sbgEComLogEkfRotAccel.h File Reference

Write and parse SBG_ECOM_LOG_EKF_ROT_ACCEL_XXXX messages. More...

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

Go to the source code of this file.

Data Structures
struct	_SbgEComLogEkfRotAccel

Typedefs
typedef struct _SbgEComLogEkfRotAccel	SbgEComLogEkfRotAccel

Functions
void	sbgEComLogEkfRotAccelConstruct (SbgEComLogEkfRotAccel *pLogData)
SbgErrorCode	sbgEComLogEkfRotAccelReadFromStream (SbgEComLogEkfRotAccel *pLogData, SbgStreamBuffer *pStreamBuffer)
SbgErrorCode	sbgEComLogEkfRotAccelWriteToStream (const SbgEComLogEkfRotAccel *pLogData, SbgStreamBuffer *pStreamBuffer)

Detailed Description

Write and parse SBG_ECOM_LOG_EKF_ROT_ACCEL_XXXX messages.

Author

SBG Systems

Date

12 June 2023

The SBG_ECOM_LOG_EKF_ROT_ACCEL_BODY and SBG_ECOM_LOG_EKF_ROT_ACCEL_NED logs returns compensated INS rotation rate and lateral accelerations.

The measurements are either expressed in body or NED frames. Please double check if you need body or NED outputs are they are very different.

For example, a rotation along the DOWN axis represents how fast the INS heading is changing whatever the roll/pitch is.

A rotation along the Z axis is simply the gyroscope Z reading corrected for bias, scale factor errors and earth rotation.

The rate are corrected for sensor bias, scale factor error and earth rotation has also been removed. In short, it should returns zero if the INS is perfectly still.

The lateral accelerations are corrected for sensor bias, scale factor and the local earth gravity has been removed. It should returns zero if the INS is not moving at all.

Copyright

Copyright (C) 2023, 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

SbgEComLogEkfRotAccel

typedef struct _SbgEComLogEkfRotAccel SbgEComLogEkfRotAccel

INS compensated body or North, East, Down rotation rates and linear accelerations.

Function Documentation

sbgEComLogEkfRotAccelConstruct()

void sbgEComLogEkfRotAccelConstruct

(

SbgEComLogEkfRotAccel *

pLogData

)

Construct an empty / zero initialized instance.

Parameters

[in]

pLogData

Log instance.

sbgEComLogEkfRotAccelReadFromStream()

SbgErrorCode sbgEComLogEkfRotAccelReadFromStream	(	SbgEComLogEkfRotAccel *	pLogData,
		SbgStreamBuffer *	pStreamBuffer
	)

Read SBG_ECOM_LOG_EKF_ROT_ACCEL_BODY or SBG_ECOM_LOG_EKF_ROT_ACCEL_NED messages from a stream buffer.

Parameters

[out]	pLogData	Log instance.
[in]	pStreamBuffer	Input stream buffer to read the log from.

Returns

SBG_NO_ERROR if a valid log has been read from the stream buffer.

sbgEComLogEkfRotAccelWriteToStream()

SbgErrorCode sbgEComLogEkfRotAccelWriteToStream	(	const SbgEComLogEkfRotAccel *	pLogData,
		SbgStreamBuffer *	pStreamBuffer
	)

Write SBG_ECOM_LOG_EKF_ROT_ACCEL_BODY or SBG_ECOM_LOG_EKF_ROT_ACCEL_NED messages to a stream buffer.

Parameters

[in]	pLogData	Log instance.
[out]	pStreamBuffer	Output stream buffer to write the log to.

Returns

SBG_NO_ERROR if the log has been written to the stream buffer.