void parse_ins_msg( void ) {
uint8_t offset = 0;
if (xsens_id == XSENS_ReqOutputModeAck_ID) {
xsens_output_mode = XSENS_ReqOutputModeAck_mode(xsens_msg_buf);
}
else if (xsens_id == XSENS_ReqOutputSettings_ID) {
xsens_output_settings = XSENS_ReqOutputSettingsAck_settings(xsens_msg_buf);
}
else if (xsens_id == XSENS_ReqMagneticDeclinationAck_ID) {
xsens_declination = DegOfRad (XSENS_ReqMagneticDeclinationAck_declination(xsens_msg_buf) );
DOWNLINK_SEND_IMU_MAG_SETTINGS(DefaultChannel,&xsens_declination,&xsens_declination,&xsens_gps_arm_x,&xsens_gps_arm_y,&xsens_gps_arm_z);
}
else if (xsens_id == XSENS_ReqLeverArmGpsAck_ID) {
xsens_gps_arm_x = XSENS_ReqLeverArmGpsAck_x(xsens_msg_buf);
xsens_gps_arm_y = XSENS_ReqLeverArmGpsAck_y(xsens_msg_buf);
xsens_gps_arm_z = XSENS_ReqLeverArmGpsAck_z(xsens_msg_buf);
DOWNLINK_SEND_IMU_MAG_SETTINGS(DefaultChannel,&xsens_declination,&xsens_declination,&xsens_gps_arm_x,&xsens_gps_arm_y,&xsens_gps_arm_z);
}
else if (xsens_id == XSENS_Error_ID) {
xsens_errorcode = XSENS_Error_errorcode(xsens_msg_buf);
}
#ifdef USE_GPS_XSENS
else if (xsens_id == XSENS_GPSStatus_ID) {
gps.nb_channels = XSENS_GPSStatus_nch(xsens_msg_buf);
gps.num_sv = 0;
gps.last_fix_time = cpu_time_sec;
uint8_t i;
// Do not write outside buffer
for(i = 0; i < Min(gps.nb_channels, GPS_NB_CHANNELS); i++) {
uint8_t ch = XSENS_GPSStatus_chn(xsens_msg_buf,i);
if (ch > gps.nb_channels) continue;
gps.svinfos[ch].svid = XSENS_GPSStatus_svid(xsens_msg_buf, i);
gps.svinfos[ch].flags = XSENS_GPSStatus_bitmask(xsens_msg_buf, i);
gps.svinfos[ch].qi = XSENS_GPSStatus_qi(xsens_msg_buf, i);
gps.svinfos[ch].cno = XSENS_GPSStatus_cnr(xsens_msg_buf, i);
if (gps.svinfos[ch].flags > 0)
{
gps.num_sv++;
}
}
}
#endif
else if (xsens_id == XSENS_MTData_ID) {
/* test RAW modes else calibrated modes */
//if ((XSENS_MASK_RAWInertial(xsens_output_mode)) || (XSENS_MASK_RAWGPS(xsens_output_mode))) {
if (XSENS_MASK_RAWInertial(xsens_output_mode)) {
ins_p = XSENS_DATA_RAWInertial_gyrX(xsens_msg_buf,offset);
ins_q = XSENS_DATA_RAWInertial_gyrY(xsens_msg_buf,offset);
ins_r = XSENS_DATA_RAWInertial_gyrZ(xsens_msg_buf,offset);
offset += XSENS_DATA_RAWInertial_LENGTH;
}
if (XSENS_MASK_RAWGPS(xsens_output_mode)) {
#if defined(USE_GPS_XSENS_RAW_DATA) && defined(USE_GPS_XSENS)
#ifdef GPS_LED
LED_TOGGLE(GPS_LED);
#endif
gps.last_fix_time = cpu_time_sec;
gps.week = 0; // FIXME
gps.tow = XSENS_DATA_RAWGPS_itow(xsens_msg_buf,offset) * 10;
gps.lla_pos.lat = RadOfDeg(XSENS_DATA_RAWGPS_lat(xsens_msg_buf,offset));
gps.lla_pos.lon = RadOfDeg(XSENS_DATA_RAWGPS_lon(xsens_msg_buf,offset));
gps.lla_pos.alt = XSENS_DATA_RAWGPS_alt(xsens_msg_buf,offset);
/* Set the real UTM zone */
gps.utm_pos.zone = (DegOfRad(gps.lla_pos.lon/1e7)+180) / 6 + 1;
lla_f.lat = ((float) gps.lla_pos.lat) / 1e7;
lla_f.lon = ((float) gps.lla_pos.lon) / 1e7;
utm_f.zone = nav_utm_zone0;
/* convert to utm */
utm_of_lla_f(&utm_f, &lla_f);
/* copy results of utm conversion */
gps.utm_pos.east = utm_f.east*100;
gps.utm_pos.north = utm_f.north*100;
gps.utm_pos.alt = gps.lla_pos.alt;
ins_x = utm_f.east;
ins_y = utm_f.north;
// Altitude: Xsens LLH gives ellipsoid height
ins_z = -(INS_FORMAT)XSENS_DATA_RAWGPS_alt(xsens_msg_buf,offset) / 1000.;
// Compute geoid (MSL) height
float hmsl;
WGS84_ELLIPSOID_TO_GEOID(lla_f.lat,lla_f.lon,hmsl);
gps.hmsl = XSENS_DATA_RAWGPS_alt(xsens_msg_buf,offset) - (hmsl * 1000.0f);
ins_vx = ((INS_FORMAT)XSENS_DATA_RAWGPS_vel_n(xsens_msg_buf,offset)) / 100.;
