C MIP-SDK
Functions
mip_sdk_nav.c File Reference
#include "mip_sdk_nav.h"
#include "mip_sdk_system.h"
#include "mip_sdk_user_functions.h"
#include "byteswap_utilities.h"

Functions

void mip_nav_llh_pos_byteswap (mip_nav_llh_pos *llh_pos)
void mip_nav_ned_velocity_byteswap (mip_nav_ned_velocity *ned_velocity)
void mip_nav_attitude_quaternion_byteswap (mip_nav_attitude_quaternion *attitude_quaternion)
void mip_nav_attitude_dcm_byteswap (mip_nav_attitude_dcm *attitude_dcm)
void mip_nav_attitude_euler_angles_byteswap (mip_nav_attitude_euler_angles *attitude_euler_angles)
void mip_nav_gyro_bias_byteswap (mip_nav_gyro_bias *gyro_bias)
void mip_nav_accel_bias_byteswap (mip_nav_accel_bias *accel_bias)
void mip_nav_llh_pos_uncertainty_byteswap (mip_nav_llh_pos_uncertainty *llh_pos_uncertainty)
void mip_nav_ned_vel_uncertainty_byteswap (mip_nav_ned_vel_uncertainty *ned_vel_uncertainty)
void mip_nav_euler_attitude_uncertainty_byteswap (mip_nav_euler_attitude_uncertainty *euler_attitude_uncertainty)
void mip_nav_gyro_bias_uncertainty_byteswap (mip_nav_gyro_bias_uncertainty *gyro_bias_uncertainty)
void mip_nav_accel_bias_uncertainty_byteswap (mip_nav_accel_bias_uncertainty *accel_bias_uncertainty)
void mip_nav_timestamp_byteswap (mip_nav_timestamp *timestamp)
void mip_nav_status_byteswap (mip_nav_status *status)
void mip_nav_acceleration_byteswap (mip_nav_acceleration *acceleration)
void mip_nav_gravity_vector_byteswap (mip_nav_gravity_vector *gravity_vector)
void mip_nav_angular_rate_byteswap (mip_nav_angular_rate *angular_rate)
void mip_nav_quaternion_attitude_uncertainty_byteswap (mip_nav_quaternion_attitude_uncertainty *quaternion_attitude_uncertainty)
void mip_nav_wgs84_gravity_mag_byteswap (mip_nav_wgs84_gravity_mag *wgs84_gravity_mag)
void mip_nav_heading_update_state_byteswap (mip_nav_heading_update_state *heading_update_state)
void mip_nav_magnetic_model_byteswap (mip_nav_magnetic_model *magnetic_model)
u16 mip_nav_reset_filter (mip_interface *device_interface)
u16 mip_nav_set_init_attitude (mip_interface *device_interface, float euler_angles[3])
u16 mip_nav_set_init_heading (mip_interface *device_interface, float heading)
u16 mip_nav_set_init_attitude_from_ahrs (mip_interface *device_interface, float declination)
u16 mip_nav_vehicle_dynamics_mode (mip_interface *device_interface, u8 function_selector, u8 *dynamics_mode)
u16 mip_nav_sensor2vehicle_tranformation (mip_interface *device_interface, u8 function_selector, float euler_angles[3])
u16 mip_nav_sensor2vehicle_offset (mip_interface *device_interface, u8 function_selector, float offset[3])
u16 mip_nav_antenna_offset (mip_interface *device_interface, u8 function_selector, float offset[3])
u16 mip_nav_bias_estimation (mip_interface *device_interface, u8 function_selector, u16 *bias_control)
u16 mip_nav_gps_source (mip_interface *device_interface, u8 function_selector, u8 *gps_source)
u16 mip_nav_external_gps_update (mip_interface *device_interface, mip_nav_external_gps_update_command *command)
u16 mip_nav_external_heading_update (mip_interface *device_interface, mip_nav_external_heading_update_command *command)
u16 mip_nav_heading_source (mip_interface *device_interface, u8 function_selector, u8 *heading_source)
u16 mip_nav_auto_initialization (mip_interface *device_interface, u8 function_selector, u8 *enable)
u16 mip_nav_accel_white_noise (mip_interface *device_interface, u8 function_selector, float noise_1sigma[3])
u16 mip_nav_gyro_white_noise (mip_interface *device_interface, u8 function_selector, float noise_1sigma[3])
u16 mip_nav_gyro_bias_model (mip_interface *device_interface, u8 function_selector, float bias_beta[3], float bias_noise_1sigma[3])

Detailed Description

Author:
Nathan Miller
Version:
1.0

Function Documentation

void mip_nav_accel_bias_byteswap ( mip_nav_accel_bias accel_bias)

DESCRIPTION

Byteswap a NAV Accel Bias Structure.

