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CalibrationStatusMessage Struct

Device calibration status update. More...

Declaration​

struct point_one::fusion_engine::messages::CalibrationStatusMessage { ... }

Included Headers​

#include <point_one/fusion_engine/messages/solution.h>

Base struct​

structMessagePayload

The base class for all message payloads. More...

Public Member Attributes Index​

Timestampp1_time

The most recent P1 time, if available. More...

Public Static Attributes Index​

static constexpr MessageTypeMESSAGE_TYPE = MessageType::CALIBRATION_STATUS
static constexpr uint8_tMESSAGE_VERSION = 1

Calibration State Data Index​

CalibrationStagecalibration_stage = CalibrationStage::UNKNOWN

The current calibration stage. More...

floatypr_deg[3] = {NAN, NAN, NAN}

The IMU yaw, pitch, and roll mounting angle offsets (in degrees). More...

floatypr_std_dev_deg[3] = {NAN, NAN, NAN}

The IMU yaw, pitch, and roll mounting angle standard deviations (in degrees). More...

floattravel_distance_m = 0.0

The accumulated calibration travel distance (in meters). More...

Calibration Process Status Index​

uint8_tstate_verified {0}

Set to 1 once the navigation engine state is validated after initialization. More...

uint8_tgyro_bias_percent_complete = 0

The completion percentage for gyro bias estimation, stored with a scale factor of 0.5% (0-200). More...

uint8_taccel_bias_percent_complete = 0

The completion percentage for accelerometer bias estimation, stored with a scale factor of 0.5% (0-200). More...

uint8_tmounting_angle_percent_complete = 0

The completion percentage for IMU mounting angle estimation, stored with a scale factor of 0.5% (0-200). More...

Calibration Thresholds Index​

floatmin_travel_distance_m = NAN

The minimum accumulated calibration travel distance needed to complete mounting angle calibration. More...

floatmounting_angle_max_std_dev_deg[3] = {NAN, NAN, NAN}

The max threshold for each of the YPR mounting angle states (in degrees), above which calibration is incomplete. More...

Description​

Device calibration status update.

(MessageType::CALIBRATION_STATUS, version 1.1).

Definition at line 576 of file solution.h.

Public Member Attributes​

p1_time​

Timestamp point_one::fusion_engine::messages::CalibrationStatusMessage::p1_time

The most recent P1 time, if available.

Definition at line 581 of file solution.h.

581 Timestamp p1_time;

Public Static Attributes​

MESSAGE_TYPE​

constexpr MessageType point_one::fusion_engine::messages::CalibrationStatusMessage::MESSAGE_TYPE = MessageType::CALIBRATION_STATUS
 constexpr static

Definition at line 577 of file solution.h.

577 static constexpr MessageType MESSAGE_TYPE = MessageType::CALIBRATION_STATUS;

MESSAGE_VERSION​

constexpr uint8_t point_one::fusion_engine::messages::CalibrationStatusMessage::MESSAGE_VERSION = 1
 constexpr static

Definition at line 578 of file solution.h.

578 static constexpr uint8_t MESSAGE_VERSION = 1;

Calibration State Data​

calibration_stage​

CalibrationStage point_one::fusion_engine::messages::CalibrationStatusMessage::calibration_stage = CalibrationStage::UNKNOWN

The current calibration stage.

Definition at line 589 of file solution.h.

589 CalibrationStage calibration_stage = CalibrationStage::UNKNOWN;

travel_distance_m​

float point_one::fusion_engine::messages::CalibrationStatusMessage::travel_distance_m = 0.0

The accumulated calibration travel distance (in meters).

Definition at line 603 of file solution.h.

603 float travel_distance_m = 0.0;

ypr_deg​

float point_one::fusion_engine::messages::CalibrationStatusMessage::ypr_deg[3] = {NAN, NAN, NAN}

The IMU yaw, pitch, and roll mounting angle offsets (in degrees).

Definition at line 594 of file solution.h.

594 float ypr_deg[3] = {NAN, NAN, NAN};

ypr_std_dev_deg​

float point_one::fusion_engine::messages::CalibrationStatusMessage::ypr_std_dev_deg[3] = {NAN, NAN, NAN}

The IMU yaw, pitch, and roll mounting angle standard deviations (in degrees).

Definition at line 600 of file solution.h.

600 float ypr_std_dev_deg[3] = {NAN, NAN, NAN};

Calibration Process Status​

accel_bias_percent_complete​

uint8_t point_one::fusion_engine::messages::CalibrationStatusMessage::accel_bias_percent_complete = 0

The completion percentage for accelerometer bias estimation, stored with a scale factor of 0.5% (0-200).

Definition at line 632 of file solution.h.

632 uint8_t accel_bias_percent_complete = 0;

gyro_bias_percent_complete​

uint8_t point_one::fusion_engine::messages::CalibrationStatusMessage::gyro_bias_percent_complete = 0

The completion percentage for gyro bias estimation, stored with a scale factor of 0.5% (0-200).

Definition at line 626 of file solution.h.

626 uint8_t gyro_bias_percent_complete = 0;

mounting_angle_percent_complete​

uint8_t point_one::fusion_engine::messages::CalibrationStatusMessage::mounting_angle_percent_complete = 0

The completion percentage for IMU mounting angle estimation, stored with a scale factor of 0.5% (0-200).

Definition at line 638 of file solution.h.

638 uint8_t mounting_angle_percent_complete = 0;

state_verified​

uint8_t point_one::fusion_engine::messages::CalibrationStatusMessage::state_verified {0}

Set to 1 once the navigation engine state is validated after initialization.

Definition at line 618 of file solution.h.

618 uint8_t state_verified{0};

Calibration Thresholds​

min_travel_distance_m​

float point_one::fusion_engine::messages::CalibrationStatusMessage::min_travel_distance_m = NAN

The minimum accumulated calibration travel distance needed to complete mounting angle calibration.

Definition at line 653 of file solution.h.

653 float min_travel_distance_m = NAN;

mounting_angle_max_std_dev_deg​

float point_one::fusion_engine::messages::CalibrationStatusMessage::mounting_angle_max_std_dev_deg[3] = {NAN, NAN, NAN}

The max threshold for each of the YPR mounting angle states (in degrees), above which calibration is incomplete.

Definition at line 659 of file solution.h.

659 float mounting_angle_max_std_dev_deg[3] = {NAN, NAN, NAN};

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

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