ins_vy = ((INS_FORMAT)XSENS_DATA_RAWGPS_vel_e(xsens_msg_buf,offset)) / 100.;
ins_vz = ((INS_FORMAT)XSENS_DATA_RAWGPS_vel_d(xsens_msg_buf,offset)) / 100.;
gps.ned_vel.x = XSENS_DATA_RAWGPS_vel_n(xsens_msg_buf,offset);
gps.ned_vel.y = XSENS_DATA_RAWGPS_vel_e(xsens_msg_buf,offset);
gps.ned_vel.z = XSENS_DATA_RAWGPS_vel_d(xsens_msg_buf,offset);
gps.pacc = XSENS_DATA_RAWGPS_hacc(xsens_msg_buf,offset) / 100;
gps.sacc = XSENS_DATA_RAWGPS_sacc(xsens_msg_buf,offset) / 100;
gps.pdop = 5; // FIXME Not output by XSens
#endif
offset += XSENS_DATA_RAWGPS_LENGTH;
}
//} else {
if (XSENS_MASK_Temp(xsens_output_mode)) {
offset += XSENS_DATA_Temp_LENGTH;
}
if (XSENS_MASK_Calibrated(xsens_output_mode)) {
uint8_t l = 0;
if (!XSENS_MASK_AccOut(xsens_output_settings)) {
ins_ax = XSENS_DATA_Calibrated_accX(xsens_msg_buf,offset);
ins_ay = XSENS_DATA_Calibrated_accY(xsens_msg_buf,offset);
ins_az = XSENS_DATA_Calibrated_accZ(xsens_msg_buf,offset);
l++;
}
if (!XSENS_MASK_GyrOut(xsens_output_settings)) {
ins_p = XSENS_DATA_Calibrated_gyrX(xsens_msg_buf,offset);
ins_q = XSENS_DATA_Calibrated_gyrY(xsens_msg_buf,offset);
ins_r = XSENS_DATA_Calibrated_gyrZ(xsens_msg_buf,offset);
l++;
}
if (!XSENS_MASK_MagOut(xsens_output_settings)) {
ins_mx = XSENS_DATA_Calibrated_magX(xsens_msg_buf,offset);
ins_my = XSENS_DATA_Calibrated_magY(xsens_msg_buf,offset);
ins_mz = XSENS_DATA_Calibrated_magZ(xsens_msg_buf,offset);
l++;
}
offset += l * XSENS_DATA_Calibrated_LENGTH / 3;
}
if (XSENS_MASK_Orientation(xsens_output_mode)) {
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x00) {
float q0 = XSENS_DATA_Quaternion_q0(xsens_msg_buf,offset);
float q1 = XSENS_DATA_Quaternion_q1(xsens_msg_buf,offset);
float q2 = XSENS_DATA_Quaternion_q2(xsens_msg_buf,offset);
float q3 = XSENS_DATA_Quaternion_q3(xsens_msg_buf,offset);
float dcm00 = 1.0 - 2 * (q2*q2 + q3*q3);
float dcm01 = 2 * (q1*q2 + q0*q3);
float dcm02 = 2 * (q1*q3 - q0*q2);
float dcm12 = 2 * (q2*q3 + q0*q1);
float dcm22 = 1.0 - 2 * (q1*q1 + q2*q2);
ins_phi = atan2(dcm12, dcm22);
ins_theta = -asin(dcm02);
ins_psi = atan2(dcm01, dcm00);
offset += XSENS_DATA_Quaternion_LENGTH;
}
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x01) {
ins_phi = XSENS_DATA_Euler_roll(xsens_msg_buf,offset) * M_PI / 180;
ins_theta = XSENS_DATA_Euler_pitch(xsens_msg_buf,offset) * M_PI / 180;
ins_psi = XSENS_DATA_Euler_yaw(xsens_msg_buf,offset) * M_PI / 180;
offset += XSENS_DATA_Euler_LENGTH;
}
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x10) {
offset += XSENS_DATA_Matrix_LENGTH;
}
new_ins_attitude = 1;
}
if (XSENS_MASK_Auxiliary(xsens_output_mode)) {
uint8_t l = 0;
if (!XSENS_MASK_Aux1Out(xsens_output_settings)) {
l++;
}
if (!XSENS_MASK_Aux2Out(xsens_output_settings)) {
l++;
}
offset += l * XSENS_DATA_Auxiliary_LENGTH / 2;
}
if (XSENS_MASK_Position(xsens_output_mode)) {
#if (!defined(USE_GPS_XSENS_RAW_DATA)) && defined(USE_GPS_XSENS)
gps.last_fix_time = cpu_time_sec;
lla_f.lat = RadOfDeg(XSENS_DATA_Position_lat(xsens_msg_buf,offset));
lla_f.lon = RadOfDeg(XSENS_DATA_Position_lon(xsens_msg_buf,offset));
gps.lla_pos.lat = (int32_t)(lla_f.lat * 1e7);
gps.lla_pos.lon = (int32_t)(lla_f.lon * 1e7);
gps.utm_pos.zone = (DegOfRad(lla_f.lon)+180) / 6 + 1;
/* convert to utm */
utm_of_lla_f(&utm_f, &lla_f);
/* copy results of utm conversion */
gps.utm_pos.east = utm_f.east*100;
gps.utm_pos.north = utm_f.north*100;
ins_x = utm_f.east;
ins_y = utm_f.north;
ins_z = XSENS_DATA_Position_alt(xsens_msg_buf,offset);//TODO is this hms or above ellipsoid?
