mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-01 02:55:07 +08:00
drivers: MicroStrain Inertial Sensors (#23858)
This commit is contained in:
JoelJ18
GitHub
@@ -95,3 +95,7 @@
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[submodule "src/lib/tensorflow_lite_micro/tflite_micro"]
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[submodule "src/lib/tensorflow_lite_micro/tflite_micro"]
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path = src/lib/tensorflow_lite_micro/tflite_micro
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path = src/lib/tensorflow_lite_micro/tflite_micro
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url = https://github.com/PX4/tflite-micro.git
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url = https://github.com/PX4/tflite-micro.git
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[submodule "src/drivers/ins/microstrain/mip_sdk"]
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path = src/drivers/ins/microstrain/mip_sdk
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url = https://github.com/PX4/LORD-MicroStrain_mip_sdk.git
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branch = feature/px4_compilation
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@@ -253,6 +253,8 @@
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#define DRV_INS_DEVTYPE_ILABS 0xE9
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#define DRV_INS_DEVTYPE_ILABS 0xE9
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#define DRV_INS_DEVTYPE_MICROSTRAIN 0xEA
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#define DRV_DEVTYPE_UNUSED 0xff
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#define DRV_DEVTYPE_UNUSED 0xff
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#endif /* _DRV_SENSOR_H */
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#endif /* _DRV_SENSOR_H */
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@@ -4,6 +4,7 @@ menu "Inertial Navigation Systems (INS)"
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default n
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default n
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select DRIVERS_INS_VECTORNAV
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select DRIVERS_INS_VECTORNAV
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select DRIVERS_INS_ILABS
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select DRIVERS_INS_ILABS
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select DRIVERS_INS_MICROSTRAIN
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---help---
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---help---
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Enable default set of INS sensors
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Enable default set of INS sensors
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rsource "*/Kconfig"
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rsource "*/Kconfig"
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@@ -0,0 +1,57 @@
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############################################################################
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#
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# Copyright (c) 2025 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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||||||
|
# notice, this list of conditions and the following disclaimer.
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||||||
|
# 2. Redistributions in binary form must reproduce the above copyright
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||||||
|
# notice, this list of conditions and the following disclaimer in
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|
# the documentation and/or other materials provided with the
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|
# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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set(MIP_SDK_DIR ${CMAKE_CURRENT_SOURCE_DIR}/mip_sdk)
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px4_add_git_submodule(TARGET git_mip PATH ${MIP_SDK_DIR})
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# Set some options for the MIP SDK which we will reset after building.
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set(MIP_USE_TCP "OFF" CACHE BOOL "" FORCE)
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set(MIP_DISABLE_CPP "ON" CACHE BOOL "" FORCE)
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set(BUILD_EXAMPLES "OFF" CACHE BOOL "" FORCE)
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set(BUILD_TESTING "OFF" CACHE BOOL "" FORCE)
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add_subdirectory(mip_sdk)
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px4_add_module(
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MODULE drivers__ins__microstrain
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MAIN microstrain
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COMPILE_FLAGS
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SRCS
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MicroStrain.cpp
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MicroStrain.hpp
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MODULE_CONFIG
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module.yaml
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DEPENDS
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px4_work_queue
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mip
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)
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@@ -0,0 +1,5 @@
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menuconfig DRIVERS_INS_MICROSTRAIN
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bool "microstrain"
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default n
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---help---
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Enable support for Microstrain Sensors
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Executable
+1858
File diff suppressed because it is too large
Load Diff
Executable
+259
@@ -0,0 +1,259 @@
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/****************************************************************************
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*
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* Copyright (c) 2025 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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|
* modification, are permitted provided that the following conditions
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|
* are met:
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|
*
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* 1. Redistributions of source code must retain the above copyright
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|
* notice, this list of conditions and the following disclaimer.
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|
* 2. Redistributions in binary form must reproduce the above copyright
|
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|
* notice, this list of conditions and the following disclaimer in
|
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|
* the documentation and/or other materials provided with the
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|
* distribution.
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|
* 3. Neither the name PX4 nor the names of its contributors may be
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|
* used to endorse or promote products derived from this software
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|
* without specific prior written permission.
