_SbgEComDvlInstallation Struct Reference

#include <sbgEComCmdDvl.h>

Data Fields
float	leverArm [3]
float	alignment [3]
bool	preciseInstallation

Detailed Description

DVL (Doppler Velocity Log) mechanical installation parameters, including lever arm and alignment.

Note

In ELLIPSE firmware 3.x and above, lever arms are always treated as precise, with no online re-estimation performed.
The preciseInstallation field is deprecated and implicitly considered true.

Field Documentation

leverArm

float _SbgEComDvlInstallation::leverArm[3]

DVL lever arm (X, Y, Z) in meters, expressed from the DVL to the IMU.

alignment

float _SbgEComDvlInstallation::alignment[3]

DVL alignment (roll, pitch, yaw) in radians.

preciseInstallation

bool _SbgEComDvlInstallation::preciseInstallation

[DEPRECATED] Indicates whether both the DVL lever arm and alignment are precise and do not require in-run estimation.

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The documentation for this struct was generated from the following file:

• src/commands/sbgEComCmdDvl.h