#include "mip.h"
#include "mip_sdk_interface.h"

Data Structures
struct	_mip_nav_external_gps_update_command
struct	_mip_nav_external_heading_update_command
struct	_mip_nav_llh_pos
struct	_mip_nav_ned_velocity
struct	_mip_nav_attitude_quaternion
struct	_mip_nav_attitude_dcm
struct	_mip_nav_attitude_euler_angles
struct	_mip_nav_gyro_bias
struct	_mip_nav_accel_bias
struct	_mip_nav_llh_pos_uncertainty
struct	_mip_nav_ned_vel_uncertainty
struct	_mip_nav_euler_attitude_uncertainty
struct	_mip_nav_gyro_bias_uncertainty
struct	_mip_nav_accel_bias_uncertainty
struct	_mip_nav_timestamp
struct	_mip_nav_status
struct	_mip_nav_acceleration
struct	_mip_nav_gravity_vector
struct	_mip_nav_angular_rate
struct	_mip_nav_quaternion_attitude_uncertainty
struct	_mip_nav_wgs84_gravity_mag
struct	_mip_nav_heading_update_state
struct	_mip_nav_magnetic_model
Defines
#define	MIP_NAV_COMMAND_SET 0x0D
#define	MIP_NAV_DATA_SET 0x82
#define	MIP_NAV_CMD_RESET_FILTER 0x01
#define	MIP_NAV_CMD_SET_INITIAL_ATTITUDE 0x02
#define	MIP_NAV_CMD_SET_INITIAL_HEADING 0x03
#define	MIP_NAV_CMD_SET_INITIAL_HEADING_FROM_AHRS 0x04
#define	MIP_NAV_CMD_VEHICLE_DYNAMICS_MODE 0x10
#define	MIP_NAV_CMD_SENSOR2VEHICLE_TRANSFORMATION 0x11
#define	MIP_NAV_CMD_SENSOR2VEHICLE_OFFSET 0x12
#define	MIP_NAV_CMD_ANTENNA_OFFSET 0x13
#define	MIP_NAV_CMD_BIAS_ESTIMATION_CONTROL 0x14
#define	MIP_NAV_CMD_GPS_SOURCE_CONTROL 0x15
#define	MIP_NAV_CMD_EXTERNAL_GPS_UPDATE 0x16
#define	MIP_NAV_CMD_EXTERNAL_HEADING_UPDATE 0x17
#define	MIP_NAV_CMD_HEADING_UPDATE_CONTROL 0x18
#define	MIP_NAV_CMD_AUTOINIT_CONTROL 0x19
#define	MIP_NAV_CMD_ACCEL_NOISE 0x1A
#define	MIP_NAV_CMD_GYRO_NOISE 0x1B
#define	MIP_NAV_CMD_ACCEL_BIAS_MODEL 0x1C
#define	MIP_NAV_CMD_GYRO_BIAS_MODEL 0x1D
#define	MIP_NAV_REPLY_VEHICLE_DYNAMICS_MODE 0x80
#define	MIP_NAV_REPLY_SENSOR2VEHICLE_TRANSFORMATION 0x81
#define	MIP_NAV_REPLY_SENSOR2VEHICLE_OFFSET 0x82
#define	MIP_NAV_REPLY_ANTENNA_OFFSET 0x83
#define	MIP_NAV_REPLY_BIAS_ESTIMATION_CONTROL 0x84
#define	MIP_NAV_REPLY_GPS_SOURCE_CONTROL 0x86
#define	MIP_NAV_REPLY_HEADING_UPDATE_CONTROL 0x87
#define	MIP_NAV_REPLY_AUTOINIT_CONTROL 0x88
#define	MIP_NAV_REPLY_ACCEL_NOISE 0x89
#define	MIP_NAV_REPLY_GYRO_NOISE 0x8A
#define	MIP_NAV_REPLY_ACCEL_BIAS_MODEL 0x8B
#define	MIP_NAV_REPLY_GYRO_BIAS_MODEL 0x8C
#define	MIP_NAV_DATA_LLH_POS 0x01
#define	MIP_NAV_DATA_NED_VEL 0x02
#define	MIP_NAV_DATA_ATT_QUATERNION 0x03
#define	MIP_NAV_DATA_ATT_MATRIX 0x04
#define	MIP_NAV_DATA_ATT_EULER_ANGLES 0x05
#define	MIP_NAV_DATA_GYRO_BIAS 0x06
#define	MIP_NAV_DATA_ACCEL_BIAS 0x07
#define	MIP_NAV_DATA_POS_UNCERTAINTY 0x08
#define	MIP_NAV_DATA_VEL_UNCERTAINTY 0x09
#define	MIP_NAV_DATA_ATT_UNCERTAINTY_EULER 0x0A
#define	MIP_NAV_DATA_GYRO_BIAS_UNCERTAINTY 0x0B
#define	MIP_NAV_DATA_ACCEL_BIAS_UNCERTAINTY 0x0C
#define	MIP_NAV_DATA_ACCELERATION 0x0D
#define	MIP_NAV_DATA_ANGULAR_RATE 0x0E
#define	MIP_NAV_DATA_WGS84_GRAVITY 0x0F
#define	MIP_NAV_DATA_FILTER_STATUS 0x10
#define	MIP_NAV_DATA_FILTER_TIMESTAMP 0x11
#define	MIP_NAV_DATA_ATT_UNCERTAINTY_QUATERNION 0x12
#define	MIP_NAV_DATA_GRAVITY_VECTOR 0x13
#define	MIP_NAV_DATA_HEADING_UPDATE_STATE 0x14
#define	MIP_NAV_DATA_MAGNETIC_MODEL 0x15
#define	IS_NAV_DATA_DESCRIPTOR(DESC)
#define	MIP_NAV_BIAS_ESTIMATION_OFF 0x00
#define	MIP_NAV_BIAS_ESTIMATION_ON 0x01
#define	MIP_NAV_DYNAMICS_MODE_PORTABLE 0x01
#define	MIP_NAV_DYNAMICS_MODE_AUTOMOTIVE 0x02
#define	MIP_NAV_DYNAMICS_MODE_AIRBORNE 0x03