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||||||
|
*
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|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/Serial.hpp>
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#include <drivers/drv_hrt.h>
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#include <lib/perf/perf_counter.h>
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#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
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#include "mathlib/math/filter/AlphaFilter.hpp"
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#include <uORB/Publication.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/sensor_accel.h>
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#include <uORB/topics/sensor_mag.h>
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#include <uORB/topics/sensor_gyro.h>
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#include <uORB/topics/sensor_baro.h>
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#include <uORB/topics/sensor_gps.h>
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#include <uORB/topics/sensor_selection.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_odometry.h>
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#include <uORB/topics/debug_array.h>
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#include <uORB/topics/estimator_status.h>
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#include "mip_sdk/src/mip/mip_all.h"
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#include "mip_sdk/src/mip/definitions/commands_aiding.h"
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using namespace mip::C;
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using namespace time_literals;
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using matrix::Vector2f;
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#define MS_PX4_ERROR(res, ...) \
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do \
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{ \
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PX4_ERR(__VA_ARGS__); \
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PX4_ERR(" Error: %s", mip_cmd_result_to_string(res)); \
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} while (0)
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static constexpr float sq(float x) { return x * x; };
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class MicroStrain : public ModuleBase<MicroStrain>, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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MicroStrain(const char *_device);
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~MicroStrain() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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/** @see ModuleBase */
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int print_status() override;
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/* Callbacks */
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// Sensor Callbacks
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static void sensorCallback(void *user, const mip_packet *packet, mip::Timestamp timestamp);
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static void filterCallback(void *user, const mip_packet *packet, mip::Timestamp timestamp);
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static void gnssCallback(void *user, const mip_packet *packet, mip::Timestamp timestamp);
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private:
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/** @see ModuleBase */
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void Run() override;
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/// @brief Attempt to connect to the Sensor and set in known configuration
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bool initializeIns();
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int connectAtBaud(int32_t baud);
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mip_cmd_result forceIdle();
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mip_cmd_result getSupportedDescriptors();
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bool supportsDescriptor(uint8_t descriptor_set, uint8_t field_descriptor);
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bool supportsDescriptorSet(uint8_t descriptor_set);
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mip_cmd_result writeBaudRate(uint32_t baudrate, uint8_t port);
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mip_cmd_result configureImuRange();
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mip_cmd_result getBaseRate(uint8_t descriptor_set, uint16_t *base_rate);
