sbgEComCmdMag.h

Go to the documentation of this file.

#ifndef __SBG_ECOM_CMD_MAG_H__
#define __SBG_ECOM_CMD_MAG_H__

#include "sbgEComCmdCommon.h"

//----------------------------------------------------------------------//
//- Magnetometer definitions                                                                               -//
//----------------------------------------------------------------------//

typedef enum _SbgEComMagCalibMode
{
        SBG_ECOM_MAG_CALIB_MODE_2D                      = 1,                            
        SBG_ECOM_MAG_CALIB_MODE_3D                      = 2                                     
} SbgEComMagCalibMode;


typedef enum _SbgEComMagCalibBandwidth
{
        SBG_ECOM_MAG_CALIB_LOW_BW               = 0,                                    
        SBG_ECOM_MAG_CALIB_MEDIUM_BW    = 1,                                    
        SBG_ECOM_MAG_CALIB_HIGH_BW              = 2                                             
} SbgEComMagCalibBandwidth;

typedef enum _SbgEComMagCalibQuality
{
        SBG_ECOM_MAG_CALIB_QUAL_OPTIMAL = 0,                                    
        SBG_ECOM_MAG_CALIB_QUAL_GOOD    = 1,                                    
        SBG_ECOM_MAG_CALIB_QUAL_POOR    = 2,                                    
        SBG_ECOM_MAG_CALIB_QUAL_INVALID = 3                                             
} SbgEComMagCalibQuality;

typedef enum _SbgEComMagCalibConfidence
{
        SBG_ECOM_MAG_CALIB_TRUST_HIGH   = 0,                                    
        SBG_ECOM_MAG_CALIB_TRUST_MEDIUM = 1,                                    
        SBG_ECOM_MAG_CALIB_TRUST_LOW    = 2                                             
} SbgEComMagCalibConfidence;

#define SBG_ECOM_MAG_CALIB_NOT_ENOUGH_POINTS    (0x0001u)       
#define SBG_ECOM_MAG_CALIB_TOO_MUCH_DISTORTIONS (0x0002u)       
#define SBG_ECOM_MAG_CALIB_X_MOTION_ISSUE               (0x0004u)       
#define SBG_ECOM_MAG_CALIB_Y_MOTION_ISSUE               (0x0008u)       
#define SBG_ECOM_MAG_CALIB_Z_MOTION_ISSUE               (0x0010u)       
#define SBG_ECOM_MAG_CALIB_ALIGNMENT_ISSUE              (0x0020u)       
typedef enum _SbgEComMagModelsStdIds
{
        SBG_ECOM_MAG_MODEL_NORMAL                                       = 201,          
        SBG_ECOM_MAG_MODEL_NOISY_MAG_TOLERANT           = 202,          
} SbgEComMagModelsStdId;


//----------------------------------------------------------------------//
//- Magnetometer configuration                                                                             -//
//----------------------------------------------------------------------//

typedef struct _SbgEComMagRejectionConf
{
        SbgEComRejectionMode    magneticField;                                  
} SbgEComMagRejectionConf;

typedef struct _SbgEComMagCalibResults
{
        SbgEComMagCalibQuality          quality;                                        
        SbgEComMagCalibConfidence       confidence;                                     
        uint16                                          advancedStatus;                         
        float                                           beforeMeanError;                        
        float                                           beforeStdError;                         
        float                                           beforeMaxError;                         
        float                                           afterMeanError;                         
        float                                           afterStdError;                          
        float                                           afterMaxError;                          
        float                                           meanAccuracy;                           
        float                                           stdAccuracy;                            
        float                                           maxAccuracy;                            
        uint16                                          numPoints;                                      
        uint16                                          maxNumPoints;                           
        float                                           offset[3];                                      
        float                                           matrix[9];                                      
} SbgEComMagCalibResults;

//----------------------------------------------------------------------//
//- Magnetometer commands                                                      -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComCmdMagSetModelId(SbgEComHandle *pHandle, uint32 id);

SbgErrorCode sbgEComCmdMagGetModelInfo(SbgEComHandle *pHandle, SbgEComModelInfo *pModelInfo);

SBG_DEPRECATED(SbgErrorCode sbgEComCmdMagSetModel(SbgEComHandle *pHandle, const void *pBuffer, uint32 size));

SbgErrorCode sbgEComCmdMagGetRejection(SbgEComHandle *pHandle, SbgEComMagRejectionConf *pRejectConf);

SbgErrorCode sbgEComCmdMagSetRejection(SbgEComHandle *pHandle, const SbgEComMagRejectionConf *pRejectConf);

SbgErrorCode sbgEComCmdMagSetCalibData(SbgEComHandle *pHandle, const float offset[3], const float matrix[9]);

//----------------------------------------------------------------------//
//- Magnetometer onboard calibration commands                          -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComCmdMagStartCalib(SbgEComHandle *pHandle, SbgEComMagCalibMode mode, SbgEComMagCalibBandwidth bandwidth);

SbgErrorCode sbgEComCmdMagComputeCalib(SbgEComHandle *pHandle, SbgEComMagCalibResults *pCalibResults);

#endif