orientation.h

/*
 * Copyright (C) 2015-2018 Swift Navigation Inc.
 * Contact: Swift Navigation <dev@swiftnav.com>
 *
 * This source is subject to the license found in the file 'LICENSE' which must
 * be be distributed together with this source. All other rights reserved.
 *
 * 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.
 */

/*****************************************************************************
 * Automatically generated from yaml/swiftnav/sbp/orientation.yaml
 * with generate.py. Please do not hand edit!
 *****************************************************************************/

/** \defgroup orientation Orientation
 *
 * * Orientation Messages
 * \{ */

#ifndef LIBSBP_ORIENTATION_MESSAGES_H
#define LIBSBP_ORIENTATION_MESSAGES_H

#include "common.h"

/** Heading relative to True North
 *
 * This message reports the baseline heading pointing from the base station
 * to the rover relative to True North. The full GPS time is given by the
 * preceding MSG_GPS_TIME with the matching time-of-week (tow). It is intended
 * that time-matched RTK mode is used when the base station is moving.
 */
#define SBP_MSG_BASELINE_HEADING 0x020F

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        u32 heading; /**< Heading [mdeg] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags */
} msg_baseline_heading_t;

/** Quaternion 4 component vector
 *
 * This message reports the quaternion vector describing the vehicle body frame's orientation
 * with respect to a local-level NED frame. The components of the vector should sum to a unit
 * vector assuming that the LSB of each component as a value of 2^-31.
 */
#define SBP_MSG_ORIENT_QUAT 0x0220

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        s32 w; /**< Real component [2^-31] */
        s32 x; /**< 1st imaginary component [2^-31] */
        s32 y; /**< 2nd imaginary component [2^-31] */
        s32 z; /**< 3rd imaginary component [2^-31] */
        float acc_w; /**< Estimated standard deviation of w [N/A] */
        float acc_x; /**< Estimated standard deviation of x [N/A] */
        float acc_y; /**< Estimated standard deviation of y [N/A] */
        float acc_z; /**< Estimated standard deviation of z [N/A] */
        u8 flags; /**< Status flags */
} msg_orient_quat_t;

/** Euler angles
 *
 * This message reports the yaw, pitch, and roll angles of the vehicle body frame.
 * The rotations should applied intrinsically in the order yaw, pitch, and roll
 * in order to rotate the from a frame aligned with the local-level NED frame
 * to the vehicle body frame.
 */
#define SBP_MSG_ORIENT_EULER 0x0221

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        s32 roll; /**< rotation about the forward axis of the vehicle [microdegrees] */
        s32 pitch; /**< rotation about the rightward axis of the vehicle [microdegrees] */
        s32 yaw; /**< rotation about the downward axis of the vehicle [microdegrees] */
        float var_roll; /**< Estimated standard deviation of roll [degrees] */
        float var_pitch; /**< Estimated standard deviation of pitch [degrees] */
        float var_yaw; /**< Estimated standard deviation of yaw [degrees] */
        u8 flags; /**< Status flags */
} msg_orient_euler_t;

/** Vehicle Body Frame instantaneous angular rates
 *
 * This message reports the orientation rates in the vehicle body frame.
 * The values represent the measurements a strapped down gyroscope would
 * make and are not equivalent to the time derivative of the Euler angles.
 * The orientation and origin of the user frame is specified via device settings.
 * By convention, the vehicle x-axis is expected to be aligned with the forward
 * direction, while the vehicle y-axis is expected to be aligned with the right
 * direction, and the vehicle z-axis should be aligned with the down direction.
 */
#define SBP_MSG_ANGULAR_RATE 0x0222

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        s32 x; /**< angular rate about x axis [microdegrees/s] */
        s32 y; /**< angular rate about y axis [microdegrees/s] */
        s32 z; /**< angular rate about z axis [microdegrees/s] */
        u8 flags; /**< Status flags */
} msg_angular_rate_t;

/** \} */

#endif /* LIBSBP_ORIENTATION_MESSAGES_H */