gps.hmsl = ins_z * 1000;
#endif
offset += XSENS_DATA_Position_LENGTH;
}
if (XSENS_MASK_Velocity(xsens_output_mode)) {
#if (!defined(USE_GPS_XSENS_RAW_DATA)) && defined(USE_GPS_XSENS)
ins_vx = XSENS_DATA_Velocity_vx(xsens_msg_buf,offset);
ins_vy = XSENS_DATA_Velocity_vy(xsens_msg_buf,offset);
ins_vz = XSENS_DATA_Velocity_vz(xsens_msg_buf,offset);
#endif
offset += XSENS_DATA_Velocity_LENGTH;
}
if (XSENS_MASK_Status(xsens_output_mode)) {
xsens_msg_status = XSENS_DATA_Status_status(xsens_msg_buf,offset);
#ifdef USE_GPS_XSENS
if (bit_is_set(xsens_msg_status,2)) gps.fix = GPS_FIX_3D; // gps fix
else if (bit_is_set(xsens_msg_status,1)) gps.fix = 0x01; // efk valid
else gps.fix = GPS_FIX_NONE;
#endif
offset += XSENS_DATA_Status_LENGTH;
}
if (XSENS_MASK_TimeStamp(xsens_output_settings)) {
xsens_time_stamp = XSENS_DATA_TimeStamp_ts(xsens_msg_buf,offset);
#ifdef USE_GPS_XSENS
gps.tow = xsens_time_stamp;
#endif
offset += XSENS_DATA_TimeStamp_LENGTH;
}
if (XSENS_MASK_UTC(xsens_output_settings)) {
xsens_hour = XSENS_DATA_UTC_hour(xsens_msg_buf,offset);
xsens_min = XSENS_DATA_UTC_min(xsens_msg_buf,offset);
xsens_sec = XSENS_DATA_UTC_sec(xsens_msg_buf,offset);
xsens_nanosec = XSENS_DATA_UTC_nanosec(xsens_msg_buf,offset);
xsens_year = XSENS_DATA_UTC_year(xsens_msg_buf,offset);
xsens_month = XSENS_DATA_UTC_month(xsens_msg_buf,offset);
xsens_day = XSENS_DATA_UTC_day(xsens_msg_buf,offset);
offset += XSENS_DATA_UTC_LENGTH;
}
//}
}
}
// Called after receipt of valid message to
void xsens_parse_msg( uint8_t xsens_id ) {
uint8_t buf_slot = xsens_msg_buf_ci[xsens_id];
if (msg_id[xsens_id][buf_slot] == XSENS_ReqOutputModeAck_ID) {
xsens_output_mode[xsens_id] = XSENS_ReqOutputModeAck_mode(xsens_msg_buf[xsens_id]);
}
else if (msg_id[xsens_id][buf_slot] == XSENS_Error_ID) {
xsens_errorcode[xsens_id] = XSENS_Error_errorcode(xsens_msg_buf[xsens_id]);
}
else if (msg_id[xsens_id][buf_slot] == XSENS_MTData_ID) {
uint8_t offset = 0;
// test RAW modes else calibrated modes
if (XSENS_MASK_RAWInertial(xsens_output_mode[xsens_id])){// || (XSENS_MASK_RAWGPS(xsens2_output_mode))) {
xsens_raw_accel_x[xsens_id] = XSENS_DATA_RAWInertial_accX(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_raw_accel_y[xsens_id] = XSENS_DATA_RAWInertial_accY(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_raw_accel_z[xsens_id] = XSENS_DATA_RAWInertial_accZ(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_raw_gyro_x[xsens_id] = XSENS_DATA_RAWInertial_gyrX(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_raw_gyro_y[xsens_id] = XSENS_DATA_RAWInertial_gyrY(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_raw_gyro_z[xsens_id] = XSENS_DATA_RAWInertial_gyrZ(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_raw_mag_x[xsens_id] = XSENS_DATA_RAWInertial_magX(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_raw_mag_y[xsens_id] = XSENS_DATA_RAWInertial_magY(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_raw_mag_z[xsens_id] = XSENS_DATA_RAWInertial_magZ(xsens_msg_buf[xsens_id][buf_slot],offset);
}
if (XSENS_MASK_Temp(xsens_output_mode[xsens_id])) {
offset += XSENS_DATA_Temp_LENGTH;
}
if (XSENS_MASK_Calibrated(xsens_output_mode[xsens_id])) {
if (XSENS_MASK_AccOut(xsens_output_settings[xsens_id])) {
xsens_accel_x[xsens_id] = XSENS_DATA_Calibrated_accX(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_accel_y[xsens_id] = XSENS_DATA_Calibrated_accY(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_accel_z[xsens_id] = XSENS_DATA_Calibrated_accZ(xsens_msg_buf[xsens_id][buf_slot],offset);
}
if (XSENS_MASK_GyrOut(xsens_output_settings[xsens_id])) {