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mip_cmd_result configureImuMessageFormat();
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mip_cmd_result configureFilterMessageFormat();
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mip_cmd_result configureGnssMessageFormat(uint8_t descriptor_set);
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mip_cmd_result writeMessageFormat(uint8_t descriptor_set, uint8_t num_descriptors,
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const mip::DescriptorRate *descriptors);
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mip_cmd_result configureAidingMeasurement(uint16_t aiding_source, bool enable);
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mip_cmd_result configureAidingSources();
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mip_cmd_result writeFilterInitConfig();
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void initializeRefPos();
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void updateGeoidHeight(float geoid_height, float t);
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void sendAidingMeasurements();
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bool init();
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uint32_t _dev_id{0};
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// Performance (perf) counters
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perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
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perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
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mip_cmd_result MIP_PX4_ERROR = MIP_STATUS_USER_START;
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uint8_t _parse_buffer[2048];
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bool _is_initialized{false};
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int _ms_schedule_rate_us{0};
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bool _ext_pos_vel_aiding{false};
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bool _ext_heading_aiding{false};
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bool _ext_aiding{false};
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float gnss_antenna_offset1[3] = {0};
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float gnss_antenna_offset2[3] = {0};
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mip_aiding_frame_config_command_rotation rotation = {0};
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AlphaFilter<float> _geoid_height_lpf;
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uint64_t _last_geoid_height_update_us{0};
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static constexpr float kGeoidHeightLpfTimeConstant = 10.f;
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MapProjection _pos_ref{};
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double _ref_alt = 0;
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float _gps_origin_ep[2] = {0};
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template <typename T>
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struct SensorSample {
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T sample;
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bool updated = false;
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};
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mip_filter_gnss_dual_antenna_status_data dual_ant_stat{0};
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|
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uint16_t _supported_descriptors[1024] = {0};
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uint16_t _supported_desc_len = 0;
|
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uint16_t _supported_descriptor_sets[1024] = {0};
|
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uint16_t _supported_desc_set_len = 0;
|
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|
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|
mip::C::mip_interface _device;
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|
|
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|
// Handlers
|
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mip_dispatch_handler _sensor_data_handler;
|
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mip_dispatch_handler _filter_data_handler;
|
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mip_dispatch_handler _gnss_data_handler[2];
|
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|
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|
char _port[128];
|
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|
