Classes
struct	AntennaPosition
	Structure to handle antenna A position units [m]. More...

struct	INSData
	Structure to handle INS (inertial navigation system) data. More...

Enumerations
enum	BinaryGroup { BINARYGROUP_COMMON = 0x01 , BINARYGROUP_TIME = 0x02 , BINARYGROUP_IMU = 0x04 , BINARYGROUP_GPS = 0x08 , BINARYGROUP_ATTITUDE = 0x10 , BINARYGROUP_INS = 0x20 , BINARYGROUP_GPS2 = 0x40 }
	The groups of binary data available from the sensor. More...

enum	CommonGroup { COMMONGROUP_NONE = 0x0000 , COMMONGROUP_TIMESTARTUP = 0x0001 , COMMONGROUP_TIMEGPS = 0x0002 , COMMONGROUP_TIMESYNCIN = 0x0004 , COMMONGROUP_YAWPITCHROLL = 0x0008 , COMMONGROUP_QUATERNION = 0x0010 , COMMONGROUP_ANGULARRATE = 0x0020 , COMMONGROUP_POSITION = 0x0040 , COMMONGROUP_VELOCITY = 0x0080 , COMMONGROUP_ACCEL = 0x0100 , COMMONGROUP_IMU = 0x0200 , COMMONGROUP_MAGPRES , COMMONGROUP_DELTATHETA = 0x0800 , COMMONGROUP_INSSTATUS = 0x1000 , COMMONGROUP_SYNCINCNT = 0x2000 , COMMONGROUP_TIMEGPSPPS = 0x4000 }
	Values used to select data for the binary output from group 1 (common group). More...

enum	TimeGroup { TIMEGROUP_NONE = 0x0000 , TIMEGROUP_TIMESTARTUP = 0x0001 , TIMEGROUP_TIMEGPS = 0x0002 , TIMEGROUP_GPSTOW = 0x0004 , TIMEGROUP_GPSWEEK = 0x0008 , TIMEGROUP_TIMESYNCIN = 0x0010 , TIMEGROUP_TIMEGPSPPS = 0x0020 , TIMEGROUP_TIMEUTC = 0x0040 , TIMEGROUP_SYNCINCNT = 0x0080 , TIMEGROUP_SYNCOUTCNT = 0x0100 , TIMEGROUP_TIMESTATUS = 0x0200 }
	Values used to select data for the binary output from group 2 (time group). More...

enum	ImuGroup { IMUGROUP_NONE = 0x0000 , IMUGROUP_IMUSTATUS = 0x0001 , IMUGROUP_UNCOMPMAG = 0x0002 , IMUGROUP_UNCOMPACCEL = 0x0004 , IMUGROUP_UNCOMPGYRO = 0x0008 , IMUGROUP_TEMP = 0x0010 , IMUGROUP_PRES = 0x0020 , IMUGROUP_DELTATHETA = 0x0040 , IMUGROUP_DELTAVEL = 0x0080 , IMUGROUP_MAG = 0x0100 , IMUGROUP_ACCEL = 0x0200 , IMUGROUP_ANGULARRATE = 0x0400 }
	Values used to select data for the binary output from group 3 (imu group). More...

enum	GpsGroup { GPSGROUP_NONE = 0x0000 , GPSGROUP_UTC = 0x0001 , GPSGROUP_TOW = 0x0002 , GPSGROUP_WEEK = 0x0004 , GPSGROUP_NUMSATS = 0x0008 , GPSGROUP_FIX = 0x0010 , GPSGROUP_POSLLA , GPSGROUP_POSECEF = 0x0040 , GPSGROUP_VELNED = 0x0080 , GPSGROUP_VELECEF = 0x0100 , GPSGROUP_POSU = 0x0200 , GPSGROUP_VELU = 0x0400 , GPSGROUP_TIMEU = 0x0800 , GPSGROUP_TIMEINFO = 0x1000 , GPSGROUP_DOP = 0x2000 }
	Values used to select data for the binary output from group 4 and 7 (gps and gps2 group). More...

