Detailed Description

Perform a software or hardware reset (MessageType::RESET_REQUEST, version 1.0).

This message contains a bitmask indicating the set of components to be reset. Helper bitmasks are provided for common reset operations.

Expected Response

The device will respond with a CommandResponseMessage indicating whether or not the request succeeded.

Definition at line 104 of file control.h.

Inheritance diagram for point_one::fusion_engine::messages::ResetRequest:

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

Public Attributes
uint32_t	reset_mask = 0
	Bit mask of functionality to reset. More...

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

static constexpr uint8_t	MESSAGE_VERSION = 0

Runtime State Reset
static constexpr uint32_t	RESTART_NAVIGATION_ENGINE = 0x00000001
	Restart the navigation engine, but do not clear its position estimate. More...

static constexpr uint32_t	RESET_GNSS_CORRECTIONS = 0x00000002
	Delete all GNSS corrections information. More...

Clear Short Lived Data
static constexpr uint32_t	RESET_POSITION_DATA = 0x00000100
	Reset the navigation engine's estimate of position, velocity, and orientation. More...

static constexpr uint32_t	RESET_EPHEMERIS = 0x00000200
	Delete all saved satellite ephemeris. More...

static constexpr uint32_t	RESET_FAST_IMU_CORRECTIONS = 0x00000400
	Reset bias estimates, and other IMU corrections that are typically estimated quickly. More...

Clear Long Lived Data
static constexpr uint32_t	RESET_NAVIGATION_ENGINE_DATA = 0x00001000
	Reset all stored navigation engine data, including position, velocity, and orientation state (same as RESET_POSITION_DATA), plus all IMU corrections and other training data. More...

static constexpr uint32_t	RESET_CALIBRATION_DATA = 0x00002000
	Reset the device calibration data. More...

Clear Configuration Data
static constexpr uint32_t	RESET_CONFIG = 0x00100000
	Clear all configuration data. More...

Software Reboot And Special Reset Modes
static constexpr uint32_t	REBOOT_GNSS_MEASUREMENT_ENGINE = 0x01000000
	Reboot the GNSS measurement engine (GNSS receiver), in addition to performing any other requested resets (e.g., RESET_EPHEMERIS). More...

static constexpr uint32_t	REBOOT_NAVIGATION_PROCESSOR = 0x02000000
	Reboot the navigation processor. More...

static constexpr uint32_t	DIAGNOSTIC_LOG_RESET = 0x04000000
	Perform a diagnostic log reset to guarantee deterministic performance for data post-processing and diagnostic support. More...

Device Reset Bitmasks
static constexpr uint32_t	HOT_START = 0x00000001
	Perform a device hot start. More...

static constexpr uint32_t	WARM_START = 0x00000201
	Perform a device warm start. More...

static constexpr uint32_t	PVT_RESET = 0x000001FF
	Perform a PVT reset: reset all position, velocity, orientation, and time information (i.e., the navigation engine's kinematic state). More...

static constexpr uint32_t	COLD_START = 0x00000FFF
	Perform a device cold start. More...

static constexpr uint32_t	FACTORY_RESET = 0xFFFFFFFF
	Restart mask to set all persistent data, including calibration and user configuration, back to factory defaults. More...

Member Data Documentation

◆ COLD_START

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::COLD_START = 0x00000FFF

staticconstexpr

Perform a device cold start.

A cold start is typically used to reset the device's state estimate in the case of error that cannot be resolved by a WARM_START.

To be reset:

The navigation engine (RESTART_NAVIGATION_ENGINE)
All runtime data (GNSS corrections (RESET_GNSS_CORRECTIONS), etc.)
Position, velocity, orientation (RESET_POSITION_DATA)
GNSS ephemeris data (RESET_EPHEMERIS)
Fast IMU corrections (RESET_FAST_IMU_CORRECTIONS)

Not reset/performed:

Training parameters (slowly estimated IMU corrections, temperature compensation, etc.; RESET_NAVIGATION_ENGINE_DATA)
Calibration data (RESET_CALIBRATION_DATA)
User configuration settings (RESET_CONFIG)
Reboot GNSS measurement engine (REBOOT_GNSS_MEASUREMENT_ENGINE)
Reboot navigation processor (REBOOT_NAVIGATION_PROCESSOR)

Note: To reset training or calibration data as well, set the RESET_NAVIGATION_ENGINE_DATA and RESET_CALIBRATION_DATA bits.

Definition at line 309 of file control.h.