#define	MIP_NAV_HEADING_SOURCE_NONE 0x00
#define	MIP_NAV_HEADING_SOURCE_MAGNETOMETER 0x01
#define	MIP_NAV_HEADING_SOURCE_GPS_VELOCITY 0x02
#define	MIP_NAV_HEADING_SOURCE_EXTERNAL 0x03
#define	IS_NAV_HEADING_SOURCE(SOURCE)
#define	MIP_NAV_HEADING_UPDATE_TYPE_TRUE_NORTH 0x01
#define	MIP_NAV_HEADING_UPDATE_TYPE_MAGNETIC_NORTH 0x02
#define	IS_NAV_HEADING_UPDATE_TYPE(TYPE)
#define	MIP_NAV_EKF_STATE_STARTUP 0x00
#define	MIP_NAV_EKF_STATE_INIT 0x01
#define	MIP_NAV_EKF_STATE_RUN_SOLUTION_VALID 0x02
#define	MIP_NAV_EKF_STATE_RUN_SOLUTION_ERROR 0x03
#define	MIP_NAV_EKF_DYNAMICS_MODE_PORTABLE 0x01
#define	MIP_NAV_EKF_DYNAMICS_MODE_AUTOMOTIVE 0x02
#define	MIP_NAV_EKF_DYNAMICS_MODE_AIRBORNE 0x03
#define	IS_MIP_NAV_EKF_DYNAMICS_MODE(MODE)
#define	MIP_NAV_EKF_STATUS_FLAG_INIT_NO_ATTITUDE 0x1000
#define	MIP_NAV_EKF_STATUS_FLAG_INIT_NO_POSITION_VELOCITY 0x2000
#define	MIP_NAV_EKF_STATUS_FLAG_IMU_UNAVAILABLE 0x0001
#define	MIP_NAV_EKF_STATUS_FLAG_GPS_UNAVAILABLE 0x0002
#define	MIP_NAV_EKF_STATUS_FLAG_MATRIX_SINGULARITY 0x0008
#define	MIP_NAV_EKF_STATUS_FLAG_POSITION_COVARIANCE_WARNING 0x0010
#define	MIP_NAV_EKF_STATUS_FLAG_VELOCITY_COVARIANCE_WARNING 0x0020
#define	MIP_NAV_EKF_STATUS_FLAG_ATTITUDE_COVARIANCE_WARNING 0x0040
#define	MIP_NAV_EKF_STATUS_FLAG_NAN_IN_SOLUTION_WARNING 0x0080
#define	MIP_NAV_EKF_BIAS_ESTIMATION_CONTROL_OFF 0x00
#define	MIP_NAV_EKF_BIAS_ESTIMATION_CONTROL_ON 0x01
#define	IS_MIP_NAV_EKF_BIAS_ESTIMATION_CONTROL(CONTROL)
#define	NAV_HEADING_UPDATE_STATE_SOURCE_VALID 0x0001
#define	NAV_HEADING_UPDATE_STATE_HEADING_VALID 0x0002
#define	NAV_HEADING_UPDATE_STATE_HEADING_1SIGMA_VALID 0x0004
#define	NAV_HEADING_UPDATE_STATE_PACKET_VALID (NAV_HEADING_UPDATE_STATE_SOURCE_VALID \| NAV_HEADING_UPDATE_STATE_HEADING_VALID \| NAV_HEADING_UPDATE_STATE_HEADING_1SIGMA_VALID)
Typedefs
typedef struct _mip_nav_external_gps_update_command	mip_nav_external_gps_update_command
typedef struct _mip_nav_external_heading_update_command	mip_nav_external_heading_update_command
typedef struct _mip_nav_llh_pos	mip_nav_llh_pos
typedef struct _mip_nav_ned_velocity	mip_nav_ned_velocity
typedef struct _mip_nav_attitude_quaternion	mip_nav_attitude_quaternion
typedef struct _mip_nav_attitude_dcm	mip_nav_attitude_dcm
typedef struct _mip_nav_attitude_euler_angles	mip_nav_attitude_euler_angles
typedef struct _mip_nav_gyro_bias	mip_nav_gyro_bias
typedef struct _mip_nav_accel_bias	mip_nav_accel_bias
typedef struct _mip_nav_llh_pos_uncertainty	mip_nav_llh_pos_uncertainty
typedef struct _mip_nav_ned_vel_uncertainty	mip_nav_ned_vel_uncertainty
typedef struct _mip_nav_euler_attitude_uncertainty	mip_nav_euler_attitude_uncertainty
typedef struct _mip_nav_gyro_bias_uncertainty	mip_nav_gyro_bias_uncertainty
typedef struct _mip_nav_accel_bias_uncertainty	mip_nav_accel_bias_uncertainty
typedef struct _mip_nav_timestamp	mip_nav_timestamp
typedef struct _mip_nav_status	mip_nav_status
typedef struct _mip_nav_acceleration	mip_nav_acceleration
typedef struct _mip_nav_gravity_vector	mip_nav_gravity_vector
typedef struct _mip_nav_angular_rate	mip_nav_angular_rate
typedef struct _mip_nav_quaternion_attitude_uncertainty	mip_nav_quaternion_attitude_uncertainty
typedef struct _mip_nav_wgs84_gravity_mag	mip_nav_wgs84_gravity_mag
typedef struct _mip_nav_heading_update_state	mip_nav_heading_update_state
typedef struct _mip_nav_magnetic_model	mip_nav_magnetic_model
Functions
void	mip_nav_llh_pos_byteswap (mip_nav_llh_pos *llh_pos)