enum	AttitudeGroup { ATTITUDEGROUP_NONE = 0x0000 , ATTITUDEGROUP_VPESTATUS = 0x0001 , ATTITUDEGROUP_YAWPITCHROLL = 0x0002 , ATTITUDEGROUP_QUATERNION = 0x0004 , ATTITUDEGROUP_DCM = 0x0008 , ATTITUDEGROUP_MAGNED = 0x0010 , ATTITUDEGROUP_ACCELNED = 0x0020 , ATTITUDEGROUP_LINEARACCELBODY , ATTITUDEGROUP_LINEARACCELNED , ATTITUDEGROUP_YPRU = 0x0100 }
	Values used to select data for the binary output from group 5 (attitude group). More...

enum	InsGroup { INSGROUP_NONE = 0x0000 , INSGROUP_INSSTATUS = 0x0001 , INSGROUP_POSLLA = 0x0002 , INSGROUP_POSECEF = 0x0004 , INSGROUP_VELBODY = 0x0008 , INSGROUP_VELNED = 0x0010 , INSGROUP_VELECEF = 0x0020 , INSGROUP_MAGECEF = 0x0040 , INSGROUP_ACCELECEF = 0x0080 , INSGROUP_LINEARACCELECEF , INSGROUP_POSU = 0x0200 , INSGROUP_VELU = 0x0400 }
	Values used to select data for the binary output from group 6 (ins group). More...

enum class	SampleOptions : uint8_t { FULL , REDUCED }
	Sample options (data output packets) available. More...

Functions
struct	__attribute__ ((packed)) BinaryDataFull
	Structure to handle binary message in case of full sampling (all available measurements are taken).

Enumeration Type Documentation

◆ AttitudeGroup

enum Boardcore::VN300Defs::AttitudeGroup

Values used to select data for the binary output from group 5 (attitude group).

Enumerator
ATTITUDEGROUP_NONE	None.
ATTITUDEGROUP_VPESTATUS	VpeStatus.
ATTITUDEGROUP_YAWPITCHROLL	Yaw pitch roll.
ATTITUDEGROUP_QUATERNION	Quaternion.
ATTITUDEGROUP_DCM	Directional cosine matrix.
ATTITUDEGROUP_MAGNED	Compensated magnetic (NED).
ATTITUDEGROUP_ACCELNED	Compensated acceleration (NED).
ATTITUDEGROUP_LINEARACCELBODY	Compensated linear acceleration (no gravity).
ATTITUDEGROUP_LINEARACCELNED	Compensated linear acceleration (no gravity) (NED).
ATTITUDEGROUP_YPRU	Yaw Pitch Roll uncertainty.

Definition at line 137 of file VN300Defs.h.

◆ BinaryGroup

enum Boardcore::VN300Defs::BinaryGroup

The groups of binary data available from the sensor.

Enumerator
BINARYGROUP_COMMON	Common group.
BINARYGROUP_TIME	Time group.
BINARYGROUP_IMU	IMU group.
BINARYGROUP_GPS	GPS group.
BINARYGROUP_ATTITUDE	Attitude group.
BINARYGROUP_INS	INS group.
BINARYGROUP_GPS2	GPS2 group.

Definition at line 34 of file VN300Defs.h.

◆ CommonGroup

enum Boardcore::VN300Defs::CommonGroup

Values used to select data for the binary output from group 1 (common group).

Enumerator
COMMONGROUP_NONE	None.
COMMONGROUP_TIMESTARTUP	Time since startup (nanoseconds).
COMMONGROUP_TIMEGPS	Gps time.
COMMONGROUP_TIMESYNCIN	Time since last sync in trigger.
COMMONGROUP_YAWPITCHROLL	Yaw pitch roll.
COMMONGROUP_QUATERNION	Quaternion.
COMMONGROUP_ANGULARRATE	Angular Rate.
COMMONGROUP_POSITION	Position.
COMMONGROUP_VELOCITY	Velocity.
COMMONGROUP_ACCEL	Acceleration compensated (body).
COMMONGROUP_IMU	Uncompensated gyro and accelerometer.
COMMONGROUP_MAGPRES	Compensated magnetic, temperature and pressure.
COMMONGROUP_DELTATHETA	Delta time, theta and velocity.
COMMONGROUP_INSSTATUS	Ins status.
COMMONGROUP_SYNCINCNT	SyncIn count.
COMMONGROUP_TIMEGPSPPS	Time since last GpsPps trigger.

Definition at line 49 of file VN300Defs.h.

◆ GpsGroup

enum Boardcore::VN300Defs::GpsGroup

Values used to select data for the binary output from group 4 and 7 (gps and gps2 group).