xsens_gyro_x[xsens_id] = XSENS_DATA_Calibrated_gyrX(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_gyro_y[xsens_id] = XSENS_DATA_Calibrated_gyrY(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_gyro_z[xsens_id] = XSENS_DATA_Calibrated_gyrZ(xsens_msg_buf[xsens_id][buf_slot],offset);
}
if (XSENS_MASK_MagOut(xsens_output_settings[xsens_id])) {
xsens_mag_x[xsens_id] = XSENS_DATA_Calibrated_magX(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_mag_y[xsens_id] = XSENS_DATA_Calibrated_magY(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_mag_z[xsens_id] = XSENS_DATA_Calibrated_magZ(xsens_msg_buf[xsens_id][buf_slot],offset);
float pitch = xsens_phi[xsens_id];
float roll = -xsens_theta[xsens_id];
float tilt_comp_x = xsens_mag_x[xsens_id] * cos(pitch)
+ xsens_mag_y[xsens_id] * sin(roll) * sin(pitch)
- xsens_mag_z[xsens_id] * cos(roll) * sin(pitch);
float tilt_comp_y = xsens_mag_y[xsens_id] * cos(roll)
+ xsens_mag_z[xsens_id] * sin(roll);
xsens_mag_heading[xsens_id] = -atan2( tilt_comp_y, tilt_comp_x);
}
offset += XSENS_DATA_Calibrated_LENGTH;
}
if (XSENS_MASK_Orientation(xsens_output_mode[xsens_id])) {
if (XSENS_MASK_OrientationMode(xsens_output_settings[xsens_id]) == 0x0) {
offset += XSENS_DATA_Quaternion_LENGTH;
}
if (XSENS_MASK_OrientationMode(xsens_output_settings[xsens_id]) == 0x1) {
xsens_phi[xsens_id] = XSENS_DATA_Euler_roll(xsens_msg_buf[xsens_id][buf_slot],offset) * M_PI/180;
xsens_theta[xsens_id] =XSENS_DATA_Euler_pitch(xsens_msg_buf[xsens_id][buf_slot],offset) * M_PI/180;
xsens_psi[xsens_id] = XSENS_DATA_Euler_yaw(xsens_msg_buf[xsens_id][buf_slot],offset) * M_PI/180;
offset += XSENS_DATA_Euler_LENGTH;
}
if (XSENS_MASK_OrientationMode(xsens_output_settings[xsens_id]) == 0x2) {
xsens_rmat[xsens_id].m[0] = XSENS_DATA_Matrix_a(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_rmat[xsens_id].m[1] = XSENS_DATA_Matrix_b(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_rmat[xsens_id].m[2] = XSENS_DATA_Matrix_c(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_rmat[xsens_id].m[3] = XSENS_DATA_Matrix_d(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_rmat[xsens_id].m[4] = XSENS_DATA_Matrix_e(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_rmat[xsens_id].m[5] = XSENS_DATA_Matrix_f(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_rmat[xsens_id].m[6] = XSENS_DATA_Matrix_g(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_rmat[xsens_id].m[7] = XSENS_DATA_Matrix_h(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_rmat[xsens_id].m[8] = XSENS_DATA_Matrix_i(xsens_msg_buf[xsens_id][buf_slot],offset);
/* // FLOAT_RMAT_COMP_INV(xsens_rmat_adj[xsens_id], xsens_rmat_neutral[xsens_id], xsens_rmat[xsens_id]); */
struct FloatRMat xsens_rmat_temp[XSENS_COUNT];
FLOAT_RMAT_INV(xsens_rmat_temp[xsens_id], xsens_rmat[xsens_id]);
FLOAT_RMAT_COMP(xsens_rmat_adj[xsens_id], xsens_rmat_temp[xsens_id], xsens_rmat_neutral[xsens_id]);
xsens_phi[xsens_id] = -atan2(xsens_rmat_adj[xsens_id].m[7], xsens_rmat_adj[xsens_id].m[8]);
xsens_theta[xsens_id] = asin(xsens_rmat_adj[xsens_id].m[6]);
xsens_psi[xsens_id] = atan2(xsens_rmat_adj[xsens_id].m[3], xsens_rmat_adj[xsens_id].m[0]);
xsens_psi[xsens_id] -= RadOfDeg(xsens_psi_offset[xsens_id]);
/* FLOAT_RMAT_COMP(xsens_rmat_adj[xsens_id], xsens_rmat_neutral[xsens_id], xsens_rmat[xsens_id]); */
/* // Calculate roll, pitch, yaw from rotation matrix ( p 31-33 MTi-G USer Man and Tech Doc) */
/* xsens_phi[xsens_id] = -atan2 (xsens_rmat_adj[xsens_id].m[7], xsens_rmat_adj[xsens_id].m[8]); */
/* xsens_theta[xsens_id] = asin (xsens_rmat_adj[xsens_id].m[6]); */
/* xsens_psi[xsens_id] = atan2 (xsens_rmat_adj[xsens_id].m[3], xsens_rmat_adj[xsens_id].m[0]); */
offset += XSENS_DATA_Matrix_LENGTH;
}
}
if (XSENS_MASK_Status(xsens_output_mode[xsens_id])) {
xsens_msg_status[xsens_id] = XSENS_DATA_Status_status(xsens_msg_buf[xsens_id][buf_slot],offset);
