sbgECom Library  4.0.1987-stable
C library to interface SBG Systems IMU/AHRS/INS
Data Structures | Macros | Typedefs | Enumerations | Functions
sbgEComLogEkf.h File Reference
Binary Logs

Parse EKF measurements such as attitude, position and velocity logs. More...

#include <sbgCommon.h>
#include <streamBuffer/sbgStreamBuffer.h>

Go to the source code of this file.

Data Structures

struct  _SbgEComLogEkfEuler
 
struct  _SbgEComLogEkfQuat
 
struct  _SbgEComLogEkfNav
 
struct  _SbgEComLogEkfVelBody
 

Macros

#define SBG_ECOM_SOL_ATTITUDE_VALID   (0x00000001u << 4)
 
#define SBG_ECOM_SOL_HEADING_VALID   (0x00000001u << 5)
 
#define SBG_ECOM_SOL_VELOCITY_VALID   (0x00000001u << 6)
 
#define SBG_ECOM_SOL_POSITION_VALID   (0x00000001u << 7)
 
#define SBG_ECOM_SOL_VERT_REF_USED   (0x00000001u << 8)
 
#define SBG_ECOM_SOL_MAG_REF_USED   (0x00000001u << 9)
 
#define SBG_ECOM_SOL_GPS1_VEL_USED   (0x00000001u << 10)
 
#define SBG_ECOM_SOL_GPS1_POS_USED   (0x00000001u << 11)
 
#define SBG_ECOM_SOL_GPS1_HDT_USED   (0x00000001u << 13)
 
#define SBG_ECOM_SOL_GPS2_VEL_USED   (0x00000001u << 14)
 
#define SBG_ECOM_SOL_GPS2_POS_USED   (0x00000001u << 15)
 
#define SBG_ECOM_SOL_GPS2_HDT_USED   (0x00000001u << 17)
 
#define SBG_ECOM_SOL_ODO_USED   (0x00000001u << 18)
 
#define SBG_ECOM_SOL_DVL_BT_USED   (0x00000001u << 19)
 
#define SBG_ECOM_SOL_DVL_WT_USED   (0x00000001u << 20)
 
#define SBG_ECOM_SOL_USER_POS_USED   (0x00000001u << 21)
 
#define SBG_ECOM_SOL_USER_VEL_USED   (0x00000001u << 22)
 
#define SBG_ECOM_SOL_USER_HEADING_USED   (0x00000001u << 23)
 
#define SBG_ECOM_SOL_USBL_USED   (0x00000001u << 24)
 
#define SBG_ECOM_SOL_AIR_DATA_USED   (0x00000001u << 25)
 
#define SBG_ECOM_SOL_ZUPT_USED   (0x00000001u << 26)
 
#define SBG_ECOM_SOL_ALIGN_VALID   (0x00000001u << 27)
 
#define SBG_ECOM_SOL_DEPTH_USED   (0x00000001u << 28)
 

Typedefs

typedef enum _SbgEComSolutionMode SbgEComSolutionMode
 
typedef struct _SbgEComLogEkfEuler SbgEComLogEkfEuler
 
typedef struct _SbgEComLogEkfQuat SbgEComLogEkfQuat
 
typedef struct _SbgEComLogEkfNav SbgEComLogEkfNav
 
typedef struct _SbgEComLogEkfVelBody SbgEComLogEkfVelBody
 

Enumerations

enum  _SbgEComSolutionMode {
  SBG_ECOM_SOL_MODE_UNINITIALIZED = 0 ,
  SBG_ECOM_SOL_MODE_VERTICAL_GYRO = 1 ,
  SBG_ECOM_SOL_MODE_AHRS = 2 ,
  SBG_ECOM_SOL_MODE_NAV_VELOCITY = 3 ,
  SBG_ECOM_SOL_MODE_NAV_POSITION = 4
}
 

Functions

SbgErrorCode sbgEComLogEkfEulerReadFromStream (SbgEComLogEkfEuler *pLogData, SbgStreamBuffer *pStreamBuffer)
 
SbgErrorCode sbgEComLogEkfEulerWriteToStream (const SbgEComLogEkfEuler *pLogData, SbgStreamBuffer *pStreamBuffer)
 
