This file implements SbgECom commands related to Magnetometer module. More...

#include "sbgEComCmdCommon.h"

Include dependency graph for sbgEComCmdMag.h:

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Classes
struct	_SbgEComMagCalibResults

struct	_SbgEComMagRejectionConf

Macros
#define	SBG_ECOM_MAG_CALIB_ALIGNMENT_ISSUE (0x0020u)

#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)

Typedefs
typedef enum _SbgEComMagCalibBandwidth	SbgEComMagCalibBandwidth

typedef enum _SbgEComMagCalibConfidence	SbgEComMagCalibConfidence

typedef enum _SbgEComMagCalibMode	SbgEComMagCalibMode

typedef enum _SbgEComMagCalibQuality	SbgEComMagCalibQuality

typedef struct _SbgEComMagCalibResults	SbgEComMagCalibResults

typedef enum _SbgEComMagModelsStdIds	SbgEComMagModelsStdId

typedef struct _SbgEComMagRejectionConf	SbgEComMagRejectionConf

Enumerations
enum	_SbgEComMagCalibBandwidth { SBG_ECOM_MAG_CALIB_LOW_BW = 0, SBG_ECOM_MAG_CALIB_MEDIUM_BW = 1, SBG_ECOM_MAG_CALIB_HIGH_BW = 2 }

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

enum	_SbgEComMagCalibMode { SBG_ECOM_MAG_CALIB_MODE_2D = 1, SBG_ECOM_MAG_CALIB_MODE_3D = 2 }

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 }

enum	_SbgEComMagModelsStdIds { SBG_ECOM_MAG_MODEL_NORMAL = 201, SBG_ECOM_MAG_MODEL_NOISY_MAG_TOLERANT = 202 }

Functions
SbgErrorCode	sbgEComCmdMagComputeCalib (SbgEComHandle pHandle, SbgEComMagCalibResults pCalibResults)

SbgErrorCode	sbgEComCmdMagGetModelInfo (SbgEComHandle pHandle, SbgEComModelInfo pModelInfo)

SbgErrorCode	sbgEComCmdMagGetRejection (SbgEComHandle pHandle, SbgEComMagRejectionConf pRejectConf)

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

SbgErrorCode	sbgEComCmdMagSetModelId (SbgEComHandle *pHandle, uint32_t id)

SbgErrorCode	sbgEComCmdMagSetRejection (SbgEComHandle pHandle, const SbgEComMagRejectionConf pRejectConf)

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

Detailed Description

This file implements SbgECom commands related to Magnetometer module.

Author: SBG Systems (Maxime Renaudet)

Date: 11 June 2014

Copyright Notice

This source code is intended for use only by SBG Systems SAS and those that have explicit written permission to use it from SBG Systems SAS.

THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.

Definition in file sbgEComCmdMag.h.

Macro Definition Documentation

◆ SBG_ECOM_MAG_CALIB_ALIGNMENT_ISSUE

#define SBG_ECOM_MAG_CALIB_ALIGNMENT_ISSUE (0x0020u)

For a 3D calibration: the alignment between the magnetometers and the inertial frame seems to be invalid.

Definition at line 83 of file sbgEComCmdMag.h.

◆ SBG_ECOM_MAG_CALIB_NOT_ENOUGH_POINTS

#define SBG_ECOM_MAG_CALIB_NOT_ENOUGH_POINTS (0x0001u)

Status bit masks used to report advanced inforamtion on the onboard magnetic calibration.Not enough valid magnetic points have been acquired.

Definition at line 78 of file sbgEComCmdMag.h.

◆ SBG_ECOM_MAG_CALIB_TOO_MUCH_DISTORTIONS

#define SBG_ECOM_MAG_CALIB_TOO_MUCH_DISTORTIONS (0x0002u)

Unable to compute a magnetic calibration due to magnetic interferences or incorrect data set distribution.

Definition at line 79 of file sbgEComCmdMag.h.

◆ SBG_ECOM_MAG_CALIB_X_MOTION_ISSUE

#define SBG_ECOM_MAG_CALIB_X_MOTION_ISSUE (0x0004u)

For a 3D calibration: not enough motion on X axis. For a 2D calibration; too much motion on X axis.

Definition at line 80 of file sbgEComCmdMag.h.

◆ SBG_ECOM_MAG_CALIB_Y_MOTION_ISSUE

#define SBG_ECOM_MAG_CALIB_Y_MOTION_ISSUE (0x0008u)

For a 3D calibration: not enough motion on Y axis. For a 2D calibration; too much motion on Y axis.

Definition at line 81 of file sbgEComCmdMag.h.

◆ SBG_ECOM_MAG_CALIB_Z_MOTION_ISSUE

#define SBG_ECOM_MAG_CALIB_Z_MOTION_ISSUE (0x0010u)

For a 3D or 2D calibration: not enough motion on Z axis.