DETAILS

Parameters:
[in]mip_nav_accel_bias*accel_bias - The structure to be byteswapped.

NOTES

None

void mip_nav_accel_bias_uncertainty_byteswap ( mip_nav_accel_bias_uncertainty accel_bias_uncertainty)

DESCRIPTION

Byteswap a NAV Accel Bias Uncertainty Structure.

DETAILS

Parameters:
[in]mip_nav_accel_bias_uncertainty*accel_bias_uncertainty - The structure to be byteswapped.

NOTES

None

u16 mip_nav_accel_white_noise ( mip_interface device_interface,
u8  function_selector,
float  noise_1sigma[3] 
)

DESCRIPTION

Set or read the filter's accelerometer white noise values.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]floatnoise_1sigma[3] - The accelerometer 1-sigma white noise values in m/(s^2). (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

The accelerometer 1-sigma white noise values are ordered [x, y, z] in the
sensor frame in m/(s^2). These values are used as process noise and allow the user to tune
the behavior of the Kalman filter for their particular application.

void mip_nav_acceleration_byteswap ( mip_nav_acceleration acceleration)

DESCRIPTION

Byteswap a NAV Acceleration Structure.

DETAILS

Parameters:
[in]mip_nav_acceleration*acceleration - The structure to be byteswapped.

NOTES

None

void mip_nav_angular_rate_byteswap ( mip_nav_angular_rate angular_rate)

DESCRIPTION

Byteswap a NAV Angular Rate Structure.

DETAILS

Parameters:
[in]mip_nav_angular_rate*angular_rate - The structure to be byteswapped.

NOTES

None

u16 mip_nav_antenna_offset ( mip_interface device_interface,
u8  function_selector,
float  offset[3] 
)

DESCRIPTION

Set or read the filter's antenna offset settings.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]floatoffset - The offset of the antenna with-respect-to the sensor in meters. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

The offset is [x, y, z] in meters from the sensor to the antenna, expressed in the sensor frame.

void mip_nav_attitude_dcm_byteswap ( mip_nav_attitude_dcm attitude_dcm)

DESCRIPTION

Byteswap a NAV Direction Cosine Matrix (DCM) Structure.

DETAILS

Parameters:
[in]mip_nav_attitude_dcm*attitude_dcm - The structure to be byteswapped.

NOTES

None

void mip_nav_attitude_euler_angles_byteswap ( mip_nav_attitude_euler_angles attitude_euler_angles)

DESCRIPTION

Byteswap a NAV Euler Angle Attitude Uncertainty Structure.

DETAILS

Parameters:
[in]mip_nav_attitude_euler_angles*attitude_euler_angles - The structure to be byteswapped.

NOTES

None

void mip_nav_attitude_quaternion_byteswap ( mip_nav_attitude_quaternion attitude_quaternion)

DESCRIPTION

Byteswap a NAV Quaternion Structure.

DETAILS

Parameters:
[in]mip_nav_attitude_quaternion*attitude_quaternion - The structure to be byteswapped.

NOTES

None

u16 mip_nav_auto_initialization ( mip_interface device_interface,
u8  function_selector,
u8 *  enable 
)

DESCRIPTION

Set or read the filter's auto-initialization setting.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]u8*enable - The auto-initialization setting. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

Please consult the device DCP for valid auto-initialization values.

u16 mip_nav_bias_estimation ( mip_interface device_interface,
u8  function_selector,
u16 *  bias_control 
)

DESCRIPTION

Set or read the filter's bias estimation control settings.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]u16*bias_control - The bais control value. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

Please consult the device DCP for valid bias control values

void mip_nav_euler_attitude_uncertainty_byteswap ( mip_nav_euler_attitude_uncertainty euler_attitude_uncertainty)

DESCRIPTION

Byteswap a NAV Euler Attitude Uncertainty Structure.

DETAILS

Parameters:
[in]mip_nav_euler_attitude_uncertainty*euler_attitude_uncertainty - The structure to be byteswapped.

NOTES

None

u16 mip_nav_external_gps_update ( mip_interface device_interface,
mip_nav_external_gps_update_command command 
)

DESCRIPTION

Provide an external GPS update to the filter.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]mip_nav_external_gps_update_command*command - The external GPS update command.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

The device will only accept this command when external GPS is selected
as the GPS source. Please consult the device DCP for how to configure this setting.

u16 mip_nav_external_heading_update ( mip_interface device_interface,
mip_nav_external_heading_update_command command 
)

DESCRIPTION

Provide an external heading update to the filter.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]mip_nav_external_heading_update_command*command - The external heading update command.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

The device will only accept this command when external heading is selected
as the heading update source. Please consult the device DCP for how to configure this setting.

u16 mip_nav_gps_source ( mip_interface device_interface,
u8  function_selector,
u8 *  gps_source 
)

DESCRIPTION

Set or read the filter's GPS source settings.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]u8*gps_source - The source of GPS updates to the filter. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

Please consult the device DCP for valid GPS source values.

void mip_nav_gravity_vector_byteswap ( mip_nav_gravity_vector gravity_vector)

DESCRIPTION

Byteswap a NAV Gravity Vector Structure.