◆ DIAGNOSTIC_LOG_RESET

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::DIAGNOSTIC_LOG_RESET = 0x04000000

staticconstexpr

Perform a diagnostic log reset to guarantee deterministic performance for data post-processing and diagnostic support.

Diagnostic log resets are useful when capturing data to be sent to Point One for analysis and support. Performing a diagnostic reset guarantees that the performance of the device seen in real time can be reproduced during post-processing.

This reset performs the following:

Restart the navigation engine (RESTART_NAVIGATION_ENGINE)
Clear any stored data in RAM that was received since startup such as ephemeris or GNSS corrections
- This is not the same as RESET_EPHEMERIS; this action does not reset ephemeris data stored in persistent storage
Flush internal data buffers on the device

Note that this does not reset the navigation engine's position data, training parameters, or calibration. If the navigation engine has existing position information, it will be used.

This reset may be combined with other resets as needed to clear additional information.

Definition at line 202 of file control.h.

◆ FACTORY_RESET

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::FACTORY_RESET = 0xFFFFFFFF

staticconstexpr

Restart mask to set all persistent data, including calibration and user configuration, back to factory defaults.

Definition at line 315 of file control.h.

◆ HOT_START

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::HOT_START = 0x00000001

staticconstexpr

Perform a device hot start.

This will reset the navigation engine into a known state, using previously stored position and time information. The device will begin navigating immediately if possible.

To be reset:

The navigation engine (RESTART_NAVIGATION_ENGINE)

Not reset/performed:

All runtime data (GNSS corrections (RESET_GNSS_CORRECTIONS), etc.)
Position, velocity, orientation (RESET_POSITION_DATA)
GNSS ephemeris data (RESET_EPHEMERIS)
Fast IMU corrections (RESET_FAST_IMU_CORRECTIONS)
Training parameters (slowly estimated IMU corrections, temperature compensation, etc.; RESET_NAVIGATION_ENGINE_DATA)
Calibration data (RESET_CALIBRATION_DATA)
User configuration settings (RESET_CONFIG)
Reboot GNSS measurement engine (REBOOT_GNSS_MEASUREMENT_ENGINE)
Reboot navigation processor (REBOOT_NAVIGATION_PROCESSOR)

Definition at line 231 of file control.h.

◆ MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::ResetRequest::MESSAGE_TYPE = MessageType::RESET_REQUEST

staticconstexpr

Definition at line 105 of file control.h.

◆ MESSAGE_VERSION

constexpr uint8_t point_one::fusion_engine::messages::ResetRequest::MESSAGE_VERSION = 0

staticconstexpr

Definition at line 106 of file control.h.

◆ PVT_RESET

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::PVT_RESET = 0x000001FF

staticconstexpr

Perform a PVT reset: reset all position, velocity, orientation, and time information (i.e., the navigation engine's kinematic state).

A PVT reset is typically used to reset the kinematic portion of the navigation engine's state if you are experiencing errors on startup or after a HOT_START.

To be reset:

The navigation engine (RESTART_NAVIGATION_ENGINE)
All runtime data (GNSS corrections (RESET_GNSS_CORRECTIONS), etc.)
Position, velocity, orientation (RESET_POSITION_DATA)

Not reset/performed:

GNSS ephemeris data (RESET_EPHEMERIS)
Fast IMU corrections (RESET_FAST_IMU_CORRECTIONS)
Training parameters (slowly estimated IMU corrections, temperature compensation, etc.; RESET_NAVIGATION_ENGINE_DATA)
Calibration data (RESET_CALIBRATION_DATA)
User configuration settings (RESET_CONFIG)
Reboot GNSS measurement engine (REBOOT_GNSS_MEASUREMENT_ENGINE)
Reboot navigation processor (REBOOT_NAVIGATION_PROCESSOR)

Definition at line 282 of file control.h.

◆ REBOOT_GNSS_MEASUREMENT_ENGINE

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::REBOOT_GNSS_MEASUREMENT_ENGINE = 0x01000000

staticconstexpr

Reboot the GNSS measurement engine (GNSS receiver), in addition to performing any other requested resets (e.g., RESET_EPHEMERIS).

If no other resets are specified, the GNSS receiver will reboot and should perform a hot start.

Definition at line 175 of file control.h.

◆ REBOOT_NAVIGATION_PROCESSOR

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::REBOOT_NAVIGATION_PROCESSOR = 0x02000000

staticconstexpr

Reboot the navigation processor.