xsens_mode[xsens_id] = xsens_msg_status[xsens_id];
offset += XSENS_DATA_Status_LENGTH;
}
if (XSENS_MASK_TimeStamp(xsens_output_settings[xsens_id])) {
uint16_t ts = XSENS_DATA_TimeStamp_ts(xsens_msg_buf[xsens_id][buf_slot],offset);
if (xsens_time_stamp[xsens_id] + 1 != ts)
//xsens_err_count[xsens_id]++;
xsens_time_stamp[xsens_id] = ts;
offset += XSENS_DATA_TimeStamp_LENGTH;
}
}
}
void parse_ins_msg( void ) {
uint8_t offset = 0;
if (xsens_id == XSENS_ReqOutputModeAck_ID) {
xsens_output_mode = XSENS_ReqOutputModeAck_mode(xsens_msg_buf);
}
else if (xsens_id == XSENS_ReqOutputSettings_ID) {
xsens_output_settings = XSENS_ReqOutputSettingsAck_settings(xsens_msg_buf);
}
else if (xsens_id == XSENS_Error_ID) {
xsens_errorcode = XSENS_Error_errorcode(xsens_msg_buf);
}
#ifdef USE_GPS_XSENS
else if (xsens_id == XSENS_GPSStatus_ID) {
gps_nb_channels = XSENS_GPSStatus_nch(xsens_msg_buf);
gps_numSV = gps_nb_channels;
uint8_t i;
for(i = 0; i < Min(gps_nb_channels, GPS_NB_CHANNELS); i++) {
uint8_t ch = XSENS_GPSStatus_chn(xsens_msg_buf,i);
if (ch > GPS_NB_CHANNELS) continue;
gps_svinfos[ch].svid = XSENS_GPSStatus_svid(xsens_msg_buf, i);
gps_svinfos[ch].flags = XSENS_GPSStatus_bitmask(xsens_msg_buf, i);
gps_svinfos[ch].qi = XSENS_GPSStatus_qi(xsens_msg_buf, i);
gps_svinfos[ch].cno = XSENS_GPSStatus_cnr(xsens_msg_buf, i);
}
}
#endif
else if (xsens_id == XSENS_MTData_ID) {
/* test RAW modes else calibrated modes */
//if ((XSENS_MASK_RAWInertial(xsens_output_mode)) || (XSENS_MASK_RAWGPS(xsens_output_mode))) {
if (XSENS_MASK_RAWInertial(xsens_output_mode)) {
ins_p = XSENS_DATA_RAWInertial_gyrX(xsens_msg_buf,offset);
ins_q = XSENS_DATA_RAWInertial_gyrY(xsens_msg_buf,offset);
ins_r = XSENS_DATA_RAWInertial_gyrZ(xsens_msg_buf,offset);
offset += XSENS_DATA_RAWInertial_LENGTH;
}
if (XSENS_MASK_RAWGPS(xsens_output_mode)) {
#if defined(USE_GPS_XSENS_RAW_DATA) && defined(USE_GPS_XSENS)
gps_week = 0; // FIXME
gps_itow = XSENS_DATA_RAWGPS_itow(xsens_msg_buf,offset) * 10;
gps_lat = XSENS_DATA_RAWGPS_lat(xsens_msg_buf,offset);
gps_lon = XSENS_DATA_RAWGPS_lon(xsens_msg_buf,offset);
/* Set the real UTM zone */
gps_utm_zone = (gps_lon/1e7+180) / 6 + 1;
latlong_utm_of(RadOfDeg(gps_lat/1e7), RadOfDeg(gps_lon/1e7), gps_utm_zone);
/* utm */
gps_utm_east = latlong_utm_x * 100;
gps_utm_north = latlong_utm_y * 100;
ins_x = latlong_utm_x;
ins_y = latlong_utm_y;
gps_alt = XSENS_DATA_RAWGPS_alt(xsens_msg_buf,offset) / 10;
ins_z = -(INS_FORMAT)gps_alt / 100.;
ins_vx = (INS_FORMAT)XSENS_DATA_RAWGPS_vel_e(xsens_msg_buf,offset) / 100.;
ins_vy = (INS_FORMAT)XSENS_DATA_RAWGPS_vel_n(xsens_msg_buf,offset) / 100.;
ins_vz = (INS_FORMAT)XSENS_DATA_RAWGPS_vel_d(xsens_msg_buf,offset) / 100.;
gps_climb = -XSENS_DATA_RAWGPS_vel_d(xsens_msg_buf,offset) / 10;
gps_Pacc = XSENS_DATA_RAWGPS_hacc(xsens_msg_buf,offset) / 100;
gps_Sacc = XSENS_DATA_RAWGPS_sacc(xsens_msg_buf,offset) / 100;
gps_PDOP = 5;
#endif
offset += XSENS_DATA_RAWGPS_LENGTH;
}
//} else {
if (XSENS_MASK_Temp(xsens_output_mode)) {
offset += XSENS_DATA_Temp_LENGTH;
}
if (XSENS_MASK_Calibrated(xsens_output_mode)) {
uint8_t l = 0;
if (!XSENS_MASK_AccOut(xsens_output_settings)) {
ins_ax = XSENS_DATA_Calibrated_accX(xsens_msg_buf,offset);
ins_ay = XSENS_DATA_Calibrated_accY(xsens_msg_buf,offset);
ins_az = XSENS_DATA_Calibrated_accZ(xsens_msg_buf,offset);
l++;
}
if (!XSENS_MASK_GyrOut(xsens_output_settings)) {
ins_p = XSENS_DATA_Calibrated_gyrX(xsens_msg_buf,offset);
ins_q = XSENS_DATA_Calibrated_gyrY(xsens_msg_buf,offset);
ins_r = XSENS_DATA_Calibrated_gyrZ(xsens_msg_buf,offset);
l++;
}
if (!XSENS_MASK_MagOut(xsens_output_settings)) {
ins_mx = XSENS_DATA_Calibrated_magX(xsens_msg_buf,offset);
