sbgEComCmdOdo.h

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#ifndef __SBG_ECOM_CMD_ODO_H__
#define __SBG_ECOM_CMD_ODO_H__

#include "sbgEComCmdCommon.h"

//----------------------------------------------------------------------//
//- Odometer definitions                                                                                           -//
//----------------------------------------------------------------------//

//----------------------------------------------------------------------//
//- Odometer configuration                                                                                         -//
//----------------------------------------------------------------------//

typedef struct _SbgEComOdoConf
{
        float           gain;                                           
        uint8           gainError;                                      
        bool            reverseMode;                            
} SbgEComOdoConf;

typedef struct _SbgEComOdoRejectionConf
{
        SbgEComRejectionMode    velocity;               
} SbgEComOdoRejectionConf;

//----------------------------------------------------------------------//
//- Odometer commands                                                                                              -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComCmdOdoGetConf(SbgEComHandle *pHandle, SbgEComOdoConf *pOdometerConf);

SbgErrorCode sbgEComCmdOdoSetConf(SbgEComHandle *pHandle, const SbgEComOdoConf *pOdometerConf);

SbgErrorCode sbgEComCmdOdoGetLeverArm(SbgEComHandle *pHandle, float leverArm[3]);

SbgErrorCode sbgEComCmdOdoSetLeverArm(SbgEComHandle *pHandle, const float leverArm[3]);

SbgErrorCode sbgEComCmdOdoGetRejection(SbgEComHandle *pHandle, SbgEComOdoRejectionConf *pRejectConf);

SbgErrorCode sbgEComCmdOdoSetRejection(SbgEComHandle *pHandle, const SbgEComOdoRejectionConf *pRejectConf);

#endif