vn200.hh

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#pragma once


// stdlib
#include <cmath>
#include <cstring>
// 3rd party
#include <QDebug>
#include <QObject>
// dfti
#include "sensor/serialsensor.hh"
#include "settings/settings.hh"


namespace dfti {



bool validateVN200Checksum(QByteArray pkt);


struct VN200Data
{

    quint64 gpsTimeNs = 0;

    float eulerDeg[3] = {0};

    float quaternion[4] = {0};

    float angularRatesRPS[3] = {0};

    double posDegDegM[3] = {0};

    float velNedMps[3] = {0};

    float accelMps2[3] = {0};
};



class VN200 : public SerialSensor
{
    Q_OBJECT;

public:

    explicit VN200(Settings *_settings, QObject* _parent = nullptr);


    const QByteArray header{"\xfa\x01\xfa\x01"};

public slots:
    void readData(void);

signals:
    void gpsAvailable(bool flag);

    void measurementUpdate(VN200Data data);

private:

    QByteArray buf;

    void copyPacketToData(void);

    static const quint8 packetSize{102};

#pragma pack(push, 1)  // change structure packing to 1 byte

    struct VN200Packet {
        quint8 sync = 0;
        quint8 outputGroups = 0;
        quint16 outputFields = 0;
        quint64 timeGPS = 0;
        float euler[3] = {0};
        float quaternion[4] = {0};
        float angularRate[3] = {0};
        double position[3] = {0};
        float velocity[3] = {0};
        float accel[3] = {0};
    };
#pragma pack(pop)  // reset structure packing

    VN200Data data;

    VN200Packet *packet{nullptr};
};


};  // namespace dfti