DETAILS

Parameters:
[in]mip_nav_gravity_vector*gravity_vector - The structure to be byteswapped.

NOTES

None

void mip_nav_gyro_bias_byteswap ( mip_nav_gyro_bias gyro_bias)

DESCRIPTION

Byteswap a NAV Gyro Bias Structure.

DETAILS

Parameters:
[in]mip_nav_gyro_bias*gyro_bias - The structure to be byteswapped.

NOTES

None

u16 mip_nav_gyro_bias_model ( mip_interface device_interface,
u8  function_selector,
float  bias_beta[3],
float  bias_noise_1sigma[3] 
)

DESCRIPTION

Set or read the filter's gyroscope Guass-Markov bias model values.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]floatbias_beta[3] - The gyroscope bias model time constants in 1/sec. (used to set or get depending on function_selector)
[in,out]floatbias_noise_1sigma[3] - The gyroscope bias model 1-sigma white noise values in rad/sec. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

The gyroscope Gauss-Markov bias model time constant values are ordered [x, y, z] in the
sensor frame in units of 1/sec. The gyro Gauss-Markov bias model 1-sigma white noise values are ordered [x, y, z] in the
sensor frame in units of rad/sec. These values are used as process noise to the gyro bias model and allow the user to tune
the behavior of the Kalman filter for their particular application.

void mip_nav_gyro_bias_uncertainty_byteswap ( mip_nav_gyro_bias_uncertainty gyro_bias_uncertainty)

DESCRIPTION

Byteswap a NAV Gyro Bias Uncertainty Structure.

DETAILS

Parameters:
[in]mip_nav_gyro_bias_uncertainty*gyro_bias_uncertainty - The structure to be byteswapped.

NOTES

None

u16 mip_nav_gyro_white_noise ( mip_interface device_interface,
u8  function_selector,
float  noise_1sigma[3] 
)

DESCRIPTION

Set or read the filter's gyroscope white noise values.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]floatnoise_1sigma[3] - The gyroscope 1-sigma white noise values in rad/sec. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

The gyroscope 1-sigma white noise values are ordered [x, y, z] in the
sensor frame in rad/sec. These values are used as process noise and allow the user to tune
the behavior of the Kalman filter for their particular application.

u16 mip_nav_heading_source ( mip_interface device_interface,
u8  function_selector,
u8 *  heading_source 
)

DESCRIPTION

Set or read the filter's heading update source settings.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]u8*heading_source - The source of heading updates to the filter. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

Please consult the device DCP for valid heading update source values.

void mip_nav_heading_update_state_byteswap ( mip_nav_heading_update_state heading_update_state)

DESCRIPTION

Byteswap a NAV Heading Update State Structure.

DETAILS

Parameters:
[in]mip_nav_heading_update_state*heading_update_state - The structure to be byteswapped.

NOTES

None

void mip_nav_llh_pos_byteswap ( mip_nav_llh_pos llh_pos)

DESCRIPTION

Byteswap a NAV LLH Position Structure.

DETAILS

Parameters:
[in]mip_nav_llh_pos*llh_pos - The structure to be byteswapped.

NOTES

None

void mip_nav_llh_pos_uncertainty_byteswap ( mip_nav_llh_pos_uncertainty llh_pos_uncertainty)

DESCRIPTION

Byteswap a NAV LLH Position Uncertainty Structure.

DETAILS

Parameters:
[in]mip_nav_llh_pos_uncertainty*llh_pos_uncertainty - The structure to be byteswapped.

NOTES

None

void mip_nav_magnetic_model_byteswap ( mip_nav_magnetic_model magnetic_model)

DESCRIPTION

Byteswap a NAV Magnetic Model Structure.

DETAILS

Parameters:
[in]mip_nav_magnetic_model*magnetic_model - The structure to be byteswapped.

NOTES

None

void mip_nav_ned_vel_uncertainty_byteswap ( mip_nav_ned_vel_uncertainty ned_vel_uncertainty)

DESCRIPTION

Byteswap a NAV NED Velocity Uncertainty Structure.