SbgErrorCode sbgEComLogEkfQuatReadFromStream (SbgEComLogEkfQuat *pLogData, SbgStreamBuffer *pStreamBuffer)
 
SbgErrorCode sbgEComLogEkfQuatWriteToStream (const SbgEComLogEkfQuat *pLogData, SbgStreamBuffer *pStreamBuffer)
 
SbgErrorCode sbgEComLogEkfNavReadFromStream (SbgEComLogEkfNav *pLogData, SbgStreamBuffer *pStreamBuffer)
 
SbgErrorCode sbgEComLogEkfNavWriteToStream (const SbgEComLogEkfNav *pLogData, SbgStreamBuffer *pStreamBuffer)
 
void sbgEComLogEkfVelBodyConstruct (SbgEComLogEkfVelBody *pLogData)
 
SbgErrorCode sbgEComLogEkfVelBodyReadFromStream (SbgEComLogEkfVelBody *pLogData, SbgStreamBuffer *pStreamBuffer)
 
SbgErrorCode sbgEComLogEkfVelBodyWriteToStream (const SbgEComLogEkfVelBody *pLogData, SbgStreamBuffer *pStreamBuffer)
 
SbgEComSolutionMode sbgEComLogEkfGetSolutionMode (uint32_t status)
 
uint32_t sbgEComLogEkfBuildSolutionStatus (SbgEComSolutionMode solutionMode, uint32_t masks)
 

Detailed Description

Parse EKF measurements such as attitude, position and velocity logs.

Author
SBG Systems
Date
25 February 2013
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.

Macro Definition Documentation

◆ SBG_ECOM_SOL_ATTITUDE_VALID

#define SBG_ECOM_SOL_ATTITUDE_VALID   (0x00000001u << 4)

Solution bit masks definitions. Set to 1 if attitude data is reliable (Roll/Pitch error < 0,5°).

◆ SBG_ECOM_SOL_HEADING_VALID

#define SBG_ECOM_SOL_HEADING_VALID   (0x00000001u << 5)

Set to 1 if heading data is reliable (Heading error < 1°).

◆ SBG_ECOM_SOL_VELOCITY_VALID

#define SBG_ECOM_SOL_VELOCITY_VALID   (0x00000001u << 6)

Set to 1 if velocity data is reliable (velocity error < 1.5 m/s).

◆ SBG_ECOM_SOL_POSITION_VALID

#define SBG_ECOM_SOL_POSITION_VALID   (0x00000001u << 7)

Set to 1 if position data is reliable (Position error < 10m).

◆ SBG_ECOM_SOL_VERT_REF_USED

#define SBG_ECOM_SOL_VERT_REF_USED   (0x00000001u << 8)

Set to 1 if vertical reference is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_MAG_REF_USED

#define SBG_ECOM_SOL_MAG_REF_USED   (0x00000001u << 9)

Set to 1 if magnetometer is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_GPS1_VEL_USED

#define SBG_ECOM_SOL_GPS1_VEL_USED   (0x00000001u << 10)

Set to 1 if GPS1 velocity is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_GPS1_POS_USED

#define SBG_ECOM_SOL_GPS1_POS_USED   (0x00000001u << 11)

Set to 1 if GPS1 Position is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_GPS1_HDT_USED

#define SBG_ECOM_SOL_GPS1_HDT_USED   (0x00000001u << 13)

Set to 1 if GPS1 True Heading is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_GPS2_VEL_USED

#define SBG_ECOM_SOL_GPS2_VEL_USED   (0x00000001u << 14)

Set to 1 if GPS2 velocity is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_GPS2_POS_USED

#define SBG_ECOM_SOL_GPS2_POS_USED   (0x00000001u << 15)

Set to 1 if GPS2 Position is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_GPS2_HDT_USED

#define SBG_ECOM_SOL_GPS2_HDT_USED   (0x00000001u << 17)

Set to 1 if GPS2 True Heading is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_ODO_USED

#define SBG_ECOM_SOL_ODO_USED   (0x00000001u << 18)

Set to 1 if Odometer is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_DVL_BT_USED

#define SBG_ECOM_SOL_DVL_BT_USED   (0x00000001u << 19)

Set to 1 if DVL Bottom Tracking is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_DVL_WT_USED

#define SBG_ECOM_SOL_DVL_WT_USED   (0x00000001u << 20)