void	mip_nav_ned_velocity_byteswap (mip_nav_ned_velocity *ned_velocity)
void	mip_nav_attitude_quaternion_byteswap (mip_nav_attitude_quaternion *attitude_quaternion)
void	mip_nav_attitude_dcm_byteswap (mip_nav_attitude_dcm *attitude_dcm)
void	mip_nav_attitude_euler_angles_byteswap (mip_nav_attitude_euler_angles *attitude_euler_angles)
void	mip_nav_gyro_bias_byteswap (mip_nav_gyro_bias *gyro_bias)
void	mip_nav_accel_bias_byteswap (mip_nav_accel_bias *accel_bias)
void	mip_nav_llh_pos_uncertainty_byteswap (mip_nav_llh_pos_uncertainty *llh_pos_uncertainty)
void	mip_nav_ned_vel_uncertainty_byteswap (mip_nav_ned_vel_uncertainty *ned_vel_uncertainty)
void	mip_nav_euler_attitude_uncertainty_byteswap (mip_nav_euler_attitude_uncertainty *euler_attitude_uncertainty)
void	mip_nav_gyro_bias_uncertainty_byteswap (mip_nav_gyro_bias_uncertainty *gyro_bias_uncertainty)
void	mip_nav_accel_bias_uncertainty_byteswap (mip_nav_accel_bias_uncertainty *accel_bias_uncertainty)
void	mip_nav_timestamp_byteswap (mip_nav_timestamp *timestamp)
void	mip_nav_status_byteswap (mip_nav_status *status)
void	mip_nav_acceleration_byteswap (mip_nav_acceleration *acceleration)
void	mip_nav_gravity_vector_byteswap (mip_nav_gravity_vector *gravity_vector)
void	mip_nav_angular_rate_byteswap (mip_nav_angular_rate *angular_rate)
void	mip_nav_quaternion_attitude_uncertainty_byteswap (mip_nav_quaternion_attitude_uncertainty *quaternion_attitude_uncertainty)
void	mip_nav_wgs84_gravity_mag_byteswap (mip_nav_wgs84_gravity_mag *wgs84_gravity_mag)
void	mip_nav_heading_update_state_byteswap (mip_nav_heading_update_state *heading_update_state)
void	mip_nav_magnetic_model_byteswap (mip_nav_magnetic_model *magnetic_model)
u16	mip_nav_reset_filter (mip_interface *device_interface)
u16	mip_nav_set_init_attitude (mip_interface *device_interface, float euler_angles[3])
u16	mip_nav_set_init_heading (mip_interface *device_interface, float heading)
u16	mip_nav_set_init_attitude_from_ahrs (mip_interface *device_interface, float declination)
u16	mip_nav_vehicle_dynamics_mode (mip_interface device_interface, u8 function_selector, u8 dynamics_mode)
u16	mip_nav_sensor2vehicle_tranformation (mip_interface *device_interface, u8 function_selector, float euler_angles[3])
u16	mip_nav_sensor2vehicle_offset (mip_interface *device_interface, u8 function_selector, float offset[3])
u16	mip_nav_antenna_offset (mip_interface *device_interface, u8 function_selector, float offset[3])
u16	mip_nav_bias_estimation (mip_interface device_interface, u8 function_selector, u16 bias_control)
u16	mip_nav_gps_source (mip_interface device_interface, u8 function_selector, u8 gps_source)
u16	mip_nav_external_gps_update (mip_interface device_interface, mip_nav_external_gps_update_command command)
u16	mip_nav_external_heading_update (mip_interface device_interface, mip_nav_external_heading_update_command command)
u16	mip_nav_heading_source (mip_interface device_interface, u8 function_selector, u8 heading_source)
u16	mip_nav_auto_initialization (mip_interface device_interface, u8 function_selector, u8 enable)
u16	mip_nav_accel_white_noise (mip_interface *device_interface, u8 function_selector, float noise_1sigma[3])
u16	mip_nav_gyro_white_noise (mip_interface *device_interface, u8 function_selector, float noise_1sigma[3])
u16	mip_nav_gyro_bias_model (mip_interface *device_interface, u8 function_selector, float bias_beta[3], float bias_noise_1sigma[3])