Definition at line 82 of file sbgEComCmdMag.h.

Typedef Documentation

◆ SbgEComMagCalibBandwidth

typedef enum _SbgEComMagCalibBandwidth SbgEComMagCalibBandwidth

Used to select the expected dynamics during the magnetic calibration.

◆ SbgEComMagCalibConfidence

typedef enum _SbgEComMagCalibConfidence SbgEComMagCalibConfidence

Confidence indicator on results of an onbard magnetic calibration.

◆ SbgEComMagCalibMode

typedef enum _SbgEComMagCalibMode SbgEComMagCalibMode

Define if the onboard magnetic calibration should acquiere points for a 3D or 2D calibration.

◆ SbgEComMagCalibQuality

typedef enum _SbgEComMagCalibQuality SbgEComMagCalibQuality

General quality indicator of an onboard magnetic calibration.

◆ SbgEComMagCalibResults

typedef struct _SbgEComMagCalibResults SbgEComMagCalibResults

Helper structure to retrieve onboard magnetic calibration results.

◆ SbgEComMagModelsStdId

typedef enum _SbgEComMagModelsStdIds SbgEComMagModelsStdId

This enum defines the different magnetometer model IDs available in standard

◆ SbgEComMagRejectionConf

typedef struct _SbgEComMagRejectionConf SbgEComMagRejectionConf

Holds all necessary information for Magnetometer module data rejection.

Enumeration Type Documentation

◆ _SbgEComMagCalibBandwidth

enum _SbgEComMagCalibBandwidth

Used to select the expected dynamics during the magnetic calibration.

Enumerator
SBG_ECOM_MAG_CALIB_LOW_BW	Tell the device that low dynamics will be observed during the magnetic calibration process.
SBG_ECOM_MAG_CALIB_MEDIUM_BW	Tell the device that normal dynamics will be observed during the magnetic calibration process.
SBG_ECOM_MAG_CALIB_HIGH_BW	Tell the device that high dynamics will be observed during the magnetic calibration process.

Definition at line 45 of file sbgEComCmdMag.h.

◆ _SbgEComMagCalibConfidence

enum _SbgEComMagCalibConfidence

Confidence indicator on results of an onbard magnetic calibration.

Enumerator
SBG_ECOM_MAG_CALIB_TRUST_HIGH	Reported quality indicator can be trusted as enough remarkable magnetic field points have been acquired.
SBG_ECOM_MAG_CALIB_TRUST_MEDIUM	Few remarkable magnetic field points have been used to compute the magnetic calibration leading to a medium confidence in reported quality indicators.
SBG_ECOM_MAG_CALIB_TRUST_LOW	Even if the quality indicator could report an excellent calibration, The data set used to compute the magnetic calibration was not meaningful enough to compute meaningful quality indicators. This calibration should be used carefully.

Definition at line 66 of file sbgEComCmdMag.h.

◆ _SbgEComMagCalibMode

enum _SbgEComMagCalibMode

Define if the onboard magnetic calibration should acquiere points for a 3D or 2D calibration.

Enumerator
SBG_ECOM_MAG_CALIB_MODE_2D	Tell the device that the magnetic calibration will be performed with limited motions. This calibration mode is only designed to be used when roll and pitch motions are less than � 5�. To work correctly, the device should be rotated through at least a full circle.
SBG_ECOM_MAG_CALIB_MODE_3D	Tell the device to start a full 3D magnetic calibration procedure. The 3D magnetic calibration offers the best accuracy but needs at least motion of � 30� on the roll and pitch angles.

Definition at line 32 of file sbgEComCmdMag.h.

◆ _SbgEComMagCalibQuality

enum _SbgEComMagCalibQuality

General quality indicator of an onboard magnetic calibration.

Enumerator
SBG_ECOM_MAG_CALIB_QUAL_OPTIMAL	All acquired points fit very well on a unit sphere after the calibration.
SBG_ECOM_MAG_CALIB_QUAL_GOOD	Small deviations of the magnetic field norm have been detected. The magnetic calibration should although provide accurate heading.
SBG_ECOM_MAG_CALIB_QUAL_POOR	Large deviations of the magnetic field norm have been detected. It may come from external magnetic distortions during the calibration.
SBG_ECOM_MAG_CALIB_QUAL_INVALID	No valid magnetic calibration has been computed. It could comes from too much magnetic disturbances, insufficient or invalid motions.

Definition at line 55 of file sbgEComCmdMag.h.

◆ _SbgEComMagModelsStdIds

enum _SbgEComMagModelsStdIds

This enum defines the different magnetometer model IDs available in standard

Enumerator
SBG_ECOM_MAG_MODEL_NORMAL	Should be used in most applications
SBG_ECOM_MAG_MODEL_NOISY_MAG_TOLERANT	Should be used in disturbed magnetic environment

Definition at line 88 of file sbgEComCmdMag.h.