Set to 1 if DVL Water Tracking is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_USER_POS_USED

#define SBG_ECOM_SOL_USER_POS_USED   (0x00000001u << 21)

Set to 1 if user velocity is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_USER_VEL_USED

#define SBG_ECOM_SOL_USER_VEL_USED   (0x00000001u << 22)

Set to 1 if user Position is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_USER_HEADING_USED

#define SBG_ECOM_SOL_USER_HEADING_USED   (0x00000001u << 23)

Set to 1 if user Course is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_USBL_USED

#define SBG_ECOM_SOL_USBL_USED   (0x00000001u << 24)

Set to 1 if USBL / LBL is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_AIR_DATA_USED

#define SBG_ECOM_SOL_AIR_DATA_USED   (0x00000001u << 25)

Set to 1 if AirData (altimeter and/or true airspeed) is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_ZUPT_USED

#define SBG_ECOM_SOL_ZUPT_USED   (0x00000001u << 26)

Set to 1 if a ZUPT is used in solution (data used and valid since 3s).

◆ SBG_ECOM_SOL_ALIGN_VALID

#define SBG_ECOM_SOL_ALIGN_VALID   (0x00000001u << 27)

Set to 1 if sensor alignment and calibration parameters are valid

◆ SBG_ECOM_SOL_DEPTH_USED

#define SBG_ECOM_SOL_DEPTH_USED   (0x00000001u << 28)

Set to 1 if Depth sensor (for sub-sea navigation) is used in solution (data used and valid since 3s).

Typedef Documentation

◆ SbgEComSolutionMode

typedef enum _SbgEComSolutionMode SbgEComSolutionMode

Solution filter mode enum.

◆ SbgEComLogEkfEuler

typedef struct _SbgEComLogEkfEuler SbgEComLogEkfEuler

EKF computed orientation using euler angles.

◆ SbgEComLogEkfQuat

typedef struct _SbgEComLogEkfQuat SbgEComLogEkfQuat

EFK computed orientation using quaternion.

◆ SbgEComLogEkfNav

typedef struct _SbgEComLogEkfNav SbgEComLogEkfNav

EFK computed navigation data.

◆ SbgEComLogEkfVelBody

typedef struct _SbgEComLogEkfVelBody SbgEComLogEkfVelBody

INS body velocity computed by the EKF filter.

Enumeration Type Documentation

◆ _SbgEComSolutionMode

enum _SbgEComSolutionMode

Solution filter mode enum.

Enumerator
SBG_ECOM_SOL_MODE_UNINITIALIZED 

The Kalman filter is not initialized and the returned data are all invalid.

SBG_ECOM_SOL_MODE_VERTICAL_GYRO 

The Kalman filter only rely on a vertical reference to compute roll and pitch angles. Heading and navigation data drift freely.

SBG_ECOM_SOL_MODE_AHRS 

A heading reference is available, the Kalman filter provides full orientation but navigation data drift freely.

SBG_ECOM_SOL_MODE_NAV_VELOCITY 

The Kalman filter computes orientation and velocity. Position is freely integrated from velocity estimation.

SBG_ECOM_SOL_MODE_NAV_POSITION 

Nominal mode, the Kalman filter computes all parameters (attitude, velocity, position). Absolute position is provided.

Function Documentation

◆ sbgEComLogEkfEulerReadFromStream()

SbgErrorCode sbgEComLogEkfEulerReadFromStream ( SbgEComLogEkfEuler *  pLogData,
SbgStreamBuffer *  pStreamBuffer 
)

Parse data for the SBG_ECOM_LOG_EKF_EULER message and fill the corresponding structure.

Parameters
[out]pLogDataLog structure instance to fill.
[in]pStreamBufferInput stream buffer to read the log from.
Returns
SBG_NO_ERROR if a valid log has been read from the stream buffer.

◆ sbgEComLogEkfEulerWriteToStream()

SbgErrorCode sbgEComLogEkfEulerWriteToStream ( const SbgEComLogEkfEuler *  pLogData,
SbgStreamBuffer *  pStreamBuffer 
)

Write data for the SBG_ECOM_LOG_EKF_EULER message to the output stream buffer from the provided structure.

Parameters
[in]pLogDataLog structure instance to write.
[out]pStreamBufferOutput stream buffer to write the log to.
Returns
SBG_NO_ERROR if the log has been written to the stream buffer.