Detailed Description

Author:: Nathan Miller

Version:: 1.0

Define Documentation

#define IS_MIP_NAV_EKF_BIAS_ESTIMATION_CONTROL ( CONTROL )

Value:

(((CONTROL)  == MIP_NAV_EKF_BIAS_ESTIMATION_CONTROL_OFF) || \
                                                         ((CONTROL)  == MIP_NAV_EKF_BIAS_ESTIMATION_CONTROL_ON))

#define IS_MIP_NAV_EKF_DYNAMICS_MODE ( MODE )

Value:

(((MODE) == MIP_NAV_EKF_DYNAMICS_MODE_PORTABLE)   || \
                                            ((MODE) == MIP_NAV_EKF_DYNAMICS_MODE_AUTOMOTIVE) || \
                                            ((MODE) == MIP_NAV_EKF_DYNAMICS_MODE_AIRBORNE))

#define IS_NAV_DATA_DESCRIPTOR ( DESC )

Value:

(((DESC) == MIP_NAV_DATA_LLH_POS)                     || \
                                      ((DESC) == MIP_NAV_DATA_NED_VEL)                     || \
                                      ((DESC) == MIP_NAV_DATA_ATT_QUATERNION)              || \
                                      ((DESC) == MIP_NAV_DATA_ATT_MATRIX)                  || \
                                      ((DESC) == MIP_NAV_DATA_ATT_EULER_ANGLES)            || \
                                      ((DESC) == MIP_NAV_DATA_GYRO_BIAS)                   || \
                                      ((DESC) == MIP_NAV_DATA_ACCEL_BIAS)                  || \
                                      ((DESC) == MIP_NAV_DATA_POS_UNCERTAINTY)             || \
                                      ((DESC) == MIP_NAV_DATA_VEL_UNCERTAINTY)             || \
                                      ((DESC) == MIP_NAV_DATA_ATT_UNCERTAINTY_EULER)       || \
                                      ((DESC) == MIP_NAV_DATA_GYRO_BIAS_UNCERTAINTY)       || \
                                      ((DESC) == MIP_NAV_DATA_ACCEL_BIAS_UNCERTAINTY)      || \
                                      ((DESC) == MIP_NAV_DATA_ACCELERATION)                || \
                                      ((DESC) == MIP_NAV_DATA_ANGULAR_RATE)                || \
                                      ((DESC) == MIP_NAV_DATA_WGS84_GRAVITY)               || \
                                      ((DESC) == MIP_NAV_DATA_FILTER_STATUS)               || \
                                      ((DESC) == MIP_NAV_DATA_FILTER_TIMESTAMP)            || \
                                      ((DESC) == MIP_NAV_DATA_ATT_UNCERTAINTY_QUATERNION)  || \
                                      ((DESC) == MIP_NAV_DATA_GRAVITY_VECTOR)              || \
                                      ((DESC) == MIP_NAV_DATA_HEADING_UPDATE_STATE)        || \
                                      ((DESC) == MIP_NAV_DATA_MAGNETIC_MODEL))