Definition at line 177 of file control.h.

◆ RESET_CALIBRATION_DATA

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::RESET_CALIBRATION_DATA = 0x00002000

staticconstexpr

Reset the device calibration data.

Note: This does not reset any existing navigation engine state. It is recommended that you set RESET_NAVIGATION_ENGINE_DATA as well under normal circumstances.

Definition at line 154 of file control.h.

◆ RESET_CONFIG

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::RESET_CONFIG = 0x00100000

staticconstexpr

Clear all configuration data.

Definition at line 162 of file control.h.

◆ RESET_EPHEMERIS

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::RESET_EPHEMERIS = 0x00000200

staticconstexpr

Delete all saved satellite ephemeris.

Definition at line 128 of file control.h.

◆ RESET_FAST_IMU_CORRECTIONS

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::RESET_FAST_IMU_CORRECTIONS = 0x00000400

staticconstexpr

Reset bias estimates, and other IMU corrections that are typically estimated quickly.

Definition at line 133 of file control.h.

◆ RESET_GNSS_CORRECTIONS

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::RESET_GNSS_CORRECTIONS = 0x00000002

staticconstexpr

Delete all GNSS corrections information.

Definition at line 115 of file control.h.

◆ reset_mask

uint32_t point_one::fusion_engine::messages::ResetRequest::reset_mask = 0

Bit mask of functionality to reset.

Definition at line 319 of file control.h.

◆ RESET_NAVIGATION_ENGINE_DATA

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::RESET_NAVIGATION_ENGINE_DATA = 0x00001000

staticconstexpr

Reset all stored navigation engine data, including position, velocity, and orientation state (same as RESET_POSITION_DATA), plus all IMU corrections and other training data.

Definition at line 145 of file control.h.

◆ RESET_POSITION_DATA

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::RESET_POSITION_DATA = 0x00000100

staticconstexpr

Reset the navigation engine's estimate of position, velocity, and orientation.

Definition at line 126 of file control.h.

◆ RESTART_NAVIGATION_ENGINE

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::RESTART_NAVIGATION_ENGINE = 0x00000001

staticconstexpr

Restart the navigation engine, but do not clear its position estimate.

Definition at line 113 of file control.h.

◆ WARM_START

constexpr uint32_t point_one::fusion_engine::messages::ResetRequest::WARM_START = 0x00000201

staticconstexpr

Perform a device warm start.

During a warm start, the device retains its knowledge of approximate position and time, plus almanac data if available, but resets all ephemeris data. As a result, the device will need to download ephemeris data before continuing to navigate with GNSS.

To be reset:

The navigation engine (i.e., perform a hot start, RESTART_NAVIGATION_ENGINE)
GNSS ephemeris data (RESET_EPHEMERIS)

Not reset/performed:

All runtime data (GNSS corrections (RESET_GNSS_CORRECTIONS), etc.)
Position, velocity, orientation (RESET_POSITION_DATA)
Fast IMU corrections (RESET_FAST_IMU_CORRECTIONS)
Training parameters (slowly estimated IMU corrections, temperature compensation, etc.; RESET_NAVIGATION_ENGINE_DATA)
Calibration data (RESET_CALIBRATION_DATA)
User configuration settings (RESET_CONFIG)
Reboot GNSS measurement engine (REBOOT_GNSS_MEASUREMENT_ENGINE)
Reboot navigation processor (REBOOT_NAVIGATION_PROCESSOR)

Definition at line 257 of file control.h.

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

src/point_one/fusion_engine/messages/control.h

Detailed Description

Expected Response

Public Attributes

Static Public Attributes

Member Data Documentation

◆ COLD_START

◆ DIAGNOSTIC_LOG_RESET

◆ FACTORY_RESET

◆ HOT_START

◆ MESSAGE_TYPE

◆ MESSAGE_VERSION

◆ PVT_RESET

◆ REBOOT_GNSS_MEASUREMENT_ENGINE

◆ REBOOT_NAVIGATION_PROCESSOR

◆ RESET_CALIBRATION_DATA

◆ RESET_CONFIG

◆ RESET_EPHEMERIS

◆ RESET_FAST_IMU_CORRECTIONS

◆ RESET_GNSS_CORRECTIONS

◆ reset_mask

◆ RESET_NAVIGATION_ENGINE_DATA

◆ RESET_POSITION_DATA

◆ RESTART_NAVIGATION_ENGINE

◆ WARM_START