◆ sbgEComLogEkfQuatReadFromStream()

SbgErrorCode sbgEComLogEkfQuatReadFromStream ( SbgEComLogEkfQuat *  pLogData,
SbgStreamBuffer *  pStreamBuffer 
)

Parse data for the SBG_ECOM_LOG_EKF_QUAT message and fill the corresponding structure.

Parameters
[out]pLogDataLog structure instance to fill.
[in]pStreamBufferInput stream buffer to read the log from.
Returns
SBG_NO_ERROR if a valid log has been read from the stream buffer.

◆ sbgEComLogEkfQuatWriteToStream()

SbgErrorCode sbgEComLogEkfQuatWriteToStream ( const SbgEComLogEkfQuat *  pLogData,
SbgStreamBuffer *  pStreamBuffer 
)

Write data for the SBG_ECOM_LOG_EKF_QUAT message to the output stream buffer from the provided structure.

Parameters
[in]pLogDataLog structure instance to write.
[out]pStreamBufferOutput stream buffer to write the log to.
Returns
SBG_NO_ERROR if the log has been written to the stream buffer.

◆ sbgEComLogEkfNavReadFromStream()

SbgErrorCode sbgEComLogEkfNavReadFromStream ( SbgEComLogEkfNav *  pLogData,
SbgStreamBuffer *  pStreamBuffer 
)

Parse data for the SBG_ECOM_LOG_EKF_NAV message and fill the corresponding structure.

Parameters
[out]pLogDataLog structure instance to fill.
[in]pStreamBufferInput stream buffer to read the log from.
Returns
SBG_NO_ERROR if a valid log has been read from the stream buffer.

◆ sbgEComLogEkfNavWriteToStream()

SbgErrorCode sbgEComLogEkfNavWriteToStream ( const SbgEComLogEkfNav *  pLogData,
SbgStreamBuffer *  pStreamBuffer 
)

Write data for the SBG_ECOM_LOG_EKF_NAV message to the output stream buffer from the provided structure.

Parameters
[in]pLogDataLog structure instance to write.
[out]pStreamBufferOutput stream buffer to write the log to.
Returns
SBG_NO_ERROR if the log has been written to the stream buffer.

◆ sbgEComLogEkfVelBodyConstruct()

void sbgEComLogEkfVelBodyConstruct ( SbgEComLogEkfVelBody *  pLogData)

Construct an empty / zero initialized instance.

Parameters
[in]pLogDataLog instance.

◆ sbgEComLogEkfVelBodyReadFromStream()

SbgErrorCode sbgEComLogEkfVelBodyReadFromStream ( SbgEComLogEkfVelBody *  pLogData,
SbgStreamBuffer *  pStreamBuffer 
)

Read SBG_ECOM_LOG_EKF_VEL_BODY message from a stream buffer.

Parameters
[out]pLogDataLog instance.
[in]pStreamBufferInput stream buffer to read the log from.
Returns
SBG_NO_ERROR if a valid log has been read from the stream buffer.

◆ sbgEComLogEkfVelBodyWriteToStream()

SbgErrorCode sbgEComLogEkfVelBodyWriteToStream ( const SbgEComLogEkfVelBody *  pLogData,
SbgStreamBuffer *  pStreamBuffer 
)

Write SBG_ECOM_LOG_EKF_VEL_BODY message to a stream buffer.

Parameters
[in]pLogDataLog instance.
[out]pStreamBufferOutput stream buffer to write the log to.
Returns
SBG_NO_ERROR if the log has been written to the stream buffer.

◆ sbgEComLogEkfGetSolutionMode()

SbgEComSolutionMode sbgEComLogEkfGetSolutionMode ( uint32_t  status)

Method used to read the solution mode from a solution status field.

Parameters
[in]statusStatus uint32_t value to extract the solution mode from it.
Returns
The extracted solution mode.

◆ sbgEComLogEkfBuildSolutionStatus()

uint32_t sbgEComLogEkfBuildSolutionStatus ( SbgEComSolutionMode  solutionMode,
uint32_t  masks 
)

Method used to write the solution status field.

Parameters
[in]solutionModeThe solution mode to set.
[in]masksBit mask to set.
Returns
The build solution status field.