#define IS_NAV_HEADING_SOURCE ( SOURCE )

Value:

(((SOURCE) == MIP_NAV_HEADING_SOURCE_NONE)         || \
                                       ((SOURCE) == MIP_NAV_HEADING_SOURCE_MAGNETOMETER) || \
                                       ((SOURCE) == MIP_NAV_HEADING_SOURCE_GPS_VELOCITY) || \
                                       ((SOURCE) == MIP_NAV_HEADING_SOURCE_EXTERNAL))

#define IS_NAV_HEADING_UPDATE_TYPE ( TYPE )

Value:

(((TYPE) == MIP_NAV_HEADING_UPDATE_TYPE_TRUE_NORTH) || \
                                          ((TYPE) == MIP_NAV_HEADING_UPDATE_TYPE_MAGNETIC_NORTH))

Function Documentation

void mip_nav_accel_bias_byteswap ( mip_nav_accel_bias * accel_bias )

DESCRIPTION

Byteswap a NAV Accel Bias Structure.

DETAILS

Parameters:

[in] mip_nav_accel_bias *accel_bias - The structure to be byteswapped.

NOTES

None

void mip_nav_accel_bias_uncertainty_byteswap ( mip_nav_accel_bias_uncertainty * accel_bias_uncertainty )

DESCRIPTION

Byteswap a NAV Accel Bias Uncertainty Structure.

DETAILS

Parameters:

[in] mip_nav_accel_bias_uncertainty *accel_bias_uncertainty - The structure to be byteswapped.

NOTES

None

u16 mip_nav_accel_white_noise	(	mip_interface *	device_interface,
		u8	function_selector,
		float	noise_1sigma[3]
	)

DESCRIPTION

Set or read the filter's accelerometer white noise values.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	u8	function_selector - Selects which function to perform.
[in,out]	float	noise_1sigma[3] - The accelerometer 1-sigma white noise values in m/(s^2). (used to set or get depending on `function_selector`)

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

Possible function_selector values:

0x01 - Use New Settings
0x02 - Read Current Settings
0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

The accelerometer 1-sigma white noise values are ordered [x, y, z] in the
sensor frame in m/(s^2). These values are used as process noise and allow the user to tune
the behavior of the Kalman filter for their particular application.

void mip_nav_acceleration_byteswap ( mip_nav_acceleration * acceleration )

DESCRIPTION

Byteswap a NAV Acceleration Structure.

DETAILS

Parameters:

[in] mip_nav_acceleration *acceleration - The structure to be byteswapped.

NOTES

None

void mip_nav_angular_rate_byteswap ( mip_nav_angular_rate * angular_rate )

DESCRIPTION

Byteswap a NAV Angular Rate Structure.

DETAILS

Parameters:

[in] mip_nav_angular_rate *angular_rate - The structure to be byteswapped.

NOTES

None

u16 mip_nav_antenna_offset	(	mip_interface *	device_interface,
		u8	function_selector,
		float	offset[3]
	)

DESCRIPTION

Set or read the filter's antenna offset settings.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	u8	function_selector - Selects which function to perform.
[in,out]	float	offset - The offset of the antenna with-respect-to the sensor in meters. (used to set or get depending on `function_selector`)

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

Possible function_selector values:

0x01 - Use New Settings
0x02 - Read Current Settings
0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

The offset is [x, y, z] in meters from the sensor to the antenna, expressed in the sensor frame.

void mip_nav_attitude_dcm_byteswap ( mip_nav_attitude_dcm * attitude_dcm )

DESCRIPTION

Byteswap a NAV Direction Cosine Matrix (DCM) Structure.

DETAILS

Parameters:

[in] mip_nav_attitude_dcm *attitude_dcm - The structure to be byteswapped.

