SwiftNav.SBP.Imu

< Inertial Measurement Unit (IMU) messages. >

Documentation

data MsgImuRaw

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. If using "time since startup" local time tags, the receiving end will expect either a MSG_GNSS_TIME_OFFSET or MSG_PPS_TIME to establish the relationship between IMU time and GNSS time. Regardless of the timestamping mode, the timestamp is required to roll over to zero when reaching one week (604800 seconds, or 604800000 milliseconds). The time-tagging mode should not change throughout a run.

Constructors

MsgImuRaw

Fields

• _msgImuRaw_tow :: !Word32

  Milliseconds since reference epoch and time status.

• _msgImuRaw_tow_f :: !Word8

  Milliseconds since reference epoch, 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

FromJSON MsgImuRaw

Defined in SwiftNav.SBP.Imu

Methods

parseJSON :: Value -> Parser MsgImuRaw

parseJSONList :: Value -> Parser [MsgImuRaw]

omittedField :: Maybe MsgImuRaw

ToJSON MsgImuRaw

Defined in SwiftNav.SBP.Imu

Methods

toJSON :: MsgImuRaw -> Value

toEncoding :: MsgImuRaw -> Encoding

toJSONList :: [MsgImuRaw] -> Value

toEncodingList :: [MsgImuRaw] -> Encoding

omitField :: MsgImuRaw -> Bool

Read MsgImuRaw

Defined in SwiftNav.SBP.Imu

Methods

readsPrec :: Int -> ReadS MsgImuRaw

readList :: ReadS [MsgImuRaw]

readPrec :: ReadPrec MsgImuRaw

readListPrec :: ReadPrec [MsgImuRaw]

Show MsgImuRaw

Defined in SwiftNav.SBP.Imu

Methods

showsPrec :: Int -> MsgImuRaw -> ShowS

show :: MsgImuRaw -> String

showList :: [MsgImuRaw] -> ShowS

Binary MsgImuRaw

Defined in SwiftNav.SBP.Imu

Methods

put :: MsgImuRaw -> Put

get :: Get MsgImuRaw

putList :: [MsgImuRaw] -> Put

Eq MsgImuRaw

Defined in SwiftNav.SBP.Imu

Methods

(==) :: MsgImuRaw -> MsgImuRaw -> Bool

(/=) :: MsgImuRaw -> MsgImuRaw -> Bool

ToSBP MsgImuRaw

Defined in SwiftNav.SBP.Imu

Methods

toSBP :: MsgImuRaw -> Word16 -> Msg

data MsgImuAux

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

FromJSON MsgImuAux

Defined in SwiftNav.SBP.Imu

Methods

parseJSON :: Value -> Parser MsgImuAux

parseJSONList :: Value -> Parser [MsgImuAux]

omittedField :: Maybe MsgImuAux

ToJSON MsgImuAux

Defined in SwiftNav.SBP.Imu

Methods

toJSON :: MsgImuAux -> Value

toEncoding :: MsgImuAux -> Encoding

toJSONList :: [MsgImuAux] -> Value

toEncodingList :: [MsgImuAux] -> Encoding

omitField :: MsgImuAux -> Bool

Read MsgImuAux

Defined in SwiftNav.SBP.Imu

Methods

readsPrec :: Int -> ReadS MsgImuAux

readList :: ReadS [MsgImuAux]

readPrec :: ReadPrec MsgImuAux

readListPrec :: ReadPrec [MsgImuAux]

Show MsgImuAux

Defined in SwiftNav.SBP.Imu

Methods

showsPrec :: Int -> MsgImuAux -> ShowS

show :: MsgImuAux -> String

showList :: [MsgImuAux] -> ShowS

Binary MsgImuAux

Defined in SwiftNav.SBP.Imu

Methods

put :: MsgImuAux -> Put

get :: Get MsgImuAux

putList :: [MsgImuAux] -> Put

Eq MsgImuAux

Defined in SwiftNav.SBP.Imu

Methods

(==) :: MsgImuAux -> MsgImuAux -> Bool

(/=) :: MsgImuAux -> MsgImuAux -> Bool

ToSBP MsgImuAux

Defined in SwiftNav.SBP.Imu

Methods

toSBP :: MsgImuAux -> Word16 -> Msg

data MsgImuComp

SBP class for message MSG_IMU_COMP (0x0905).

