionProfileId()

SbgErrorCode sbgEComCmdSensorGetMotionProfileId	(	SbgEComHandle *	pHandle,
		SbgEComMotionProfileStdIds *	pModelId
	)

Retrieve the motion profile id.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pModelId	Retrieved motion profile id

Returns

SBG_NO_ERROR if the command has been executed successfully.

sbgEComCmdSensorGetInitCondition()

SbgErrorCode sbgEComCmdSensorGetInitCondition	(	SbgEComHandle *	pHandle,
		SbgEComInitConditionConf *	pConf
	)

Retrieve the initial conditions settings.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pConf	Pointer to a SbgEComInitConditionConf to contain the current initial conditions settings.

Returns

SBG_NO_ERROR if the command has been executed successfully.

sbgEComCmdSensorSetInitCondition()

SbgErrorCode sbgEComCmdSensorSetInitCondition	(	SbgEComHandle *	pHandle,
		const SbgEComInitConditionConf *	pConf
	)

Set the initial condition configuration.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	pConf	Pointer to a SbgEComInitConditionConf containing the new initial condition configuration.

Returns

SBG_NO_ERROR if the command has been executed successfully.

sbgEComCmdSensorGetAidingAssignment()

SbgErrorCode sbgEComCmdSensorGetAidingAssignment	(	SbgEComHandle *	pHandle,
		SbgEComAidingAssignConf *	pConf
	)

Retrieve the assignment of the aiding sensors.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pConf	Pointer to a SbgEComAidingAssignConf to contain the current assignment of the aiding sensors.

Returns

SBG_NO_ERROR if the command has been executed successfully.

sbgEComCmdSensorSetAidingAssignment()

SbgErrorCode sbgEComCmdSensorSetAidingAssignment	(	SbgEComHandle *	pHandle,
		const SbgEComAidingAssignConf *	pConf
	)

Set the assignment of the aiding sensors.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pConf	Pointer to a SbgEComAidingAssignConf containing the new assignment of the aiding sensors.

Returns

SBG_NO_ERROR if the command has been executed successfully.

sbgEComCmdSensorGetAlignmentAndLeverArm()

SbgErrorCode sbgEComCmdSensorGetAlignmentAndLeverArm	(	SbgEComHandle *	pHandle,
		SbgEComSensorAlignmentInfo *	pAlignConf,
		float *	pLeverArm
	)

Retrieve the alignment and lever arm configuration of the sensor.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pAlignConf	Pointer to a SbgEComSensorAlignmentInfo struct to hold alignment configuration of the sensor.
[out]	pLeverArm	Pointer to a table to contain lever arm X, Y, Z components in meters.

Returns

SBG_NO_ERROR if the command has been executed successfully.

sbgEComCmdSensorSetAlignmentAndLeverArm()

SbgErrorCode sbgEComCmdSensorSetAlignmentAndLeverArm	(	SbgEComHandle *	pHandle,
		const SbgEComSensorAlignmentInfo *	pAlignConf,
		const float *	pLeverArm
	)

Set the alignment and lever arm configuration of the sensor.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	pAlignConf	Pointer to a SbgEComSensorAlignmentInfo struct holding alignment configuration for the sensor.
[in]	pLeverArm	Pointer to a table containing lever arm X, Y, Z components in meters.

Returns

SBG_NO_ERROR if the command has been executed successfully.