Enumerator
GPSGROUP_NONE	None.
GPSGROUP_UTC	Gps UTC time.
GPSGROUP_TOW	Gps time of week.
GPSGROUP_WEEK	Gps week.
GPSGROUP_NUMSATS	Number of tracked satellites.
GPSGROUP_FIX	Gps fix.
GPSGROUP_POSLLA	Gps position (latitude, longitude, altitude).
GPSGROUP_POSECEF	Gps position (ECEF).
GPSGROUP_VELNED	Gps velocity (NED).
GPSGROUP_VELECEF	Gps velocity (ECEF).
GPSGROUP_POSU	Position uncertainty (NED).
GPSGROUP_VELU	Velocity uncertainty.
GPSGROUP_TIMEU	Time uncertainty.
GPSGROUP_TIMEINFO	Gps time status and leap seconds.
GPSGROUP_DOP	Dilution of precision values.

Definition at line 113 of file VN300Defs.h.

◆ ImuGroup

enum Boardcore::VN300Defs::ImuGroup

Values used to select data for the binary output from group 3 (imu group).

Enumerator
IMUGROUP_NONE	None.
IMUGROUP_IMUSTATUS	Imu status.
IMUGROUP_UNCOMPMAG	Uncompensated magnetic.
IMUGROUP_UNCOMPACCEL	Uncompensated accelerometer.
IMUGROUP_UNCOMPGYRO	Uncompensated gyroscope.
IMUGROUP_TEMP	Temperature.
IMUGROUP_PRES	Pressure.
IMUGROUP_DELTATHETA	Delta theta angles.
IMUGROUP_DELTAVEL	Delta velocity.
IMUGROUP_MAG	Compensated magnetometer.
IMUGROUP_ACCEL	Compensated accelerometer.
IMUGROUP_ANGULARRATE	Compensated gyroscope.

Definition at line 93 of file VN300Defs.h.

◆ InsGroup

enum Boardcore::VN300Defs::InsGroup

Values used to select data for the binary output from group 6 (ins group).

Enumerator
INSGROUP_NONE	None.
INSGROUP_INSSTATUS	Status.
INSGROUP_POSLLA	Position (latitude, longitude, altitude).
INSGROUP_POSECEF	Position (ECEF).
INSGROUP_VELBODY	Velocity (body).
INSGROUP_VELNED	Velocity (NED).
INSGROUP_VELECEF	Velocity (ECEF).
INSGROUP_MAGECEF	Compensated magnetic (ECEF).
INSGROUP_ACCELECEF	Compensated acceleration (ECEF).
INSGROUP_LINEARACCELECEF	Compensated linear acceleration (ECEF).
INSGROUP_POSU	Position uncertainty.
INSGROUP_VELU	Velocity uncertainty.

Definition at line 157 of file VN300Defs.h.

◆ SampleOptions

enum class Boardcore::VN300Defs::SampleOptions : uint8_t

strong

Sample options (data output packets) available.

Enumerator
FULL	All data is sampled.
REDUCED	Only data needed for the reduced data packet.

Definition at line 209 of file VN300Defs.h.

◆ TimeGroup

enum Boardcore::VN300Defs::TimeGroup

Values used to select data for the binary output from group 2 (time group).

Enumerator
TIMEGROUP_NONE	None.
TIMEGROUP_TIMESTARTUP	Time since startup (nanoseconds).
TIMEGROUP_TIMEGPS	Gps time.
TIMEGROUP_GPSTOW	Time since start of gps week.
TIMEGROUP_GPSWEEK	Gps week.
TIMEGROUP_TIMESYNCIN	Time since last sync in trigger.
TIMEGROUP_TIMEGPSPPS	Time since last GpsPps trigger.
TIMEGROUP_TIMEUTC	UTC time.
TIMEGROUP_SYNCINCNT	Sync in trigger count.
TIMEGROUP_SYNCOUTCNT	Sync out trigger count.
TIMEGROUP_TIMESTATUS	Time valid status flag.

Definition at line 74 of file VN300Defs.h.

Function Documentation

◆ attribute()

struct Boardcore::VN300Defs::__attribute__ ( (packed) )

Structure to handle binary message in case of full sampling (all available measurements are taken).

Structure to handle the reduced data packet. Selected data:

Common group:
- Yaw pitch and roll
- Quaternion
- Angular rate
Gps1:
- Fix
- PosLla

Definition at line 1 of file VN300Defs.h.

Classes

Enumerations

Functions