C++ (Cpp) XSENS_SetLeverArmGps Examples

Example #1

File: ins_xsens.c Project: ERAUBB/paparazzi

void ins_periodic_task( void ) {
  if (xsens_configured > 0)
    {
      switch (xsens_configured)
        {
        case 20:
          /* send mode and settings to MT */
          XSENS_GoToConfig();
          XSENS_SetOutputMode(xsens_output_mode);
          XSENS_SetOutputSettings(xsens_output_settings);
          break;
        case 18:
          // Give pulses on SyncOut
          XSENS_SetSyncOutSettings(0,0x0002);
          break;
        case 17:
          // 1 pulse every 100 samples
          XSENS_SetSyncOutSettings(1,100);
          break;
        case 2:
          XSENS_ReqLeverArmGps();
          break;

        case 6:
          XSENS_ReqMagneticDeclination();
          break;

        case 13:
#ifdef AHRS_H_X
#pragma message "Sending XSens Magnetic Declination."
          xsens_declination = atan2(AHRS_H_Y, AHRS_H_X);
          XSENS_SetMagneticDeclination(xsens_declination);
#endif
          break;
        case 12:
#ifdef GPS_IMU_LEVER_ARM_X
#pragma message "Sending XSens GPS Arm."
          XSENS_SetLeverArmGps(GPS_IMU_LEVER_ARM_X,GPS_IMU_LEVER_ARM_Y,GPS_IMU_LEVER_ARM_Z);
#endif
          break;
        case 10:
          {
            uint8_t baud = 1;
            XSENS_SetBaudrate(baud);
          }
          break;

        case 1:
          XSENS_GoToMeasurment();
          break;

        default:
          break;
        }
      xsens_configured--;
      return;
    }

  RunOnceEvery(100,XSENS_ReqGPSStatus());
}

Example #2

File: ins_xsens700.c Project: CodeMining/paparazzi

void xsens_periodic(void)
{
  if (xsens_configured > 0) {
    switch (xsens_configured) {
      case 25:
        /* send mode and settings to MT */
        XSENS_GoToConfig();
        //XSENS_SetOutputMode(xsens_output_mode);
        //XSENS_SetOutputSettings(xsens_output_settings);
        break;
      case 18:
        // Give pulses on SyncOut
        //XSENS_SetSyncOutSettings(0,0x0002);
        break;
      case 17:

        XsensHeader(XSENS_SetOutputConfiguration_ID, 44);
        xsens_ask_message_rate(0x10, 0x10, 4);    // UTC
        xsens_ask_message_rate(0x20, 0x30, 100);  // Attitude Euler
        xsens_ask_message_rate(0x40, 0x10, 100);  // Delta-V
        xsens_ask_message_rate(0x80, 0x20, 100);  // Rate of turn
        xsens_ask_message_rate(0xE0, 0x20, 50);   // Status
        xsens_ask_message_rate(0x30, 0x10, 50);   // Baro Pressure
        xsens_ask_message_rate(0x88, 0x40, 1);    // NavSol
        xsens_ask_message_rate(0x88, 0xA0, 1);    // SV Info
        xsens_ask_message_rate(0x50, 0x20, 50);   // GPS Altitude Ellipsiod
        xsens_ask_message_rate(0x50, 0x40, 50);   // GPS Position
        xsens_ask_message_rate(0xD0, 0x10, 50);   // GPS Speed
        XsensTrailer();
        break;
      case 2:
        //XSENS_ReqLeverArmGps();
        break;

      case 6:
        //XSENS_ReqMagneticDeclination();
        break;

      case 13:
        //#ifdef AHRS_H_X
        //#pragma message "Sending XSens Magnetic Declination."
        //xsens_declination = atan2(AHRS_H_Y, AHRS_H_X);
        //XSENS_SetMagneticDeclination(xsens_declination);
        //#endif
        break;
      case 12:
#ifdef GPS_IMU_LEVER_ARM_X
#pragma message "Sending XSens GPS Arm."
        XSENS_SetLeverArmGps(GPS_IMU_LEVER_ARM_X, GPS_IMU_LEVER_ARM_Y, GPS_IMU_LEVER_ARM_Z);
#endif
        break;
      case 10: {
        uint8_t baud = 1;
        XSENS_SetBaudrate(baud);
      }
      break;

      case 1:
        XSENS_GoToMeasurment();
        break;
      default:
        break;
    }
    xsens_configured--;
    return;
  }

  //RunOnceEvery(100,XSENS_ReqGPSStatus());
}