ins_my = XSENS_DATA_Calibrated_magY(xsens_msg_buf,offset);
ins_mz = XSENS_DATA_Calibrated_magZ(xsens_msg_buf,offset);
l++;
}
offset += l * XSENS_DATA_Calibrated_LENGTH / 3;
}
if (XSENS_MASK_Orientation(xsens_output_mode)) {
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x00) {
float q0 = XSENS_DATA_Quaternion_q0(xsens_msg_buf,offset);
float q1 = XSENS_DATA_Quaternion_q1(xsens_msg_buf,offset);
float q2 = XSENS_DATA_Quaternion_q2(xsens_msg_buf,offset);
float q3 = XSENS_DATA_Quaternion_q3(xsens_msg_buf,offset);
float dcm00 = 1.0 - 2 * (q2*q2 + q3*q3);
float dcm01 = 2 * (q1*q2 + q0*q3);
float dcm02 = 2 * (q1*q3 - q0*q2);
float dcm12 = 2 * (q2*q3 + q0*q1);
float dcm22 = 1.0 - 2 * (q1*q1 + q2*q2);
ins_phi = atan2(dcm12, dcm22);
ins_theta = -asin(dcm02);
ins_psi = atan2(dcm01, dcm00);
offset += XSENS_DATA_Quaternion_LENGTH;
}
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x01) {
ins_phi = XSENS_DATA_Euler_roll(xsens_msg_buf,offset) * M_PI / 180;
ins_theta = XSENS_DATA_Euler_pitch(xsens_msg_buf,offset) * M_PI / 180;
ins_psi = XSENS_DATA_Euler_yaw(xsens_msg_buf,offset) * M_PI / 180;
offset += XSENS_DATA_Euler_LENGTH;
}
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x10) {
offset += XSENS_DATA_Matrix_LENGTH;
}
}
if (XSENS_MASK_Auxiliary(xsens_output_mode)) {
uint8_t l = 0;
if (!XSENS_MASK_Aux1Out(xsens_output_settings)) {
l++;
}
if (!XSENS_MASK_Aux2Out(xsens_output_settings)) {
l++;
}
offset += l * XSENS_DATA_Auxiliary_LENGTH / 2;
}
if (XSENS_MASK_Position(xsens_output_mode)) {
#if (!defined(USE_GPS_XSENS_RAW_DATA)) && defined(USE_GPS_XSENS)
xsens_lat = XSENS_DATA_Position_lat(xsens_msg_buf,offset);
xsens_lon = XSENS_DATA_Position_lon(xsens_msg_buf,offset);
gps_lat = (int32_t)(xsens_lat * 1e7);
gps_lon = (int32_t)(xsens_lon * 1e7);
gps_utm_zone = (xsens_lon+180) / 6 + 1;
latlong_utm_of(RadOfDeg(xsens_lat), RadOfDeg(xsens_lon), gps_utm_zone);
ins_x = latlong_utm_x;
ins_y = latlong_utm_y;
gps_utm_east = ins_x * 100;
gps_utm_north = ins_y * 100;
ins_z = XSENS_DATA_Position_alt(xsens_msg_buf,offset);
gps_alt = ins_z * 100;
#endif
offset += XSENS_DATA_Position_LENGTH;
}
if (XSENS_MASK_Velocity(xsens_output_mode)) {
#if (!defined(USE_GPS_XSENS_RAW_DATA)) && defined(USE_GPS_XSENS)
ins_vx = XSENS_DATA_Velocity_vx(xsens_msg_buf,offset);
ins_vy = XSENS_DATA_Velocity_vy(xsens_msg_buf,offset);
ins_vz = XSENS_DATA_Velocity_vz(xsens_msg_buf,offset);
#endif
offset += XSENS_DATA_Velocity_LENGTH;
}
if (XSENS_MASK_Status(xsens_output_mode)) {
xsens_msg_status = XSENS_DATA_Status_status(xsens_msg_buf,offset);
#ifdef USE_GPS_XSENS
if (bit_is_set(xsens_msg_status,2)) gps_mode = 0x03; // gps fix
else if (bit_is_set(xsens_msg_status,1)) gps_mode = 0x01; // efk valid
else gps_mode = 0;
#endif
offset += XSENS_DATA_Status_LENGTH;
}
if (XSENS_MASK_TimeStamp(xsens_output_settings)) {
xsens_time_stamp = XSENS_DATA_TimeStamp_ts(xsens_msg_buf,offset);
#ifdef USE_GPS_XSENS
gps_itow = xsens_time_stamp;
#endif
offset += XSENS_DATA_TimeStamp_LENGTH;
}
if (XSENS_MASK_UTC(xsens_output_settings)) {
xsens_hour = XSENS_DATA_UTC_hour(xsens_msg_buf,offset);
xsens_min = XSENS_DATA_UTC_min(xsens_msg_buf,offset);
xsens_sec = XSENS_DATA_UTC_sec(xsens_msg_buf,offset);
xsens_nanosec = XSENS_DATA_UTC_nanosec(xsens_msg_buf,offset);
xsens_year = XSENS_DATA_UTC_year(xsens_msg_buf,offset);
xsens_month = XSENS_DATA_UTC_month(xsens_msg_buf,offset);
xsens_day = XSENS_DATA_UTC_day(xsens_msg_buf,offset);
offset += XSENS_DATA_UTC_LENGTH;
}
//}
}
}
void parse_xsens_msg(void)
{
uint8_t offset = 0;
if (xsens_id == XSENS_ReqOutputModeAck_ID) {
xsens_output_mode = XSENS_ReqOutputModeAck_mode(xsens_msg_buf);
} else if (xsens_id == XSENS_ReqOutputSettings_ID) {
xsens_output_settings = XSENS_ReqOutputSettingsAck_settings(xsens_msg_buf);
