void parse_ins_msg(void)
{
uint8_t offset = 0;
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);
} else if (xsens_id == XSENS_MTData2_ID) {
for (offset = 0; offset < xsens_len;) {
uint8_t code1 = xsens_msg_buf[offset];
uint8_t code2 = xsens_msg_buf[offset + 1];
int subpacklen = (int)xsens_msg_buf[offset + 2];
offset += 3;
if (code1 == 0x10) {
if (code2 == 0x10) {
// UTC
} else if (code2 == 0x20) {
// Packet Counter
}
if (code2 == 0x30) {
// ITOW
}
} else if (code1 == 0x20) {
if (code2 == 0x30) {
// Attitude Euler
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;
new_ins_attitude = 1;
}
} else if (code1 == 0x40) {
if (code2 == 0x10) {
// Delta-V
ins_ax = XSENS_DATA_Acceleration_x(xsens_msg_buf, offset) * 100.0f;
ins_ay = XSENS_DATA_Acceleration_y(xsens_msg_buf, offset) * 100.0f;
ins_az = XSENS_DATA_Acceleration_z(xsens_msg_buf, offset) * 100.0f;
}
} else if (code1 == 0x80) {
if (code2 == 0x20) {
// Rate Of Turn
ins_p = XSENS_DATA_RateOfTurn_x(xsens_msg_buf, offset) * M_PI / 180;
ins_q = XSENS_DATA_RateOfTurn_y(xsens_msg_buf, offset) * M_PI / 180;
ins_r = XSENS_DATA_RateOfTurn_z(xsens_msg_buf, offset) * M_PI / 180;
}
} else if (code1 == 0x30) {
if (code2 == 0x10) {
// Baro Pressure
}
} else if (code1 == 0xE0) {
if (code2 == 0x20) {
// Status Word
xsens_msg_statusword = XSENS_DATA_StatusWord_status(xsens_msg_buf, offset);
//gps.tow = xsens_msg_statusword;
#if USE_GPS_XSENS
if (bit_is_set(xsens_msg_statusword, 2) && bit_is_set(xsens_msg_statusword, 1)) {
if (bit_is_set(xsens_msg_statusword, 23) && bit_is_set(xsens_msg_statusword, 24)) {
gps.fix = GPS_FIX_3D;
} else {
gps.fix = GPS_FIX_2D;
}
} else { gps.fix = GPS_FIX_NONE; }
#endif
}
} else if (code1 == 0x88) {
if (code2 == 0x40) {
gps.week = XSENS_DATA_GpsSol_week(xsens_msg_buf, offset);
gps.num_sv = XSENS_DATA_GpsSol_numSv(xsens_msg_buf, offset);
gps.pacc = XSENS_DATA_GpsSol_pAcc(xsens_msg_buf, offset);
gps.sacc = XSENS_DATA_GpsSol_sAcc(xsens_msg_buf, offset);
gps.pdop = XSENS_DATA_GpsSol_pDop(xsens_msg_buf, offset);
} else if (code2 == 0xA0) {
// SVINFO
gps.tow = XSENS_XDI_GpsSvInfo_iTOW(xsens_msg_buf + offset);
#if USE_GPS_XSENS
gps.nb_channels = XSENS_XDI_GpsSvInfo_nch(xsens_msg_buf + offset);
gps.last_3dfix_ticks = sys_time.nb_sec_rem;
gps.last_3dfix_time = sys_time.nb_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_XDI_GpsSvInfo_chn(xsens_msg_buf + offset, i);
if (ch > gps.nb_channels) { continue; }
gps.svinfos[ch].svid = XSENS_XDI_GpsSvInfo_svid(xsens_msg_buf + offset, i);
gps.svinfos[ch].flags = XSENS_XDI_GpsSvInfo_bitmask(xsens_msg_buf + offset, i);
gps.svinfos[ch].qi = XSENS_XDI_GpsSvInfo_qi(xsens_msg_buf + offset, i);
gps.svinfos[ch].cno = XSENS_XDI_GpsSvInfo_cnr(xsens_msg_buf + offset, i);
}
#endif
}
} else if (code1 == 0x50) {
if (code2 == 0x10) {
//gps.hmsl = XSENS_DATA_Altitude_h(xsens_msg_buf,offset)* 1000.0f;
} else if (code2 == 0x20) {
// Altitude Elipsoid
gps.utm_pos.alt = XSENS_DATA_Altitude_h(xsens_msg_buf, offset) * 1000.0f;
// Compute geoid (MSL) height
float geoid_h = wgs84_ellipsoid_to_geoid(lla_f.lat, lla_f.lon);
gps.hmsl = gps.utm_pos.alt - (geoid_h * 1000.0f);
SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT);
//gps.tow = geoid_h * 1000.0f; //gps.utm_pos.alt;
} else if (code2 == 0x40) {
