Copyright	Copyright (C) 2015-2018 Swift Navigation Inc.
License	LGPL-3
Maintainer	Swift Navigation <dev@swiftnav.com>
Stability	experimental
Portability	portable
Safe Haskell	None
Language	Haskell2010

SwiftNav.SBP.Imu

Description

Inertial Measurement Unit (IMU) messages.

Synopsis

data MsgImuRaw = MsgImuRaw {
- _msgImuRaw_tow :: !Word32
- _msgImuRaw_tow_f :: !Word8
- _msgImuRaw_acc_x :: !Int16
- _msgImuRaw_acc_y :: !Int16
- _msgImuRaw_acc_z :: !Int16
- _msgImuRaw_gyr_x :: !Int16
- _msgImuRaw_gyr_y :: !Int16
- _msgImuRaw_gyr_z :: !Int16
}
msgImuRaw :: Word16
data MsgImuAux = MsgImuAux {
- _msgImuAux_imu_type :: !Word8
- _msgImuAux_temp :: !Int16
- _msgImuAux_imu_conf :: !Word8
}
msgImuRaw_acc_x :: Lens' MsgImuRaw Int16
msgImuRaw_acc_y :: Lens' MsgImuRaw Int16
msgImuRaw_acc_z :: Lens' MsgImuRaw Int16
msgImuRaw_gyr_x :: Lens' MsgImuRaw Int16
msgImuRaw_gyr_y :: Lens' MsgImuRaw Int16
msgImuRaw_gyr_z :: Lens' MsgImuRaw Int16
msgImuRaw_tow :: Lens' MsgImuRaw Word32
msgImuRaw_tow_f :: Lens' MsgImuRaw Word8
msgImuAux :: Word16
msgImuAux_imu_conf :: Lens' MsgImuAux Word8
msgImuAux_imu_type :: Lens' MsgImuAux Word8
msgImuAux_temp :: Lens' MsgImuAux Int16

Documentation

data MsgImuRaw Source #

SBP class for message MSG_IMU_RAW (0x0900).

Raw data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings. The sense of the measurements are to be aligned with the indications on the device itself. Measurement units, which are specific to the device hardware and settings, are communicated via the MSG_IMU_AUX message.

Constructors

MsgImuRaw

Fields

_msgImuRaw_tow :: !Word32
Milliseconds since start of GPS week. If the high bit is set, the time is unknown or invalid.
_msgImuRaw_tow_f :: !Word8
Milliseconds since start of GPS week, fractional part
_msgImuRaw_acc_x :: !Int16
Acceleration in the IMU frame X axis
_msgImuRaw_acc_y :: !Int16
Acceleration in the IMU frame Y axis
_msgImuRaw_acc_z :: !Int16
Acceleration in the IMU frame Z axis
_msgImuRaw_gyr_x :: !Int16
Angular rate around IMU frame X axis
_msgImuRaw_gyr_y :: !Int16
Angular rate around IMU frame Y axis
_msgImuRaw_gyr_z :: !Int16
Angular rate around IMU frame Z axis

Instances

Eq MsgImuRaw Source #
Instance details Defined in SwiftNav.SBP.Imu Methods (==) :: MsgImuRaw -> MsgImuRaw -> Bool # (/=) :: MsgImuRaw -> MsgImuRaw -> Bool #
Read MsgImuRaw Source #
Instance details Defined in SwiftNav.SBP.Imu Methods readsPrec :: Int -> ReadS MsgImuRaw # readList :: ReadS [MsgImuRaw] # readPrec :: ReadPrec MsgImuRaw # readListPrec :: ReadPrec [MsgImuRaw] #
Show MsgImuRaw Source #
Instance details Defined in SwiftNav.SBP.Imu Methods showsPrec :: Int -> MsgImuRaw -> ShowS # show :: MsgImuRaw -> String # showList :: [MsgImuRaw] -> ShowS #
ToJSON MsgImuRaw Source #
Instance details Defined in SwiftNav.SBP.Imu Methods toJSON :: MsgImuRaw -> Value # toEncoding :: MsgImuRaw -> Encoding # toJSONList :: [MsgImuRaw] -> Value # toEncodingList :: [MsgImuRaw] -> Encoding #
FromJSON MsgImuRaw Source #
Instance details Defined in SwiftNav.SBP.Imu Methods parseJSON :: Value -> Parser MsgImuRaw # parseJSONList :: Value -> Parser [MsgImuRaw] #
Binary MsgImuRaw Source #
Instance details Defined in SwiftNav.SBP.Imu Methods put :: MsgImuRaw -> Put # get :: Get MsgImuRaw # putList :: [MsgImuRaw] -> Put #
ToSBP MsgImuRaw Source #
Instance details Defined in SwiftNav.SBP.Imu Methods toSBP :: MsgImuRaw -> Word16 -> Msg Source #