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|
// Parameters
|
||||||
|
DEFINE_PARAMETERS(
|
||||||
|
(ParamInt<px4::params::MS_MODE>) _param_ms_mode,
|
||||||
|
(ParamInt<px4::params::MS_IMU_RATE_HZ>) _param_ms_imu_rate_hz,
|
||||||
|
(ParamInt<px4::params::MS_MAG_RATE_HZ>) _param_ms_mag_rate_hz,
|
||||||
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(ParamInt<px4::params::MS_BARO_RATE_HZ>) _param_ms_baro_rate_hz,
|
||||||
|
(ParamInt<px4::params::MS_FILT_RATE_HZ>) _param_ms_filter_rate_hz,
|
||||||
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(ParamInt<px4::params::MS_GNSS_RATE_HZ>) _param_ms_gnss_rate_hz,
|
||||||
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(ParamInt<px4::params::MS_ALIGNMENT>) _param_ms_alignment,
|
||||||
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(ParamInt<px4::params::MS_GNSS_AID_SRC>) _param_ms_gnss_aid_src_ctrl,
|
||||||
|
(ParamInt<px4::params::MS_INT_MAG_EN>) _param_ms_int_mag_en,
|
||||||
|
(ParamInt<px4::params::MS_INT_HEAD_EN>) _param_ms_int_heading_en,
|
||||||
|
(ParamInt<px4::params::MS_EXT_HEAD_EN>) _param_ms_ext_heading_en,
|
||||||
|
(ParamInt<px4::params::MS_SVT_EN>) _param_ms_svt_en,
|
||||||
|
(ParamInt<px4::params::MS_ACCEL_RANGE>) _param_ms_accel_range_setting,
|
||||||
|
(ParamInt<px4::params::MS_GYRO_RANGE>) _param_ms_gyro_range_setting,
|
||||||
|
(ParamFloat<px4::params::MS_GNSS_OFF1_X>) _param_ms_gnss_offset1_x,
|
||||||
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(ParamFloat<px4::params::MS_GNSS_OFF1_Y>) _param_ms_gnss_offset1_y,
|
||||||
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(ParamFloat<px4::params::MS_GNSS_OFF1_Z>) _param_ms_gnss_offset1_z,
|
||||||
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(ParamFloat<px4::params::MS_GNSS_OFF2_X>) _param_ms_gnss_offset2_x,
|
||||||
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(ParamFloat<px4::params::MS_GNSS_OFF2_Y>) _param_ms_gnss_offset2_y,
|
||||||
|
(ParamFloat<px4::params::MS_GNSS_OFF2_Z>) _param_ms_gnss_offset2_z,
|
||||||
|
(ParamFloat<px4::params::MS_SENSOR_ROLL>) _param_ms_sensor_roll,
|
||||||
|
(ParamFloat<px4::params::MS_SENSOR_PTCH>) _param_ms_sensor_pitch,
|
||||||
|
(ParamFloat<px4::params::MS_SENSOR_YAW>) _param_ms_sensor_yaw
|
||||||
|
)
|
||||||
|
|
||||||
|
// Sensor types needed for message creation / updating / publishing
|
||||||
|
PX4Accelerometer _px4_accel{0};
|
||||||
|
PX4Gyroscope _px4_gyro{0};
|
||||||
|
PX4Magnetometer _px4_mag{0};
|
||||||
|
sensor_baro_s _sensor_baro{0};
|
||||||
|
|
||||||
|
// Must publish to prevent sensor stale failure (sensors module)
|
||||||
|
uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
|
||||||
|
uORB::PublicationMulti<sensor_gps_s> _sensor_gps_pub[2] {ORB_ID(sensor_gps), ORB_ID(sensor_gps)};
|
||||||
|
uORB::Publication<sensor_selection_s> _sensor_selection_pub{ORB_ID(sensor_selection)};
|
||||||
|
|
||||||
|
uORB::Publication<vehicle_global_position_s> _vehicle_global_position_pub;
|
||||||
|
uORB::Publication<vehicle_attitude_s> _vehicle_attitude_pub;
|
||||||
|
uORB::Publication<vehicle_local_position_s> _vehicle_local_position_pub;
|
||||||
|
uORB::Publication<vehicle_odometry_s> _vehicle_odometry_pub{ORB_ID(vehicle_odometry)};
|
||||||
|
uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)};
|
||||||
|
|
||||||
|
// Needed for health checks
|
||||||
|
uORB::Publication<estimator_status_s> _estimator_status_pub{ORB_ID(estimator_status)};
|
||||||
|
|
||||||
|
// Subscriptions
|
||||||
|
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; // subscription limited to 1 Hz updates
|
||||||
|
uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
|
||||||
|
};
|
||||||
Submodule
+1
Submodule src/drivers/ins/microstrain/mip_sdk added at 35596994b6
@@ -0,0 +1,310 @@
|
|||||||
|
module_name: MICROSTRAIN
|
||||||
|
|
||||||
|
parameters:
|
||||||
|
- group: Sensors
|
||||||
|
definitions:
|
||||||
|
|
||||||
|
MS_MODE:
|
||||||
|
description:
|
||||||
|
short: Toggles using the device as the primary EKF
|
||||||
|
long: |
|
||||||
|
Setting to 1 will publish data from the device to the vehicle topics (global_position, attitude, local_position, odometry), estimator_status and sensor_selection
|
||||||
|
Setting to 0 will publish data from the device to the external_ins topics (global position, attitude, local position)
|
||||||
|
Restart Required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: int32
|
||||||
|
default: 1
|
||||||
|
|
||||||
|
MS_IMU_RATE_HZ:
|
||||||
|
description:
|
||||||
|
short: IMU Data Rate
|
||||||
|
long: |
|
||||||
|
IMU (Accelerometer and Gyroscope) data rate
|
||||||
|
The INS driver will be scheduled at a rate 2*MS_IMU_RATE_HZ
|
||||||
|
Max Limit: 1000
|
||||||
|
