oem7_imu.hpp

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//
// Copyright (c) 2020 NovAtel Inc.
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namespace novatel_oem7_driver
{

enum oem7_imu_type_t
{
  IMU_TYPE_UNKNOWN           =  0,
  IMU_TYPE_HG1700_AG11       =  1,
  IMU_TYPE_HG1700_AG17       =  4,
  IMU_TYPE_HG1900_CA29       =  5,
  IMU_TYPE_LN200             =  8,
  IMU_TYPE_HG1700_AG58       = 11,
  IMU_TYPE_HG1700_AG62       = 12,
  IMU_TYPE_IMAR_FSAS         = 13,
  IMU_TYPE_KVH_COTS          = 16,
  IMU_TYPE_HG1930_AA99       = 20,
  IMU_TYPE_ISA100C           = 26,
  IMU_TYPE_HG1900_CA50       = 27,
  IMU_TYPE_HG1930_CA50       = 28,
  IMU_TYPE_ADIS16488         = 31,
  IMU_TYPE_STIM300           = 32,
  IMU_TYPE_KVH_1750          = 33,
  IMU_TYPE_EPSON_G320        = 41,
  IMU_TYPE_LITEF_MICROIMU    = 52,
  IMU_TYPE_STIM_300D         = 56,
  IMU_TYPE_HG4930_AN01       = 58,
  IMU_TYPE_EPSON_G370        = 61,
  IMU_TYPE_EPSON_G320_200HZ  = 62,
  IMU_TYPE_HG4930_AN04       = 68,
  IMU_TYPE_HG4930_AN04_400HZ = 69

};


typedef int imu_rate_t; 

bool
getImuRawScaleFactors(
    oem7_imu_type_t imu_type, 
    imu_rate_t      imu_rate, 
    double& gyro_scale,       
    double& acc_scale         
    );

}