dfti::VN200 Class Reference

Serial driver to acquire data from a VN-200 Inertial Navigation System. More...

#include <vn200.hh>

Inheritance diagram for dfti::VN200:

Collaboration diagram for dfti::VN200:

Public Slots
void	readData (void)
	Slot to read in data over serial and parse complete packets.
Public Slots inherited from dfti::SerialSensor
virtual void	readData (void)=0
	Slot to read in data over serial and parse complete packets.

Signals
void	gpsAvailable (bool flag)
	Emitted when GPS data is available.
void	measurementUpdate (VN200Data data)
	Emitted to share new VN200Data.

Public Member Functions
	VN200 (Settings *_settings, QObject *_parent=nullptr)
	Constructor. More...
Public Member Functions inherited from dfti::SerialSensor
	SerialSensor (Settings *_settings, QObject *_parent=nullptr)
	Constructor. More...
	~SerialSensor ()
	Destructor.
void	configureSerial (QString _portName)
	Set the serial port parameters. More...
void	init ()
	Initialize the serial port.
bool	isOpen (void)
	Returns true if the serial port is open. More...
virtual void	open (void)
	Opens the serial port. More...
void	setBaudRate (quint32 rate)
	Set the serial port baud rate. More...
void	threadStart (void)
	Start the sensor in a thread.

Public Attributes
const QByteArray	header {"\xfa\x01\xfa\x01"}
	VN-200 packet header bytes. More...

Additional Inherited Members
Protected Member Functions inherited from dfti::SerialSensor
QString	validateSerialPort (QString _port)
	Validates a proposed serial port. More...
Protected Attributes inherited from dfti::SerialSensor
QPointer< Settings >	settings = nullptr
	Settings object.
QString	portName {""}
	Serial port name.
QSerialPort::BaudRate	baudRate {QSerialPort::Baud115200}
	Serial port baud rate.
bool	_valid_serial = false
	Indicates if serial port passed validation.
QPointer< QSerialPort >	_port = nullptr
	Serial port object.

Detailed Description

Serial driver to acquire data from a VN-200 Inertial Navigation System.

Reads in data from a VectorNav VN-200 Inertial Navigation System over serial and parses the data.

The data packet format is binary, with a header consisting of

• a sync byte (0xfa)
• the selected output groups (bitmask, 1 byte)
• 16-bit bitmasks for the selected outputs from the groups

In the configuration this code assumes, Output Group 1 is selected, and the

• TimeGps
• Yaw, Pitch, Roll
• Quaternion
• AngularRate
• Position
• Velocity
• Accel

fields are selected. The last two bytes are the checksum.

Constructor & Destructor Documentation

dfti::VN200::VN200 ( Settings *  _settings, QObject *  _parent = nullptr  )

explicit

Constructor.

Parameters

_settings	Pointer to settings object.
_parent	Pointer to parent QObject.

Member Data Documentation

const QByteArray dfti::VN200::header {"\xfa\x01\xfa\x01"}

VN-200 packet header bytes.

Remarks

Used to identify the start of a VN-200 packet. Note that the last three header bytes here change depending on the VN-200 payload.

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The documentation for this class was generated from the following files:

• vn200.hh
• vn200.cc