Set the sensor to vehicle frame transformation using unit length quaternion. More...
Classes | |
| struct | mip_3dm_sensor_2_vehicle_transform_quaternion_command |
| struct | mip_3dm_sensor_2_vehicle_transform_quaternion_response |
Detailed Description
Set the sensor to vehicle frame transformation using unit length quaternion.
Note: This is the transformation, the inverse of the rotation.
This quaternion describes the transformation of vectors from the sensor body frame to the vehicle frame of reference, and satisfies the following relationship:
EQSTART p^{veh} = q^{-1} p^{sen} q EQEND
Where:
EQSTART q = (q_w, q_x, q_y, q_z) EQEND is the quaternion describing the transformation.
EQSTART p^{sen} = (0, v^{sen}_x, v^{sen}_y, v^{sen}_z) EQEND and EQSTART v^{sen} EQEND is a 3-element vector expressed in the sensor body frame.
EQSTART p^{veh} = (0, v^{veh}_x, v^{veh}_y, v^{veh}_z) EQEND and EQSTART v^{veh} EQEND is a 3-element vector expressed in the vehicle frame.
The transformation may be stored in the device as a matrix or a quaternion. When the quaternion is read back from the device, it may not be exactly equal to the quaternion 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_quaternion_command
| typedef struct mip_3dm_sensor_2_vehicle_transform_quaternion_command mip_3dm_sensor_2_vehicle_transform_quaternion_command |
Definition at line 2021 of file commands_3dm.h.
◆ mip_3dm_sensor_2_vehicle_transform_quaternion_response
| typedef struct mip_3dm_sensor_2_vehicle_transform_quaternion_response mip_3dm_sensor_2_vehicle_transform_quaternion_response |
Definition at line 2030 of file commands_3dm.h.
Function Documentation
◆ extract_mip_3dm_sensor_2_vehicle_transform_quaternion_command()
| void extract_mip_3dm_sensor_2_vehicle_transform_quaternion_command | ( | struct mip_serializer * | serializer, |
| mip_3dm_sensor_2_vehicle_transform_quaternion_command * | self | ||
| ) |
Definition at line 4522 of file commands_3dm.c.
◆ extract_mip_3dm_sensor_2_vehicle_transform_quaternion_response()
| void extract_mip_3dm_sensor_2_vehicle_transform_quaternion_response | ( | struct mip_serializer * | serializer, |
| mip_3dm_sensor_2_vehicle_transform_quaternion_response * | self | ||
| ) |
Definition at line 4540 of file commands_3dm.c.
◆ insert_mip_3dm_sensor_2_vehicle_transform_quaternion_command()
| void insert_mip_3dm_sensor_2_vehicle_transform_quaternion_command | ( | struct mip_serializer * | serializer, |
| const mip_3dm_sensor_2_vehicle_transform_quaternion_command * | self | ||
| ) |
Definition at line 4511 of file commands_3dm.c.
◆ insert_mip_3dm_sensor_2_vehicle_transform_quaternion_response()
| void insert_mip_3dm_sensor_2_vehicle_transform_quaternion_response | ( | struct mip_serializer * | serializer, |
| const mip_3dm_sensor_2_vehicle_transform_quaternion_response * | self | ||
| ) |
Definition at line 4534 of file commands_3dm.c.
◆ mip_3dm_default_sensor_2_vehicle_transform_quaternion()
| mip_cmd_result mip_3dm_default_sensor_2_vehicle_transform_quaternion | ( | struct mip_interface * | device | ) |
Definition at line 4614 of file commands_3dm.c.
◆ mip_3dm_load_sensor_2_vehicle_transform_quaternion()
| mip_cmd_result mip_3dm_load_sensor_2_vehicle_transform_quaternion | ( | struct mip_interface * | device | ) |
Definition at line 4602 of file commands_3dm.c.
◆ mip_3dm_read_sensor_2_vehicle_transform_quaternion()
| mip_cmd_result mip_3dm_read_sensor_2_vehicle_transform_quaternion | ( | struct mip_interface * | device, |
| float * | q_out | ||
| ) |
Definition at line 4563 of file commands_3dm.c.
◆ mip_3dm_save_sensor_2_vehicle_transform_quaternion()
| mip_cmd_result mip_3dm_save_sensor_2_vehicle_transform_quaternion | ( | struct mip_interface * | device | ) |
Definition at line 4590 of file commands_3dm.c.
◆ mip_3dm_write_sensor_2_vehicle_transform_quaternion()
| mip_cmd_result mip_3dm_write_sensor_2_vehicle_transform_quaternion | ( | struct mip_interface * | device, |
| const float * | q | ||
| ) |
Definition at line 4547 of file commands_3dm.c.