Structure to hold VN-200 data. More...
#include <vn200.hh>
Public Attributes | |
| quint64 | gpsTimeNs = 0 |
| GPS time. More... | |
| float | eulerDeg [3] = {0} |
| Euler Angles. More... | |
| float | quaternion [4] = {0} |
| Quaternion. More... | |
| float | angularRatesRPS [3] = {0} |
| Angular Rates. More... | |
| double | posDegDegM [3] = {0} |
| Lat-Long-Alt Position. More... | |
| float | velNedMps [3] = {0} |
| NED Velocity. More... | |
| float | accelMps2 [3] = {0} |
| Accelerations. More... | |
Detailed Description
Structure to hold VN-200 data.
Member Data Documentation
| float dfti::VN200Data::accelMps2[3] = {0} |
Accelerations.
Body-axis accelerations in m/s^2. Includes the effect of gravity and is bias compensated by the EKF. Order is Ax, Ay, Az.
| float dfti::VN200Data::angularRatesRPS[3] = {0} |
Angular Rates.
Stores the body-axis angular rates P, Q, and R in radians per second. Order is P, Q, R.
| float dfti::VN200Data::eulerDeg[3] = {0} |
Euler Angles.
Stores the 3-2-1 Euler angles psi, theta, phi in degrees. Order is yaw, pitch, roll.
| quint64 dfti::VN200Data::gpsTimeNs = 0 |
GPS time.
The GPS time is represented as the absolute number of nanoseconds from the GPS epoch, January 6, 1980 at 0000 UTC.
| double dfti::VN200Data::posDegDegM[3] = {0} |
Lat-Long-Alt Position.
Contains the latitude, longitude, and altitude position of the aircraft in inertial space. The lat/long are in degrees, and the altitude is in meters.
Order is lat, long, alt.
| float dfti::VN200Data::quaternion[4] = {0} |
Quaternion.
Stores the attitude quaternion giving the body frame with respect to the local North East Down frame.
Note that the VN-200 uses the last term as the scalar value in its output, but DFTI uses the first term as the scalar as is common.
| float dfti::VN200Data::velNedMps[3] = {0} |
NED Velocity.
Stores the estimated velocity in the North-East-Down frame in m/s. Order is Vx, Vy, Vz.
The documentation for this struct was generated from the following file:
