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());
}
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());
}