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Add compensated IMU message [AP-1475] (#1446)
# Description Adding a new MSG_IMU_COMP according to the corresponding design doc. <img width="938" alt="Screenshot 2024-10-01 at 8 57 33 PM" src="https://github.com/user-attachments/assets/796be85d-99e9-46df-a9c3-420895d042c7"> # API compatibility No, this is a new message ## API compatibility plan n/a # JIRA Reference https://swift-nav.atlassian.net/browse/AP-1475 --------- Co-authored-by: Ivan Smolyakov <[email protected]> Co-authored-by: Ivan Smolyakov <[email protected]> Co-authored-by: Ivan Smolyakov <[email protected]> Co-authored-by: Rodrigo Reichert <[email protected]>
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| /* | ||
| * Copyright (C) 2015-2021 Swift Navigation Inc. | ||
| * Contact: https://support.swiftnav.com | ||
| * | ||
| * This source is subject to the license found in the file 'LICENSE' which must | ||
| * be distributed together with this source. All other rights reserved. | ||
| * | ||
| * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, | ||
| * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED | ||
| * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. | ||
| */ | ||
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| /***************************************************************************** | ||
| * Automatically generated from yaml/swiftnav/sbp/imu.yaml | ||
| * with generate.py. Please do not hand edit! | ||
| *****************************************************************************/ | ||
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| #ifndef LIBSBP_IMU_MSG_IMU_COMP_H | ||
| #define LIBSBP_IMU_MSG_IMU_COMP_H | ||
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| #include <math.h> | ||
| #include <stdarg.h> | ||
| #include <stdbool.h> | ||
| #include <stddef.h> | ||
| #include <stdint.h> | ||
| #include <string.h> | ||
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| #include <libsbp/common.h> | ||
| #include <libsbp/imu_macros.h> | ||
| #include <libsbp/string/sbp_string.h> | ||
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| #ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
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| /****************************************************************************** | ||
| * | ||
| * SBP_MSG_IMU_COMP | ||
| * | ||
| *****************************************************************************/ | ||
| /** Compensated IMU data | ||
| * | ||
| * Data from the Inertial Measurement Unit, containing accelerometer and | ||
| * gyroscope readings compensated for estimated errors and constant physical | ||
| * effects. The output is valid for inertially referenced center of navigation | ||
| * (IMU body frame) represented in vehicle body frame. | ||
| */ | ||
| typedef struct { | ||
| /** | ||
| * Microseconds since reference epoch [microseconds] | ||
| */ | ||
| u64 time; | ||
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| /** | ||
| * Contains the applied compensation parameters and time synchronization mode | ||
| */ | ||
| u16 flags; | ||
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| /** | ||
| * Compensated acceleration X axis [1e-6 m/s^2] | ||
| */ | ||
| s32 acc_comp_x; | ||
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| /** | ||
| * Compensated acceleration Y axis [1e-6 m/s^2] | ||
| */ | ||
| s32 acc_comp_y; | ||
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| /** | ||
| * Compensated acceleration Z axis [1e-6 m/s^2] | ||
| */ | ||
| s32 acc_comp_z; | ||
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| /** | ||
| * Compensated angular rate X axis [1e-6 deg/s] | ||
| */ | ||
| s32 gyr_comp_x; | ||
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| /** | ||
| * Compensated angular rate Y axis [1e-6 deg/s] | ||
| */ | ||
| s32 gyr_comp_y; | ||
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| /** | ||
| * Compensated angular rate Z axis [1e-6 deg/s] | ||
| */ | ||
| s32 gyr_comp_z; | ||
| } sbp_msg_imu_comp_t; | ||
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| /** | ||
| * Get encoded size of an instance of sbp_msg_imu_comp_t | ||
| * | ||
| * @param msg sbp_msg_imu_comp_t instance | ||
| * @return Length of on-wire representation | ||
| */ | ||
| static inline size_t sbp_msg_imu_comp_encoded_len( | ||
| const sbp_msg_imu_comp_t *msg) { | ||
| (void)msg; | ||
| return SBP_MSG_IMU_COMP_ENCODED_LEN; | ||
| } | ||
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| /** | ||
| * Encode an instance of sbp_msg_imu_comp_t to wire representation | ||
| * | ||
| * This function encodes the given instance in to the user provided buffer. The | ||
| * buffer provided to this function must be large enough to store the encoded | ||
| * message otherwise it will return SBP_ENCODE_ERROR without writing anything to | ||
| * the buffer. | ||
| * | ||
| * Specify the length of the destination buffer in the \p len parameter. If | ||
| * non-null the number of bytes written to the buffer will be returned in \p | ||
| * n_written. | ||
| * | ||
| * @param buf Destination buffer | ||
| * @param len Length of \p buf | ||
| * @param n_written If not null, on success will be set to the number of bytes | ||
| * written to \p buf | ||
| * @param msg Instance of sbp_msg_imu_comp_t to encode | ||
| * @return SBP_OK on success, or other libsbp error code | ||
| */ | ||
| SBP_EXPORT s8 sbp_msg_imu_comp_encode(uint8_t *buf, uint8_t len, | ||
| uint8_t *n_written, | ||
| const sbp_msg_imu_comp_t *msg); | ||
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| /** | ||
| * Decode an instance of sbp_msg_imu_comp_t from wire representation | ||
| * | ||
| * This function decodes the wire representation of a sbp_msg_imu_comp_t message | ||
| * to the given instance. The caller must specify the length of the buffer in | ||
| * the \p len parameter. If non-null the number of bytes read from the buffer | ||
| * will be returned in \p n_read. | ||
| * | ||
| * @param buf Wire representation of the sbp_msg_imu_comp_t instance | ||
| * @param len Length of \p buf | ||
| * @param n_read If not null, on success will be set to the number of bytes read | ||
| * from \p buf | ||
| * @param msg Destination | ||
| * @return SBP_OK on success, or other libsbp error code | ||
| */ | ||
| SBP_EXPORT s8 sbp_msg_imu_comp_decode(const uint8_t *buf, uint8_t len, | ||
| uint8_t *n_read, sbp_msg_imu_comp_t *msg); | ||
| /** | ||
| * Send an instance of sbp_msg_imu_comp_t with the given write function | ||
| * | ||
| * An equivalent of #sbp_message_send which operates specifically on | ||
| * sbp_msg_imu_comp_t | ||
| * | ||
| * The given message will be encoded to wire representation and passed in to the | ||
| * given write function callback. The write callback will be called several | ||
| * times for each invocation of this function. | ||
| * | ||
| * @param s SBP state | ||
| * @param sender_id SBP sender id | ||
| * @param msg Message to send | ||
| * @param write Write function | ||
| * @return SBP_OK on success, or other libsbp error code | ||
| */ | ||
| SBP_EXPORT s8 sbp_msg_imu_comp_send(sbp_state_t *s, u16 sender_id, | ||
| const sbp_msg_imu_comp_t *msg, | ||
| sbp_write_fn_t write); | ||
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| /** | ||
| * Compare two instances of sbp_msg_imu_comp_t | ||
| * | ||
| * The two instances will be compared and a value returned consistent with the | ||
| * return codes of comparison functions from the C standard library | ||
| * | ||
| * 0 will be returned if \p a and \p b are considered equal | ||
| * A value less than 0 will be returned if \p a is considered to be less than \p | ||
| * b A value greater than 0 will be returned if \p b is considered to be greater | ||
| * than \p b | ||
| * | ||
| * @param a sbp_msg_imu_comp_t instance | ||
| * @param b sbp_msg_imu_comp_t instance | ||
| * @return 0, <0, >0 | ||
| */ | ||
| SBP_EXPORT int sbp_msg_imu_comp_cmp(const sbp_msg_imu_comp_t *a, | ||
| const sbp_msg_imu_comp_t *b); | ||
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| #ifdef __cplusplus | ||
| } | ||
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| static inline bool operator==(const sbp_msg_imu_comp_t &lhs, | ||
| const sbp_msg_imu_comp_t &rhs) { | ||
| return sbp_msg_imu_comp_cmp(&lhs, &rhs) == 0; | ||
| } | ||
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| static inline bool operator!=(const sbp_msg_imu_comp_t &lhs, | ||
| const sbp_msg_imu_comp_t &rhs) { | ||
| return sbp_msg_imu_comp_cmp(&lhs, &rhs) != 0; | ||
| } | ||
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| static inline bool operator<(const sbp_msg_imu_comp_t &lhs, | ||
| const sbp_msg_imu_comp_t &rhs) { | ||
| return sbp_msg_imu_comp_cmp(&lhs, &rhs) < 0; | ||
| } | ||
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| static inline bool operator<=(const sbp_msg_imu_comp_t &lhs, | ||
| const sbp_msg_imu_comp_t &rhs) { | ||
| return sbp_msg_imu_comp_cmp(&lhs, &rhs) <= 0; | ||
| } | ||
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| static inline bool operator>(const sbp_msg_imu_comp_t &lhs, | ||
| const sbp_msg_imu_comp_t &rhs) { | ||
| return sbp_msg_imu_comp_cmp(&lhs, &rhs) > 0; | ||
| } | ||
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| static inline bool operator>=(const sbp_msg_imu_comp_t &lhs, | ||
| const sbp_msg_imu_comp_t &rhs) { | ||
| return sbp_msg_imu_comp_cmp(&lhs, &rhs) >= 0; | ||
| } | ||
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| #endif // ifdef __cplusplus | ||
|
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| #endif /* LIBSBP_IMU_MSG_IMU_COMP_H */ |
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