NOTES

None

void mip_nav_attitude_euler_angles_byteswap ( mip_nav_attitude_euler_angles * attitude_euler_angles )

DESCRIPTION

Byteswap a NAV Euler Angle Attitude Uncertainty Structure.

DETAILS

Parameters:

[in] mip_nav_attitude_euler_angles *attitude_euler_angles - The structure to be byteswapped.

NOTES

None

void mip_nav_attitude_quaternion_byteswap ( mip_nav_attitude_quaternion * attitude_quaternion )

DESCRIPTION

Byteswap a NAV Quaternion Structure.

DETAILS

Parameters:

[in] mip_nav_attitude_quaternion *attitude_quaternion - The structure to be byteswapped.

NOTES

None

u16 mip_nav_auto_initialization	(	mip_interface *	device_interface,
		u8	function_selector,
		u8 *	enable
	)

DESCRIPTION

Set or read the filter's auto-initialization setting.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	u8	function_selector - Selects which function to perform.
[in,out]	u8	*enable - The auto-initialization setting. (used to set or get depending on `function_selector`)

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

Possible function_selector values:

0x01 - Use New Settings
0x02 - Read Current Settings
0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

Please consult the device DCP for valid auto-initialization values.

u16 mip_nav_bias_estimation	(	mip_interface *	device_interface,
		u8	function_selector,
		u16 *	bias_control
	)

DESCRIPTION

Set or read the filter's bias estimation control settings.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	u8	function_selector - Selects which function to perform.
[in,out]	u16	*bias_control - The bais control value. (used to set or get depending on `function_selector`)

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

Possible function_selector values:

0x01 - Use New Settings
0x02 - Read Current Settings
0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

Please consult the device DCP for valid bias control values

void mip_nav_euler_attitude_uncertainty_byteswap ( mip_nav_euler_attitude_uncertainty * euler_attitude_uncertainty )

DESCRIPTION

Byteswap a NAV Euler Attitude Uncertainty Structure.

DETAILS

Parameters:

[in] mip_nav_euler_attitude_uncertainty *euler_attitude_uncertainty - The structure to be byteswapped.

NOTES

None

u16 mip_nav_external_gps_update	(	mip_interface *	device_interface,
		mip_nav_external_gps_update_command *	command
	)

DESCRIPTION

Provide an external GPS update to the filter.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	mip_nav_external_gps_update_command	*command - The external GPS update command.

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

The device will only accept this command when external GPS is selected
as the GPS source. Please consult the device DCP for how to configure this setting.

u16 mip_nav_external_heading_update	(	mip_interface *	device_interface,
		mip_nav_external_heading_update_command *	command
	)

DESCRIPTION

Provide an external heading update to the filter.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	mip_nav_external_heading_update_command	*command - The external heading update command.

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

The device will only accept this command when external heading is selected
as the heading update source. Please consult the device DCP for how to configure this setting.

u16 mip_nav_gps_source	(	mip_interface *	device_interface,
		u8	function_selector,
		u8 *	gps_source
	)

DESCRIPTION

Set or read the filter's GPS source settings.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	u8	function_selector - Selects which function to perform.
[in,out]	u8	*gps_source - The source of GPS updates to the filter. (used to set or get depending on `function_selector`)

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

Possible function_selector values:

0x01 - Use New Settings
0x02 - Read Current Settings
0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

Please consult the device DCP for valid GPS source values.

void mip_nav_gravity_vector_byteswap ( mip_nav_gravity_vector * gravity_vector )

DESCRIPTION

Byteswap a NAV Gravity Vector Structure.

DETAILS

Parameters:

[in] mip_nav_gravity_vector *gravity_vector - The structure to be byteswapped.

NOTES

None

void mip_nav_gyro_bias_byteswap ( mip_nav_gyro_bias * gyro_bias )

DESCRIPTION

Byteswap a NAV Gyro Bias Structure.

DETAILS

Parameters:

[in] mip_nav_gyro_bias *gyro_bias - The structure to be byteswapped.