DETAILS

Parameters:
[in]mip_nav_ned_vel_uncertainty*ned_vel_uncertainty - The structure to be byteswapped.

NOTES

None

void mip_nav_ned_velocity_byteswap ( mip_nav_ned_velocity ned_velocity)

DESCRIPTION

Byteswap a NAV NED Velocity Structure.

DETAILS

Parameters:
[in]mip_nav_ned_velocity*ned_velocity - The structure to be byteswapped.

NOTES

None

void mip_nav_quaternion_attitude_uncertainty_byteswap ( mip_nav_quaternion_attitude_uncertainty quaternion_attitude_uncertainty)

DESCRIPTION

Byteswap a NAV Quaternion Attitude Uncertainty Structure.

DETAILS

Parameters:
[in]mip_nav_quaternion_attitude_uncertainty*quaternion_attitude_uncertainty - The structure to be byteswapped.

NOTES

None

u16 mip_nav_reset_filter ( mip_interface device_interface)

DESCRIPTION

Reset the Kalman Filter.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

None

u16 mip_nav_sensor2vehicle_offset ( mip_interface device_interface,
u8  function_selector,
float  offset[3] 
)

DESCRIPTION

Set or read the filter's sensor to vehicle frame offset settings.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]floatoffset - The sensor to vehicle frame offset in meters. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

The offset is [x, y, z] in meters from the sensor frame to the vehicle frame, expressed in the sensor frame.

u16 mip_nav_sensor2vehicle_tranformation ( mip_interface device_interface,
u8  function_selector,
float  euler_angles[3] 
)

DESCRIPTION

Set or read the filter's sensor to vehicle transformation settings.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]floateuler_angles[3] - The sensor to vehicle transformation expressed as Euler angles
in radians. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

The angles are [roll, pitch, yaw] in radians from the sensor frame to the vehicle frame.

u16 mip_nav_set_init_attitude ( mip_interface device_interface,
float  euler_angles[3] 
)

DESCRIPTION

Initialize the Kalman Filter with the provided Euler angles.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]floateuler_angles[3] - The Euler angles in radians.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

Order of angles is [roll, pitch, yaw] in radians.

u16 mip_nav_set_init_attitude_from_ahrs ( mip_interface device_interface,
float  declination 
)

DESCRIPTION

Initialize the Kalman Filter from the AHRS algorithm output, taking into account the magnetic declination angle povided.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]floatdeclination - The local magnetic declination angle in radians.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

The output of the internal AHRS orientation algorithm will be used to initialize
the filter, taking into account the user-provided magnetic declination angle.

u16 mip_nav_set_init_heading ( mip_interface device_interface,
float  heading 
)

DESCRIPTION

Initialize the Kalman Filter with the provided true heading angle.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]floatheading - The true heading angle in radians.
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES

Roll and Pitch will be calculated by the device using the accelerometers.

void mip_nav_status_byteswap ( mip_nav_status status)

DESCRIPTION

Byteswap a NAV Status Structure.

DETAILS

Parameters:
[in]mip_nav_status*status - The structure to be byteswapped.

NOTES

None

void mip_nav_timestamp_byteswap ( mip_nav_timestamp timestamp)

DESCRIPTION

Byteswap a NAV Timestamp Structure.

DETAILS

Parameters:
[in]mip_nav_timestamp*timestamp - The structure to be byteswapped.

NOTES

None

u16 mip_nav_vehicle_dynamics_mode ( mip_interface device_interface,
u8  function_selector,
u8 *  dynamics_mode 
)

DESCRIPTION

Set or read the filter's vehicle dynamics mode settings.

DETAILS

Parameters:
[in]mip_interface*device_interface - The device interface.
[in]u8function_selector - Selects which function to perform.
[in,out]u8*dynamics_mode - The vehicle dynamics mode. (used to set or get depending on function_selector)
Return values:
MIP_INTERFACE_ERRORWhen there is a problem with the command format or the
the device communications failed.
MIP_INTERFACE_OKThe command was successful.

NOTES


Possible function_selector values:

  • 0x01 - Use New Settings
  • 0x02 - Read Current Settings
  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

  • 0x03 - Save Current Settings as Startup Settings
  • 0x04 - Load Saved Settings
  • 0x05 - Load Factory Default Settings

Please reference the device DCP for valid dynamics_mode values.

void mip_nav_wgs84_gravity_mag_byteswap ( mip_nav_wgs84_gravity_mag wgs84_gravity_mag)

DESCRIPTION

Byteswap a NAV WGS84 Gravity Magnitude Structure.

DETAILS

Parameters:
[in]mip_nav_wgs84_gravity_mag*wgs84_gravity_mag - The structure to be byteswapped.

NOTES

None

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