msgImuRaw :: Word16 Source #

data MsgImuAux Source #

SBP class for message MSG_IMU_AUX (0x0901).

Auxiliary data specific to a particular IMU. The imu_type field will always be consistent but the rest of the payload is device specific and depends on the value of imu_type.

Constructors

MsgImuAux
Fields _msgImuAux_imu_type :: !Word8 IMU type _msgImuAux_temp :: !Int16 Raw IMU temperature _msgImuAux_imu_conf :: !Word8 IMU configuration

Instances

Eq MsgImuAux Source #
Instance details Defined in SwiftNav.SBP.Imu Methods (==) :: MsgImuAux -> MsgImuAux -> Bool # (/=) :: MsgImuAux -> MsgImuAux -> Bool #
Read MsgImuAux Source #
Instance details Defined in SwiftNav.SBP.Imu Methods readsPrec :: Int -> ReadS MsgImuAux # readList :: ReadS [MsgImuAux] # readPrec :: ReadPrec MsgImuAux # readListPrec :: ReadPrec [MsgImuAux] #
Show MsgImuAux Source #
Instance details Defined in SwiftNav.SBP.Imu Methods showsPrec :: Int -> MsgImuAux -> ShowS # show :: MsgImuAux -> String # showList :: [MsgImuAux] -> ShowS #
ToJSON MsgImuAux Source #
Instance details Defined in SwiftNav.SBP.Imu Methods toJSON :: MsgImuAux -> Value # toEncoding :: MsgImuAux -> Encoding # toJSONList :: [MsgImuAux] -> Value # toEncodingList :: [MsgImuAux] -> Encoding #
FromJSON MsgImuAux Source #
Instance details Defined in SwiftNav.SBP.Imu Methods parseJSON :: Value -> Parser MsgImuAux # parseJSONList :: Value -> Parser [MsgImuAux] #
Binary MsgImuAux Source #
Instance details Defined in SwiftNav.SBP.Imu Methods put :: MsgImuAux -> Put # get :: Get MsgImuAux # putList :: [MsgImuAux] -> Put #
ToSBP MsgImuAux Source #
Instance details Defined in SwiftNav.SBP.Imu Methods toSBP :: MsgImuAux -> Word16 -> Msg Source #

msgImuRaw_acc_x :: Lens' MsgImuRaw Int16 Source #

msgImuRaw_acc_y :: Lens' MsgImuRaw Int16 Source #

msgImuRaw_acc_z :: Lens' MsgImuRaw Int16 Source #

msgImuRaw_gyr_x :: Lens' MsgImuRaw Int16 Source #

msgImuRaw_gyr_y :: Lens' MsgImuRaw Int16 Source #

msgImuRaw_gyr_z :: Lens' MsgImuRaw Int16 Source #

msgImuRaw_tow :: Lens' MsgImuRaw Word32 Source #

msgImuRaw_tow_f :: Lens' MsgImuRaw Word8 Source #

msgImuAux :: Word16 Source #

msgImuAux_imu_conf :: Lens' MsgImuAux Word8 Source #

msgImuAux_imu_type :: Lens' MsgImuAux Word8 Source #

msgImuAux_temp :: Lens' MsgImuAux Int16 Source #