point_one::fusion_engine::messages::HeadingBias Struct Reference

Detailed Description

Heading bias horizontal/vertical configuration settings.

Note

Both HeadingBias values must be set for the system to use them. If one value is NOT set, the system will not output the corrected heading message.

HeadingOutput

Definition at line 1311 of file configuration.h.

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

Public Attributes
float	horizontal_bias_deg = NAN
	The offset between the heading measured by a secondary GNSS device and the vehicle's direction of motion in the horizontal plane (defined by the vehicle's forward and left axes). More...
float	vertical_bias_deg = NAN
	The offset between the heading measured by a secondary GNSS device and the vehicle's direction of motion in the vertical plane (defined by the vehicle's forward and up axes). More...

Member Data Documentation

horizontal_bias_deg

float point_one::fusion_engine::messages::HeadingBias::horizontal_bias_deg = NAN

The offset between the heading measured by a secondary GNSS device and the vehicle's direction of motion in the horizontal plane (defined by the vehicle's forward and left axes).

Bias is defined as the angle between the vector pointing from the primary GNSS antenna to the secondary heading antenna, and the vector pointing from the primary antenna pointing in the forward direction of the vehicle. A positive angle means the secondary antenna is offset in a counter-clockwise direction from the forward vector (positive yaw rotation).

For example, if the primary antenna is in the back of the vehicle and the secondary antenna is in the front, a positive angle would indicate that the secondary antenna is offset to the left side of the vehicle.

Definition at line 1327 of file configuration.h.

vertical_bias_deg

float point_one::fusion_engine::messages::HeadingBias::vertical_bias_deg = NAN

The offset between the heading measured by a secondary GNSS device and the vehicle's direction of motion in the vertical plane (defined by the vehicle's forward and up axes).

A positive angle means the secondary antenna is offset in the downward direction. For example, if the primary antenna is in the back of the vehicle and the secondary antenna is in the front, a positive angle would indicate that the secondary antenna is mounted below the primary antenna.

Definition at line 1339 of file configuration.h.

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

• src/point_one/fusion_engine/messages/configuration.h