Data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings compensated for estimated errors and constant physical effects. The output is valid for inertially referenced center of navigation (IMU body frame) represented in vehicle body frame.

Constructors

MsgImuComp

Fields

• _msgImuComp_time :: !Word64

  Microseconds since reference epoch

• _msgImuComp_flags :: !Word16

  Contains the applied compensation parameters and time synchronization mode

• _msgImuComp_acc_comp_x :: !Int32

  Compensated acceleration X axis

• _msgImuComp_acc_comp_y :: !Int32

  Compensated acceleration Y axis

• _msgImuComp_acc_comp_z :: !Int32

  Compensated acceleration Z axis

• _msgImuComp_gyr_comp_x :: !Int32

  Compensated angular rate X axis

• _msgImuComp_gyr_comp_y :: !Int32

  Compensated angular rate Y axis

• _msgImuComp_gyr_comp_z :: !Int32

  Compensated angular rate Z axis

Instances

FromJSON MsgImuComp

Defined in SwiftNav.SBP.Imu

Methods

parseJSON :: Value -> Parser MsgImuComp

parseJSONList :: Value -> Parser [MsgImuComp]

omittedField :: Maybe MsgImuComp

ToJSON MsgImuComp

Defined in SwiftNav.SBP.Imu

Methods

toJSON :: MsgImuComp -> Value

toEncoding :: MsgImuComp -> Encoding

toJSONList :: [MsgImuComp] -> Value

toEncodingList :: [MsgImuComp] -> Encoding

omitField :: MsgImuComp -> Bool

Read MsgImuComp

Defined in SwiftNav.SBP.Imu

Methods

readsPrec :: Int -> ReadS MsgImuComp

readList :: ReadS [MsgImuComp]

readPrec :: ReadPrec MsgImuComp

readListPrec :: ReadPrec [MsgImuComp]

Show MsgImuComp

Defined in SwiftNav.SBP.Imu

Methods

showsPrec :: Int -> MsgImuComp -> ShowS

show :: MsgImuComp -> String

showList :: [MsgImuComp] -> ShowS

Binary MsgImuComp

Defined in SwiftNav.SBP.Imu

Methods

put :: MsgImuComp -> Put

get :: Get MsgImuComp

putList :: [MsgImuComp] -> Put

Eq MsgImuComp

Defined in SwiftNav.SBP.Imu

Methods

(==) :: MsgImuComp -> MsgImuComp -> Bool

(/=) :: MsgImuComp -> MsgImuComp -> Bool

ToSBP MsgImuComp

Defined in SwiftNav.SBP.Imu

Methods

toSBP :: MsgImuComp -> Word16 -> Msg

msgImuRaw :: Word16

msgImuAux :: Word16

msgImuComp :: Word16

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_imu_conf :: Lens' MsgImuAux Word8

msgImuAux_imu_type :: Lens' MsgImuAux Word8

msgImuAux_temp :: Lens' MsgImuAux Int16

msgImuComp_acc_comp_x :: Lens' MsgImuComp Int32

msgImuComp_acc_comp_y :: Lens' MsgImuComp Int32

msgImuComp_acc_comp_z :: Lens' MsgImuComp Int32

msgImuComp_flags :: Lens' MsgImuComp Word16

msgImuComp_gyr_comp_x :: Lens' MsgImuComp Int32

msgImuComp_gyr_comp_y :: Lens' MsgImuComp Int32

msgImuComp_gyr_comp_z :: Lens' MsgImuComp Int32

msgImuComp_time :: Lens' MsgImuComp Word64