NOTES

None

u16 mip_nav_gyro_bias_model	(	mip_interface *	device_interface,
		u8	function_selector,
		float	bias_beta[3],
		float	bias_noise_1sigma[3]
	)

DESCRIPTION

Set or read the filter's gyroscope Guass-Markov bias model values.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	u8	function_selector - Selects which function to perform.
[in,out]	float	bias_beta[3] - The gyroscope bias model time constants in 1/sec. (used to set or get depending on `function_selector`)
[in,out]	float	bias_noise_1sigma[3] - The gyroscope bias model 1-sigma white noise values in rad/sec. (used to set or get depending on `function_selector`)

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

Possible function_selector values:

0x01 - Use New Settings
0x02 - Read Current Settings
0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

The gyroscope Gauss-Markov bias model time constant values are ordered [x, y, z] in the
sensor frame in units of 1/sec. The gyro Gauss-Markov bias model 1-sigma white noise values are ordered [x, y, z] in the
sensor frame in units of rad/sec. These values are used as process noise to the gyro bias model and allow the user to tune
the behavior of the Kalman filter for their particular application.

void mip_nav_gyro_bias_uncertainty_byteswap ( mip_nav_gyro_bias_uncertainty * gyro_bias_uncertainty )

DESCRIPTION

Byteswap a NAV Gyro Bias Uncertainty Structure.

DETAILS

Parameters:

[in] mip_nav_gyro_bias_uncertainty *gyro_bias_uncertainty - The structure to be byteswapped.

NOTES

None

u16 mip_nav_gyro_white_noise	(	mip_interface *	device_interface,
		u8	function_selector,
		float	noise_1sigma[3]
	)

DESCRIPTION

Set or read the filter's gyroscope white noise values.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	u8	function_selector - Selects which function to perform.
[in,out]	float	noise_1sigma[3] - The gyroscope 1-sigma white noise values in rad/sec. (used to set or get depending on `function_selector`)

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

Possible function_selector values:

0x01 - Use New Settings
0x02 - Read Current Settings
0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

The gyroscope 1-sigma white noise values are ordered [x, y, z] in the
sensor frame in rad/sec. These values are used as process noise and allow the user to tune
the behavior of the Kalman filter for their particular application.

u16 mip_nav_heading_source	(	mip_interface *	device_interface,
		u8	function_selector,
		u8 *	heading_source
	)

DESCRIPTION

Set or read the filter's heading update source settings.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	u8	function_selector - Selects which function to perform.
[in,out]	u8	*heading_source - The source of heading updates to the filter. (used to set or get depending on `function_selector`)

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

Possible function_selector values:

0x01 - Use New Settings
0x02 - Read Current Settings
0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

Please consult the device DCP for valid heading update source values.

void mip_nav_heading_update_state_byteswap ( mip_nav_heading_update_state * heading_update_state )

DESCRIPTION

Byteswap a NAV Heading Update State Structure.

DETAILS

Parameters:

[in] mip_nav_heading_update_state *heading_update_state - The structure to be byteswapped.

NOTES

None

void mip_nav_llh_pos_byteswap ( mip_nav_llh_pos * llh_pos )

DESCRIPTION

Byteswap a NAV LLH Position Structure.

DETAILS

Parameters:

[in] mip_nav_llh_pos *llh_pos - The structure to be byteswapped.

NOTES

None

void mip_nav_llh_pos_uncertainty_byteswap ( mip_nav_llh_pos_uncertainty * llh_pos_uncertainty )

DESCRIPTION

Byteswap a NAV LLH Position Uncertainty Structure.

DETAILS

Parameters:

[in] mip_nav_llh_pos_uncertainty *llh_pos_uncertainty - The structure to be byteswapped.

NOTES

None

void mip_nav_magnetic_model_byteswap ( mip_nav_magnetic_model * magnetic_model )

DESCRIPTION

Byteswap a NAV Magnetic Model Structure.

DETAILS

Parameters:

[in] mip_nav_magnetic_model *magnetic_model - The structure to be byteswapped.

NOTES

None

void mip_nav_ned_vel_uncertainty_byteswap ( mip_nav_ned_vel_uncertainty * ned_vel_uncertainty )

DESCRIPTION

Byteswap a NAV NED Velocity Uncertainty Structure.

DETAILS

Parameters:

[in] mip_nav_ned_vel_uncertainty *ned_vel_uncertainty - The structure to be byteswapped.

NOTES

None

void mip_nav_ned_velocity_byteswap ( mip_nav_ned_velocity * ned_velocity )

DESCRIPTION

Byteswap a NAV NED Velocity Structure.

DETAILS

Parameters:

[in] mip_nav_ned_velocity *ned_velocity - The structure to be byteswapped.

NOTES

None

void mip_nav_quaternion_attitude_uncertainty_byteswap ( mip_nav_quaternion_attitude_uncertainty * quaternion_attitude_uncertainty )

DESCRIPTION

Byteswap a NAV Quaternion Attitude Uncertainty Structure.

DETAILS

Parameters:

[in] mip_nav_quaternion_attitude_uncertainty *quaternion_attitude_uncertainty - The structure to be byteswapped.

