Device calibration status update. More...

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

Inheritance diagram for point_one::fusion_engine::messages::CalibrationStatusMessage:

Public Attributes
Timestamp	p1_time
	The most recent P1 time, if available. More...

Calibration State Data
CalibrationStage	calibration_stage = CalibrationStage::UNKNOWN
	The current calibration stage. More...

float	ypr_deg [3] = {NAN, NAN, NAN}
	The IMU yaw, pitch, and roll mounting angle offsets (in degrees). More...

float	ypr_std_dev_deg [3] = {NAN, NAN, NAN}
	The IMU yaw, pitch, and roll mounting angle standard deviations (in degrees). More...

float	travel_distance_m = 0.0
	The accumulated calibration travel distance (in meters). More...

Calibration Process Status
uint8_t	state_verified {0}
	Set to 1 once the navigation engine state is validated after initialization. More...

uint8_t	gyro_bias_percent_complete = 0
	The completion percentage for gyro bias estimation, stored with a scale factor of 0.5% (0-200). More...

uint8_t	accel_bias_percent_complete = 0
	The completion percentage for accelerometer bias estimation, stored with a scale factor of 0.5% (0-200). More...

uint8_t	mounting_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
float	min_travel_distance_m = NAN
	The minimum accumulated calibration travel distance needed to complete mounting angle calibration. More...

float	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. More...

Static Public Attributes
static constexpr MessageType	MESSAGE_TYPE = MessageType::CALIBRATION_STATUS

static constexpr uint8_t	MESSAGE_VERSION = 1

Detailed Description

Device calibration status update.

(MessageType::CALIBRATION_STATUS, version 1).

Definition at line 365 of file solution.h.

Member Data Documentation

◆ 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 421 of file solution.h.

◆ calibration_stage

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

The current calibration stage.

Definition at line 378 of file solution.h.

◆ 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 415 of file solution.h.

◆ MESSAGE_TYPE

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

staticconstexpr

Definition at line 366 of file solution.h.

◆ MESSAGE_VERSION

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

staticconstexpr

Definition at line 367 of file solution.h.

◆ 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 442 of file solution.h.

◆ 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 448 of file solution.h.

◆ 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 427 of file solution.h.

◆ p1_time

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

The most recent P1 time, if available.

Definition at line 370 of file solution.h.

◆ 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 407 of file solution.h.

◆ 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 392 of file solution.h.

◆ 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 383 of file solution.h.

◆ 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 389 of file solution.h.

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

src/point_one/fusion_engine/messages/solution.h

Public Attributes

Static Public Attributes