0 - Disable IMU datastream
|
||||||
|
The max limit should be divisible by the rate
|
||||||
|
eg: 1000 % MS_IMU_RATE_HZ = 0
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: int32
|
||||||
|
default: 500
|
||||||
|
|
||||||
|
MS_MAG_RATE_HZ:
|
||||||
|
description:
|
||||||
|
short: Magnetometer Data Rate
|
||||||
|
long: |
|
||||||
|
Magnetometer data rate
|
||||||
|
Max Limit: 1000
|
||||||
|
0 - Disable magnetometer datastream
|
||||||
|
The max limit should be divisible by the rate
|
||||||
|
eg: 1000 % MS_MAG_RATE_HZ = 0
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: int32
|
||||||
|
default: 50
|
||||||
|
|
||||||
|
MS_BARO_RATE_HZ:
|
||||||
|
description:
|
||||||
|
short: Barometer data rate
|
||||||
|
long: |
|
||||||
|
Barometer data rate
|
||||||
|
Max Limit: 1000
|
||||||
|
0 - Disable barometer datastream
|
||||||
|
The max limit should be divisible by the rate
|
||||||
|
eg: 1000 % MS_BARO_RATE_HZ = 0
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: int32
|
||||||
|
default: 50
|
||||||
|
|
||||||
|
MS_FILT_RATE_HZ:
|
||||||
|
description:
|
||||||
|
short: EKF data Rate
|
||||||
|
long: |
|
||||||
|
EKF data rate
|
||||||
|
Max Limit: 1000
|
||||||
|
0 - Disable EKF datastream
|
||||||
|
The max limit should be divisible by the rate
|
||||||
|
eg: 1000 % MS_FILT_RATE_HZ = 0
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: int32
|
||||||
|
default: 250
|
||||||
|
|
||||||
|
MS_GNSS_RATE_HZ:
|
||||||
|
description:
|
||||||
|
short: GNSS data Rate
|
||||||
|
long: |
|
||||||
|
GNSS receiver 1 and 2 data rate
|
||||||
|
Max Limit: 5
|
||||||
|
The max limit should be divisible by the rate
|
||||||
|
0 - Disable GNSS datastream
|
||||||
|
eg: 5 % MS_GNSS_RATE_HZ = 0
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: int32
|
||||||
|
default: 5
|
||||||
|
|
||||||
|
MS_ALIGNMENT:
|
||||||
|
description:
|
||||||
|
short: Alignment type
|
||||||
|
long: |
|
||||||
|
Select the source of heading alignment
|
||||||
|
This is a bitfield, you can use more than 1 source
|
||||||
|
Bit 0 - Dual-antenna GNSS
|
||||||
|
Bit 1 - GNSS kinematic (requires motion, e.g. a GNSS velocity)
|
||||||
|
Bit 2 - Magnetometer
|
||||||
|
Bit 3 - External Heading (first valid external heading will be used to initialize the filter)
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: int32
|
||||||
|
default: 2
|
||||||
|
|
||||||
|
MS_GNSS_AID_SRC:
|
||||||
|
description:
|
||||||
|
short: GNSS aiding source control
|
||||||
|
long: |
|
||||||
|
Select the source of gnss aiding (GNSS/INS)
|
||||||
|
1 = All internal receivers,
|
||||||
|
2 = External GNSS messages,
|
||||||
|
3 = GNSS receiver 1 only
|
||||||
|
4 = GNSS receiver 2 only
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: int32
|
||||||
|
default: 1
|
||||||
|
|
||||||
|
MS_INT_MAG_EN:
|
||||||
|
description:
|
||||||
|
short: Toggles internal magnetometer aiding in the device filter
|
||||||
|
long: |
|
||||||
|
0 = Disabled,
|
||||||
|
1 = Enabled
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: int32
|
||||||
|
default: 0
|
||||||
|
|
||||||
|
MS_INT_HEAD_EN:
|
||||||
|
description:
|
||||||
|
short: Toggles internal heading as an aiding measurement
|
||||||
|
long: |
|
||||||
|
0 = Disabled,
|
||||||
|
1 = Enabled
|
||||||
|
If dual antennas are supported (CV7-GNSS/INS). The filter will be configured to use dual antenna heading as an aiding measurement.
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: int32
|
||||||
|
default: 0
|
||||||
|
|
||||||
|
MS_EXT_HEAD_EN:
|
||||||
|
description:
|
||||||
|
short: Toggles external heading as an aiding measurement
|
||||||
|
long: |
|
||||||
|
0 = Disabled,
|
||||||
|
1 = Enabled
|
||||||
|
If enabled, the filter will be configured to accept external heading as an aiding meaurement.
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: int32
|
||||||
|
default: 0
|
||||||
|
|
||||||
|
MS_SVT_EN:
|
||||||
|
description:
|
||||||
|
short: Enables sensor to vehicle transform
|
||||||
|
long: |
|
||||||
|
0 = Disabled,
|
||||||
|
1 = Enabled
|
||||||
|
If the sensor has a different orientation with respect to the vehicle. This will enable a transform to correct itself.
|
||||||
|
The transform is described by MS_SENSOR_ROLL, MS_SENSOR_PITCH, MS_SENSOR_YAW
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: int32
|
||||||
|
default: 0
|
||||||
|
|
||||||
|
MS_ACCEL_RANGE:
|
||||||
|
description:
|
||||||
|
short: Sets the range of the accelerometer
|
||||||
|
long: |
|
||||||
|
-1 = Will not be configured, and will use the device default range,
|
||||||
|
Each adjustable range has a corresponding integer setting. Refer to the device's User Manual to check the available adjustment ranges.