NOTES

None

u16 mip_nav_reset_filter ( mip_interface * device_interface )

DESCRIPTION

Reset the Kalman Filter.

DETAILS

Parameters:

[in] mip_interface *device_interface - The device interface.

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

None

u16 mip_nav_sensor2vehicle_offset	(	mip_interface *	device_interface,
		u8	function_selector,
		float	offset[3]
	)

DESCRIPTION

Set or read the filter's sensor to vehicle frame offset settings.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	u8	function_selector - Selects which function to perform.
[in,out]	float	offset - The sensor to vehicle frame offset in meters. (used to set or get depending on `function_selector`)

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

Possible function_selector values:

0x01 - Use New Settings
0x02 - Read Current Settings
0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

The offset is [x, y, z] in meters from the sensor frame to the vehicle frame, expressed in the sensor frame.

u16 mip_nav_sensor2vehicle_tranformation	(	mip_interface *	device_interface,
		u8	function_selector,
		float	euler_angles[3]
	)

DESCRIPTION

Set or read the filter's sensor to vehicle transformation settings.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	u8	function_selector - Selects which function to perform.
[in,out]	float	euler_angles[3] - The sensor to vehicle transformation expressed as Euler angles in radians. (used to set or get depending on `function_selector`)

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

Possible function_selector values:

0x01 - Use New Settings
0x02 - Read Current Settings
0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

The angles are [roll, pitch, yaw] in radians from the sensor frame to the vehicle frame.

u16 mip_nav_set_init_attitude	(	mip_interface *	device_interface,
		float	euler_angles[3]
	)

DESCRIPTION

Initialize the Kalman Filter with the provided Euler angles.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	float	euler_angles[3] - The Euler angles in radians.

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

Order of angles is [roll, pitch, yaw] in radians.

u16 mip_nav_set_init_attitude_from_ahrs	(	mip_interface *	device_interface,
		float	declination
	)

DESCRIPTION

Initialize the Kalman Filter from the AHRS algorithm output, taking into account the magnetic declination angle povided.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	float	declination - The local magnetic declination angle in radians.

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

The output of the internal AHRS orientation algorithm will be used to initialize
the filter, taking into account the user-provided magnetic declination angle.

u16 mip_nav_set_init_heading	(	mip_interface *	device_interface,
		float	heading
	)

DESCRIPTION

Initialize the Kalman Filter with the provided true heading angle.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	float	heading - The true heading angle in radians.

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

Roll and Pitch will be calculated by the device using the accelerometers.

void mip_nav_status_byteswap ( mip_nav_status * status )

DESCRIPTION

Byteswap a NAV Status Structure.

DETAILS

Parameters:

[in] mip_nav_status *status - The structure to be byteswapped.

NOTES

None

void mip_nav_timestamp_byteswap ( mip_nav_timestamp * timestamp )

DESCRIPTION

Byteswap a NAV Timestamp Structure.

DETAILS

Parameters:

[in] mip_nav_timestamp *timestamp - The structure to be byteswapped.

NOTES

None

u16 mip_nav_vehicle_dynamics_mode	(	mip_interface *	device_interface,
		u8	function_selector,
		u8 *	dynamics_mode
	)

DESCRIPTION

Set or read the filter's vehicle dynamics mode settings.

DETAILS

Parameters:

[in]	mip_interface	*device_interface - The device interface.
[in]	u8	function_selector - Selects which function to perform.
[in,out]	u8	*dynamics_mode - The vehicle dynamics mode. (used to set or get depending on `function_selector`)

Return values:

MIP_INTERFACE_ERROR	When there is a problem with the command format or the the device communications failed.
MIP_INTERFACE_OK	The command was successful.

NOTES

Possible function_selector values:

0x01 - Use New Settings
0x02 - Read Current Settings
0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

settings may be NULL for the following function_selector values:

0x03 - Save Current Settings as Startup Settings
0x04 - Load Saved Settings
0x05 - Load Factory Default Settings

Please reference the device DCP for valid dynamics_mode values.

void mip_nav_wgs84_gravity_mag_byteswap ( mip_nav_wgs84_gravity_mag * wgs84_gravity_mag )

DESCRIPTION

Byteswap a NAV WGS84 Gravity Magnitude Structure.

DETAILS

Parameters:

[in] mip_nav_wgs84_gravity_mag *wgs84_gravity_mag - The structure to be byteswapped.

NOTES

None

Data Structures

Defines

Typedefs

Functions

Detailed Description

Define Documentation

Function Documentation

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION

DETAILS

NOTES

DESCRIPTION