} else if (xsens_id == XSENS_ReqMagneticDeclinationAck_ID) {
xsens_declination = DegOfRad(XSENS_ReqMagneticDeclinationAck_declination(xsens_msg_buf));
DOWNLINK_SEND_IMU_MAG_SETTINGS(DefaultChannel, DefaultDevice, &xsens_declination, &xsens_declination, &xsens_gps_arm_x,
&xsens_gps_arm_y, &xsens_gps_arm_z);
} else if (xsens_id == XSENS_ReqLeverArmGpsAck_ID) {
xsens_gps_arm_x = XSENS_ReqLeverArmGpsAck_x(xsens_msg_buf);
xsens_gps_arm_y = XSENS_ReqLeverArmGpsAck_y(xsens_msg_buf);
xsens_gps_arm_z = XSENS_ReqLeverArmGpsAck_z(xsens_msg_buf);
DOWNLINK_SEND_IMU_MAG_SETTINGS(DefaultChannel, DefaultDevice, &xsens_declination, &xsens_declination, &xsens_gps_arm_x,
&xsens_gps_arm_y, &xsens_gps_arm_z);
} else if (xsens_id == XSENS_Error_ID) {
xsens_errorcode = XSENS_Error_errorcode(xsens_msg_buf);
}
#if USE_GPS_XSENS
else if (xsens_id == XSENS_GPSStatus_ID) {
xsens.gps.nb_channels = XSENS_GPSStatus_nch(xsens_msg_buf);
xsens.gps.num_sv = 0;
uint8_t i;
// Do not write outside buffer
for (i = 0; i < Min(xsens.gps.nb_channels, GPS_NB_CHANNELS); i++) {
uint8_t ch = XSENS_GPSStatus_chn(xsens_msg_buf, i);
if (ch > xsens.gps.nb_channels) { continue; }
xsens.gps.svinfos[ch].svid = XSENS_GPSStatus_svid(xsens_msg_buf, i);
xsens.gps.svinfos[ch].flags = XSENS_GPSStatus_bitmask(xsens_msg_buf, i);
xsens.gps.svinfos[ch].qi = XSENS_GPSStatus_qi(xsens_msg_buf, i);
xsens.gps.svinfos[ch].cno = XSENS_GPSStatus_cnr(xsens_msg_buf, i);
if (xsens.gps.svinfos[ch].flags > 0) {
xsens.gps.num_sv++;
}
}
}
#endif
else if (xsens_id == XSENS_MTData_ID) {
/* test RAW modes else calibrated modes */
//if ((XSENS_MASK_RAWInertial(xsens_output_mode)) || (XSENS_MASK_RAWGPS(xsens_output_mode))) {
if (XSENS_MASK_RAWInertial(xsens_output_mode)) {
/* should we write raw data to separate struct? */
xsens.gyro.p = XSENS_DATA_RAWInertial_gyrX(xsens_msg_buf, offset);
xsens.gyro.q = XSENS_DATA_RAWInertial_gyrY(xsens_msg_buf, offset);
xsens.gyro.r = XSENS_DATA_RAWInertial_gyrZ(xsens_msg_buf, offset);
xsens.gyro_available = TRUE;
offset += XSENS_DATA_RAWInertial_LENGTH;
}
if (XSENS_MASK_RAWGPS(xsens_output_mode)) {
#if USE_GPS_XSENS_RAW_DATA && USE_GPS_XSENS
xsens.gps.week = 0; // FIXME
xsens.gps.tow = XSENS_DATA_RAWGPS_itow(xsens_msg_buf, offset) * 10;
xsens.gps.lla_pos.lat = XSENS_DATA_RAWGPS_lat(xsens_msg_buf, offset);
xsens.gps.lla_pos.lon = XSENS_DATA_RAWGPS_lon(xsens_msg_buf, offset);
xsens.gps.lla_pos.alt = XSENS_DATA_RAWGPS_alt(xsens_msg_buf, offset);
SetBit(xsens.gps.valid_fields, GPS_VALID_POS_LLA_BIT);
// Compute geoid (MSL) height
float hmsl = wgs84_ellipsoid_to_geoid_i(xsens.gps.lla_pos.lat, xsens.gps.lla_pos.lon);
xsens.gps.hmsl = XSENS_DATA_RAWGPS_alt(xsens_msg_buf, offset) - (hmsl * 1000.0f);
SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT);
xsens.gps.ned_vel.x = XSENS_DATA_RAWGPS_vel_n(xsens_msg_buf, offset);
xsens.gps.ned_vel.y = XSENS_DATA_RAWGPS_vel_e(xsens_msg_buf, offset);
xsens.gps.ned_vel.z = XSENS_DATA_RAWGPS_vel_d(xsens_msg_buf, offset);
SetBit(gps.valid_fields, GPS_VALID_VEL_NED_BIT);
xsens.gps.pacc = XSENS_DATA_RAWGPS_hacc(xsens_msg_buf, offset) / 100;
xsens.gps.sacc = XSENS_DATA_RAWGPS_sacc(xsens_msg_buf, offset) / 100;
xsens.gps.pdop = 5; // FIXME Not output by XSens
xsens.gps_available = TRUE;
#endif
offset += XSENS_DATA_RAWGPS_LENGTH;
}
//} else {
if (XSENS_MASK_Temp(xsens_output_mode)) {
offset += XSENS_DATA_Temp_LENGTH;
}
if (XSENS_MASK_Calibrated(xsens_output_mode)) {
uint8_t l = 0;
if (!XSENS_MASK_AccOut(xsens_output_settings)) {
xsens.accel.x = XSENS_DATA_Calibrated_accX(xsens_msg_buf, offset);
xsens.accel.y = XSENS_DATA_Calibrated_accY(xsens_msg_buf, offset);
xsens.accel.z = XSENS_DATA_Calibrated_accZ(xsens_msg_buf, offset);
xsens.accel_available = TRUE;
