Set the sensor to vehicle frame transformation using a using a 3 x 3 direction cosine matrix EQSTART M_{ned}^{veh} EQEND, stored in row-major order in a 9-element array. More...
Classes | |
| struct | mip_3dm_sensor_2_vehicle_transform_dcm_command |
| struct | mip_3dm_sensor_2_vehicle_transform_dcm_response |
Detailed Description
Set the sensor to vehicle frame transformation using a using a 3 x 3 direction cosine matrix EQSTART M_{ned}^{veh} EQEND, stored in row-major order in a 9-element array.
These angles define the transformation of vectors from the sensor body frame to the fixed vehicle frame, according to:
EQSTART v^{veh} = M_{sen}^{veh} v^{sen} EQEND
Where:
EQSTART v^{sen} EQEND is a 3-element vector expressed in the sensor body frame.
EQSTART v^{veh} EQEND is the same 3-element vector expressed in the vehicle frame.
The matrix elements are stored is row-major order: EQSTART M_{sen}^{veh} = \begin{bmatrix} M_{11}, M_{12}, M_{13}, M_{21}, M_{22}, M_{23}, M_{31}, M_{32}, M_{33} \end{bmatrix} EQEND The transformation may be stored in the device as a matrix or a quaternion. When EQSTART M_{sen}^{veh} EQEND is read back from the device, it may not be exactly equal to array used to set the transformation, but it is functionally equivalent.
This transformation affects the following output quantities:
IMU:
Scaled Acceleration
Scaled Gyro
Scaled Magnetometer
Delta Theta
Delta Velocity
Estimation Filter:
Estimated Orientation, Quaternion
Estimated Orientation, Matrix
Estimated Orientation, Euler Angles
Estimated Linear Acceleration
Estimated Angular Rate
Estimated Gravity Vector
Changing this setting will force all low-pass filters, the complementary filter, and the estimation filter to reset.
Typedef Documentation
◆ mip_3dm_sensor_2_vehicle_transform_dcm_command
| typedef struct mip_3dm_sensor_2_vehicle_transform_dcm_command mip_3dm_sensor_2_vehicle_transform_dcm_command |
Definition at line 2084 of file commands_3dm.h.
◆ mip_3dm_sensor_2_vehicle_transform_dcm_response
| typedef struct mip_3dm_sensor_2_vehicle_transform_dcm_response mip_3dm_sensor_2_vehicle_transform_dcm_response |
Definition at line 2093 of file commands_3dm.h.
Function Documentation
◆ extract_mip_3dm_sensor_2_vehicle_transform_dcm_command()
| void extract_mip_3dm_sensor_2_vehicle_transform_dcm_command | ( | struct mip_serializer * | serializer, |
| mip_3dm_sensor_2_vehicle_transform_dcm_command * | self | ||
| ) |
Definition at line 4637 of file commands_3dm.c.
◆ extract_mip_3dm_sensor_2_vehicle_transform_dcm_response()
| void extract_mip_3dm_sensor_2_vehicle_transform_dcm_response | ( | struct mip_serializer * | serializer, |
| mip_3dm_sensor_2_vehicle_transform_dcm_response * | self | ||
| ) |
Definition at line 4655 of file commands_3dm.c.
◆ insert_mip_3dm_sensor_2_vehicle_transform_dcm_command()
| void insert_mip_3dm_sensor_2_vehicle_transform_dcm_command | ( | struct mip_serializer * | serializer, |
| const mip_3dm_sensor_2_vehicle_transform_dcm_command * | self | ||
| ) |
Definition at line 4626 of file commands_3dm.c.
◆ insert_mip_3dm_sensor_2_vehicle_transform_dcm_response()
| void insert_mip_3dm_sensor_2_vehicle_transform_dcm_response | ( | struct mip_serializer * | serializer, |
| const mip_3dm_sensor_2_vehicle_transform_dcm_response * | self | ||
| ) |
Definition at line 4649 of file commands_3dm.c.
◆ mip_3dm_default_sensor_2_vehicle_transform_dcm()
| mip_cmd_result mip_3dm_default_sensor_2_vehicle_transform_dcm | ( | struct mip_interface * | device | ) |
Definition at line 4729 of file commands_3dm.c.
◆ mip_3dm_load_sensor_2_vehicle_transform_dcm()
| mip_cmd_result mip_3dm_load_sensor_2_vehicle_transform_dcm | ( | struct mip_interface * | device | ) |
Definition at line 4717 of file commands_3dm.c.
◆ mip_3dm_read_sensor_2_vehicle_transform_dcm()
| mip_cmd_result mip_3dm_read_sensor_2_vehicle_transform_dcm | ( | struct mip_interface * | device, |
| float * | dcm_out | ||
| ) |
Definition at line 4678 of file commands_3dm.c.
◆ mip_3dm_save_sensor_2_vehicle_transform_dcm()
| mip_cmd_result mip_3dm_save_sensor_2_vehicle_transform_dcm | ( | struct mip_interface * | device | ) |
Definition at line 4705 of file commands_3dm.c.
◆ mip_3dm_write_sensor_2_vehicle_transform_dcm()
| mip_cmd_result mip_3dm_write_sensor_2_vehicle_transform_dcm | ( | struct mip_interface * | device, |
| const float * | dcm | ||
| ) |
Definition at line 4662 of file commands_3dm.c.