|
||||||
|
https://www.hbkworld.com/en/products/transducers/inertial-sensors#!ref_microstrain.com
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: int32
|
||||||
|
default: -1
|
||||||
|
|
||||||
|
MS_GYRO_RANGE:
|
||||||
|
description:
|
||||||
|
short: Sets the range of the gyro
|
||||||
|
long: |
|
||||||
|
-1 = Will not be configured, and will use the device default range,
|
||||||
|
Each adjustable range has a corresponding integer setting. Refer to the device's User Manual to check the available adjustment ranges.
|
||||||
|
https://www.hbkworld.com/en/products/transducers/inertial-sensors#!ref_microstrain.com
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: int32
|
||||||
|
default: -1
|
||||||
|
|
||||||
|
MS_GNSS_OFF1_X:
|
||||||
|
description:
|
||||||
|
short: GNSS lever arm offset 1 (X)
|
||||||
|
long: |
|
||||||
|
Lever arm offset (m) in the X direction for the external GNSS receiver
|
||||||
|
In the case of a dual antenna setup, this is antenna 1
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
|
||||||
|
MS_GNSS_OFF1_Y:
|
||||||
|
description:
|
||||||
|
short: GNSS lever arm offset 1 (Y)
|
||||||
|
long: |
|
||||||
|
Lever arm offset (m) in the Y direction for the external GNSS receiver
|
||||||
|
In the case of a dual antenna setup, this is antenna 1
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
|
||||||
|
MS_GNSS_OFF1_Z:
|
||||||
|
description:
|
||||||
|
short: GNSS lever arm offset 1 (Z)
|
||||||
|
long: |
|
||||||
|
Lever arm offset (m) in the Z direction for the external GNSS receiver
|
||||||
|
In the case of a dual antenna setup, this is antenna 1
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
|
||||||
|
MS_GNSS_OFF2_X:
|
||||||
|
description:
|
||||||
|
short: GNSS lever arm offset 2 (X)
|
||||||
|
long: |
|
||||||
|
Lever arm offset (m) in the X direction for antenna 2
|
||||||
|
This will only be used if the device supports a dual antenna setup
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
|
||||||
|
MS_GNSS_OFF2_Y:
|
||||||
|
description:
|
||||||
|
short: GNSS lever arm offset 2 (Y)
|
||||||
|
long: |
|
||||||
|
Lever arm offset (m) in the Y direction for antenna 2
|
||||||
|
This will only be used if the device supports a dual antenna setup
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
|
||||||
|
MS_GNSS_OFF2_Z:
|
||||||
|
description:
|
||||||
|
short: GNSS lever arm offset 2 (Z)
|
||||||
|
long: |
|
||||||
|
Lever arm offset (m) in the X direction for antenna 2
|
||||||
|
This will only be used if the device supports a dual antenna setup
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
|
||||||
|
MS_SENSOR_ROLL:
|
||||||
|
description:
|
||||||
|
short: Sensor to Vehicle Transform (Roll)
|
||||||
|
long: |
|
||||||
|
The orientation of the device (Radians) with respect to the vehicle frame around the x axis
|
||||||
|
Requires MS_SVT_EN to be enabled to be used
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
|
||||||
|
MS_SENSOR_PTCH:
|
||||||
|
description:
|
||||||
|
short: Sensor to Vehicle Transform (Pitch)
|
||||||
|
long: |
|
||||||
|
The orientation of the device (Radians) with respect to the vehicle frame around the y axis
|
||||||
|
Requires MS_SVT_EN to be enabled to be used
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
|
||||||
|
MS_SENSOR_YAW:
|
||||||
|
description:
|
||||||
|
short: Sensor to Vehicle Transform (Yaw)
|
||||||
|
long: |
|
||||||
|
The orientation of the device (Radians) with respect to the vehicle frame around the z axis
|
||||||
|
Requires MS_SVT_EN to be enabled to be used
|
||||||
|
Restart required
|
||||||
|
|
||||||
|
This parameter is specific to the MicroStrain driver.
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
Reference in New Issue
Block a user