l++;
}
if (!XSENS_MASK_GyrOut(xsens_output_settings)) {
xsens.gyro.p = XSENS_DATA_Calibrated_gyrX(xsens_msg_buf, offset);
xsens.gyro.q = XSENS_DATA_Calibrated_gyrY(xsens_msg_buf, offset);
xsens.gyro.r = XSENS_DATA_Calibrated_gyrZ(xsens_msg_buf, offset);
xsens.gyro_available = TRUE;
l++;
}
if (!XSENS_MASK_MagOut(xsens_output_settings)) {
xsens.mag.x = XSENS_DATA_Calibrated_magX(xsens_msg_buf, offset);
xsens.mag.y = XSENS_DATA_Calibrated_magY(xsens_msg_buf, offset);
xsens.mag.z = XSENS_DATA_Calibrated_magZ(xsens_msg_buf, offset);
xsens.mag_available = TRUE;
l++;
}
offset += l * XSENS_DATA_Calibrated_LENGTH / 3;
}
if (XSENS_MASK_Orientation(xsens_output_mode)) {
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x00) {
xsens.quat.qi = XSENS_DATA_Quaternion_q0(xsens_msg_buf, offset);
xsens.quat.qx = XSENS_DATA_Quaternion_q1(xsens_msg_buf, offset);
xsens.quat.qy = XSENS_DATA_Quaternion_q2(xsens_msg_buf, offset);
xsens.quat.qz = XSENS_DATA_Quaternion_q3(xsens_msg_buf, offset);
//float_eulers_of_quat(&xsens.euler, &xsens.quat);
offset += XSENS_DATA_Quaternion_LENGTH;
}
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x01) {
xsens.euler.phi = XSENS_DATA_Euler_roll(xsens_msg_buf, offset) * M_PI / 180;
xsens.euler.theta = XSENS_DATA_Euler_pitch(xsens_msg_buf, offset) * M_PI / 180;
xsens.euler.psi = XSENS_DATA_Euler_yaw(xsens_msg_buf, offset) * M_PI / 180;
offset += XSENS_DATA_Euler_LENGTH;
}
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x10) {
offset += XSENS_DATA_Matrix_LENGTH;
}
xsens.new_attitude = TRUE;
}
if (XSENS_MASK_Auxiliary(xsens_output_mode)) {
uint8_t l = 0;
if (!XSENS_MASK_Aux1Out(xsens_output_settings)) {
l++;
}
if (!XSENS_MASK_Aux2Out(xsens_output_settings)) {
l++;
}
offset += l * XSENS_DATA_Auxiliary_LENGTH / 2;
}
if (XSENS_MASK_Position(xsens_output_mode)) {
xsens.lla_f.lat = RadOfDeg(XSENS_DATA_Position_lat(xsens_msg_buf, offset));
xsens.lla_f.lon = RadOfDeg(XSENS_DATA_Position_lon(xsens_msg_buf, offset));
xsens.lla_f.alt = XSENS_DATA_Position_alt(xsens_msg_buf, offset);
offset += XSENS_DATA_Position_LENGTH;
#if (! USE_GPS_XSENS_RAW_DATA) && USE_GPS_XSENS
LLA_BFP_OF_REAL(xsens.gps.lla_pos, xsens.lla_f);
SetBit(gps.valid_fields, GPS_VALID_POS_LLA_BIT);
xsens.gps_available = TRUE;
#endif
}
if (XSENS_MASK_Velocity(xsens_output_mode)) {
xsens.vel.x = XSENS_DATA_Velocity_vx(xsens_msg_buf, offset);
xsens.vel.y = XSENS_DATA_Velocity_vy(xsens_msg_buf, offset);
xsens.vel.z = XSENS_DATA_Velocity_vz(xsens_msg_buf, offset);
offset += XSENS_DATA_Velocity_LENGTH;
}
if (XSENS_MASK_Status(xsens_output_mode)) {
xsens_msg_status = XSENS_DATA_Status_status(xsens_msg_buf, offset);
#if USE_GPS_XSENS
if (bit_is_set(xsens_msg_status, 2)) { xsens.gps.fix = GPS_FIX_3D; } // gps fix
else if (bit_is_set(xsens_msg_status, 1)) { xsens.gps.fix = 0x01; } // efk valid
else { xsens.gps.fix = GPS_FIX_NONE; }
#ifdef GPS_LED
if (xsens.gps.fix == GPS_FIX_3D) {
LED_ON(GPS_LED);
} else {
LED_TOGGLE(GPS_LED);
}
#endif // GPS_LED
#endif // USE_GPS_XSENS
offset += XSENS_DATA_Status_LENGTH;
}
if (XSENS_MASK_TimeStamp(xsens_output_settings)) {
xsens.time_stamp = XSENS_DATA_TimeStamp_ts(xsens_msg_buf, offset);
offset += XSENS_DATA_TimeStamp_LENGTH;
}
if (XSENS_MASK_UTC(xsens_output_settings)) {
xsens.time.hour = XSENS_DATA_UTC_hour(xsens_msg_buf, offset);
xsens.time.min = XSENS_DATA_UTC_min(xsens_msg_buf, offset);
xsens.time.sec = XSENS_DATA_UTC_sec(xsens_msg_buf, offset);
xsens.time.nanosec = XSENS_DATA_UTC_nanosec(xsens_msg_buf, offset);
xsens.time.year = XSENS_DATA_UTC_year(xsens_msg_buf, offset);
xsens.time.month = XSENS_DATA_UTC_month(xsens_msg_buf, offset);
xsens.time.day = XSENS_DATA_UTC_day(xsens_msg_buf, offset);
offset += XSENS_DATA_UTC_LENGTH;
}
}
}