// LatLong
#ifdef GPS_LED
LED_TOGGLE(GPS_LED);
#endif
gps.last_3dfix_ticks = sys_time.nb_sec_rem;
gps.last_3dfix_time = sys_time.nb_sec;
gps.week = 0; // FIXME
lla_f.lat = RadOfDeg(XSENS_DATA_LatLon_lat(xsens_msg_buf, offset));
lla_f.lon = RadOfDeg(XSENS_DATA_LatLon_lon(xsens_msg_buf, offset));
// Set the real UTM zone
gps.utm_pos.zone = (DegOfRad(lla_f.lon) + 180) / 6 + 1;
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;
SetBit(gps.valid_fields, GPS_VALID_POS_UTM_BIT);
gps_xsens_publish();
}
} else if (code1 == 0xD0) {
if (code2 == 0x10) {
// Velocity
ins_vx = ((INS_FORMAT)XSENS_DATA_VelocityXYZ_x(xsens_msg_buf, offset));
ins_vy = ((INS_FORMAT)XSENS_DATA_VelocityXYZ_y(xsens_msg_buf, offset));
ins_vz = ((INS_FORMAT)XSENS_DATA_VelocityXYZ_z(xsens_msg_buf, offset));
gps.ned_vel.x = ins_vx;
gps.ned_vel.y = ins_vy;
gps.ned_vel.z = ins_vx;
SetBit(gps.valid_fields, GPS_VALID_VEL_NED_BIT);
}
}
if (subpacklen < 0) {
subpacklen = 0;
}
offset += subpacklen;
}
/*
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
*/
/*
*/
/*
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);
*/
/*
xsens_time_stamp = XSENS_DATA_TimeStamp_ts(xsens_msg_buf,offset);
#if USE_GPS_XSENS
gps.tow = xsens_time_stamp;
#endif
*/
}
}
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, 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) {
gps.nb_channels = XSENS_GPSStatus_nch(xsens_msg_buf);
gps.num_sv = 0;
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);
#if USE_IMU
imu_xsens.gyro_available = TRUE;
#endif
offset += XSENS_DATA_RAWInertial_LENGTH;
}
if (XSENS_MASK_RAWGPS(xsens_output_mode)) {
#if USE_GPS_XSENS_RAW_DATA && USE_GPS_XSENS
gps.week = 0; // FIXME
gps.tow = XSENS_DATA_RAWGPS_itow(xsens_msg_buf, offset) * 10;
gps.lla_pos.lat = XSENS_DATA_RAWGPS_lat(xsens_msg_buf, offset);
gps.lla_pos.lon = 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 = (gps.lla_pos.lon / 1e7 + 180) / 6 + 1;
LLA_FLOAT_OF_BFP(lla_f, gps.lla_pos);
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);
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
gps_xsens_msg_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)) {
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);
#if USE_IMU
imu_xsens.accel_available = TRUE;
#endif
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);
#if USE_IMU
imu_xsens.gyro_available = TRUE;
#endif
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);
#if USE_IMU
imu_xsens.mag_available = TRUE;
#endif
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 (! USE_GPS_XSENS_RAW_DATA) && USE_GPS_XSENS
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)(DegOfRad(lla_f.lat) * 1e7);
gps.lla_pos.lon = (int32_t)(DegOfRad(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;
// what about gps.lla_pos.alt and gps.utm_pos.alt ?
gps_xsens_msg_available = TRUE;
#endif
offset += XSENS_DATA_Position_LENGTH;
}
if (XSENS_MASK_Velocity(xsens_output_mode)) {
#if (! USE_GPS_XSENS_RAW_DATA) && 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);
#if 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; }
#ifdef GPS_LED
if (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);
#if USE_GPS_XSENS
gps.tow = xsens_time_stamp;
#endif
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;
}
//}
}
}