126 explicit VN200(
Settings *_settings, QObject* _parent =
nullptr);
134 const QByteArray header{
"\xfa\x01\xfa\x01"};
142 void gpsAvailable(
bool flag);
158 void copyPacketToData(
void);
161 static const quint8 packetSize{102};
163 #pragma pack(push, 1) // change structure packing to 1 byte 172 quint8 outputGroups = 0;
173 quint16 outputFields = 0;
175 float euler[3] = {0};
177 float angularRate[3] = {0};
178 double position[3] = {0};
179 float velocity[3] = {0};
180 float accel[3] = {0};
182 #pragma pack(pop) // reset structure packing 188 VN200Packet *packet{
nullptr};
quint64 gpsTimeNs
GPS time.
Definition: vn200.hh:46
Serial IO Sensor interface.
Base class for interfacing with sensors over a serial port (UART/RS-232).
Definition: serialsensor.hh:28
float eulerDeg[3]
Euler Angles.
Definition: vn200.hh:52
float accelMps2[3]
Accelerations.
Definition: vn200.hh:88
double posDegDegM[3]
Lat-Long-Alt Position.
Definition: vn200.hh:76
Definition: autopilot.cc:12
float quaternion[4]
Quaternion.
Definition: vn200.hh:61
Settings manager.
Definition: settings.hh:30
Serial driver to acquire data from a VN-200 Inertial Navigation System.
Definition: vn200.hh:116
float angularRatesRPS[3]
Angular Rates.
Definition: vn200.hh:67
Structure to hold VN-200 data.
Definition: vn200.hh:39
DFTI settings manager interface.
bool validateVN200Checksum(QByteArray pkt)
Validate the VN-200 packet checksum.
Definition: vn200.cc:132
float velNedMps[3]
NED Velocity.
Definition: vn200.hh:82