Function Documentation

◆ sbgEComCmdMagComputeCalib()

SbgErrorCode sbgEComCmdMagComputeCalib	(	SbgEComHandle *	pHandle,
		SbgEComMagCalibResults *	pCalibResults
	)

This command computes a magnetic calibration solution based on the magnetic field logged since the last call to the command SBG_ECOM_CMD_START_MAG_CALIB (15). As soon as the computations are done, the device will answer with quality indicators, status flags and if possible a valid magnetic calibration matrix and offset.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pCalibResults	Pointer on a SbgEComMagCalibResults structure that can hold onboard magnetic calibration results and status.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 350 of file sbgEComCmdMag.c.

◆ sbgEComCmdMagGetModelInfo()

SbgErrorCode sbgEComCmdMagGetModelInfo	(	SbgEComHandle *	pHandle,
		SbgEComModelInfo *	pModelInfo
	)

Retrieve magnetometer error model information.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pMotionProfileInfo	Pointer to a SbgEComModelInfo to contain the current magnetometer error model info.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 29 of file sbgEComCmdMag.c.

◆ sbgEComCmdMagGetRejection()

SbgErrorCode sbgEComCmdMagGetRejection	(	SbgEComHandle *	pHandle,
		SbgEComMagRejectionConf *	pRejectConf
	)

Retrieve the rejection configuration of the magnetometer module.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pRejectConf	Pointer to a SbgEComMagRejectionConf struct to hold rejection configuration of the magnetometer module.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 131 of file sbgEComCmdMag.c.

◆ sbgEComCmdMagSetCalibData()

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

Send a command that set the magnetometers calibration parameters.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	offset	Magnetometers calibration offset vector.
[in]	matix	Magnetometers calibration 3x3 matrix.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 44 of file sbgEComCmdMag.c.

◆ sbgEComCmdMagSetModelId()

SbgErrorCode sbgEComCmdMagSetModelId	(	SbgEComHandle *	pHandle,
		uint32_t	id
	)

Set magnetometer error model ID.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	id	Magnetometer model ID to set

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 15 of file sbgEComCmdMag.c.

◆ sbgEComCmdMagSetRejection()

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

Set the rejection configuration of the magnetometer module.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	pRejectConf	Pointer to a SbgEComMagRejectionConf struct holding rejection configuration for the magnetometer module.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 201 of file sbgEComCmdMag.c.

◆ sbgEComCmdMagStartCalib()

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

Start the magnetic calibration process. As soon as this command is sent, the device will start logging magnetic field data internally. This set of data will be used later by the magnetic calibration algorithms to map the surrounding magnetic field.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	mode	Define which magnetic calibration type to perform. It could be 3D or 2D.
[in]	bandwidth	Tell the device that we should have low, medium or high dynamics during the magnetic calibration process.

Returns: SBG_NO_ERROR if the command has been executed successfully.

Definition at line 274 of file sbgEComCmdMag.c.

Classes

Macros

Typedefs

Enumerations

Functions

Detailed Description

Copyright Notice

Macro Definition Documentation

◆ SBG_ECOM_MAG_CALIB_ALIGNMENT_ISSUE

◆ SBG_ECOM_MAG_CALIB_NOT_ENOUGH_POINTS

◆ SBG_ECOM_MAG_CALIB_TOO_MUCH_DISTORTIONS

◆ SBG_ECOM_MAG_CALIB_X_MOTION_ISSUE

◆ SBG_ECOM_MAG_CALIB_Y_MOTION_ISSUE

◆ SBG_ECOM_MAG_CALIB_Z_MOTION_ISSUE

Typedef Documentation

◆ SbgEComMagCalibBandwidth

◆ SbgEComMagCalibConfidence

◆ SbgEComMagCalibMode

◆ SbgEComMagCalibQuality

◆ SbgEComMagCalibResults

◆ SbgEComMagModelsStdId

◆ SbgEComMagRejectionConf

Enumeration Type Documentation

◆ _SbgEComMagCalibBandwidth

◆ _SbgEComMagCalibConfidence

◆ _SbgEComMagCalibMode

◆ _SbgEComMagCalibQuality

◆ _SbgEComMagModelsStdIds

Function Documentation

◆ sbgEComCmdMagComputeCalib()

◆ sbgEComCmdMagGetModelInfo()

◆ sbgEComCmdMagGetRejection()

◆ sbgEComCmdMagSetCalibData()

◆ sbgEComCmdMagSetModelId()

◆ sbgEComCmdMagSetRejection()

◆ sbgEComCmdMagStartCalib()