sbgECom  1.11.920-stable
Data Structures | Macros | Typedefs | Enumerations | Functions
sbgEComBinaryLogEkf.h File Reference

This file is used to parse received EKF compued data binary logs. More...

#include <sbgCommon.h>
#include <streamBuffer/sbgStreamBuffer.h>

Go to the source code of this file.

Data Structures

struct  _SbgLogEkfEulerData
 
struct  _SbgLogEkfQuatData
 
struct  _SbgLogEkfNavData
 

Macros

#define SBG_ECOM_SOLUTION_MODE_SHIFT   (0u)
 
#define SBG_ECOM_SOLUTION_MODE_MASK   (0x0000000Fu)
 
#define SBG_ECOM_SOL_ATTITUDE_VALID   (0x00000001u << 4)
 
#define SBG_ECOM_SOL_HEADING_VALID   (0x00000001u << 5)
 
#define SBG_ECOM_SOL_VELOCITY_VALID   (0x00000001u << 6)
 
#define SBG_ECOM_SOL_POSITION_VALID   (0x00000001u << 7)
 
#define SBG_ECOM_SOL_VERT_REF_USED   (0x00000001u << 8)
 
#define SBG_ECOM_SOL_MAG_REF_USED   (0x00000001u << 9)
 
#define SBG_ECOM_SOL_GPS1_VEL_USED   (0x00000001u << 10)
 
#define SBG_ECOM_SOL_GPS1_POS_USED   (0x00000001u << 11)
 
#define SBG_ECOM_SOL_GPS1_HDT_USED   (0x00000001u << 13)
 
#define SBG_ECOM_SOL_GPS2_VEL_USED   (0x00000001u << 14)
 
#define SBG_ECOM_SOL_GPS2_POS_USED   (0x00000001u << 15)
 
#define SBG_ECOM_SOL_GPS2_HDT_USED   (0x00000001u << 17)
 
#define SBG_ECOM_SOL_ODO_USED   (0x00000001u << 18)
 
#define SBG_ECOM_SOL_DVL_BT_USED   (0x00000001u << 19)
 
#define SBG_ECOM_SOL_DVL_WT_USED   (0x00000001u << 20)
 
#define SBG_ECOM_SOL_USER_POS_USED   (0x00000001u << 21)
 
#define SBG_ECOM_SOL_USER_VEL_USED   (0x00000001u << 22)
 
#define SBG_ECOM_SOL_USER_HEADING_USED   (0x00000001u << 23)
 
#define SBG_ECOM_SOL_USBL_USED   (0x00000001u << 24)
 
#define SBG_ECOM_SOL_AIR_DATA_USED   (0x00000001u << 25)
 
#define SBG_ECOM_SOL_ZUPT_USED   (0x00000001u << 26)
 
#define SBG_ECOM_SOL_ALIGN_VALID   (0x00000001u << 27)
 
#define SBG_ECOM_SOL_DEPTH_USED   (0x00000001u << 28)
 

Typedefs

typedef enum _SbgEComSolutionMode SbgEComSolutionMode
 
typedef struct _SbgLogEkfEulerData SbgLogEkfEulerData
 
typedef struct _SbgLogEkfQuatData SbgLogEkfQuatData
 
typedef struct _SbgLogEkfNavData SbgLogEkfNavData
 

Enumerations

enum  _SbgEComSolutionMode {
  SBG_ECOM_SOL_MODE_UNINITIALIZED = 0,
  SBG_ECOM_SOL_MODE_VERTICAL_GYRO = 1,
  SBG_ECOM_SOL_MODE_AHRS = 2,
  SBG_ECOM_SOL_MODE_NAV_VELOCITY = 3,
  SBG_ECOM_SOL_MODE_NAV_POSITION = 4
}
 

Functions

SBG_INLINE SbgEComSolutionMode sbgEComLogEkfGetSolutionMode (uint32_t status)
 
SBG_INLINE uint32_t sbgEComLogEkfBuildSolutionStatus (SbgEComSolutionMode solutionMode, uint32_t masks)
 
SbgErrorCode sbgEComBinaryLogParseEkfEulerData (SbgStreamBuffer *pInputStream, SbgLogEkfEulerData *pOutputData)
 
SbgErrorCode sbgEComBinaryLogWriteEkfEulerData (SbgStreamBuffer *pOutputStream, const SbgLogEkfEulerData *pInputData)
 
SbgErrorCode sbgEComBinaryLogParseEkfQuatData (SbgStreamBuffer *pInputStream, SbgLogEkfQuatData *pOutputData)
 
SbgErrorCode sbgEComBinaryLogWriteEkfQuatData (SbgStreamBuffer *pOutputStream, const SbgLogEkfQuatData *pInputData)
 
SbgErrorCode sbgEComBinaryLogParseEkfNavData (SbgStreamBuffer *pInputStream, SbgLogEkfNavData *pOutputData)
 
SbgErrorCode sbgEComBinaryLogWriteEkfNavData (SbgStreamBuffer *pOutputStream, const SbgLogEkfNavData *pInputData)
 

Detailed Description

This file is used to parse received EKF compued data binary logs.

Author
SBG Systems (Raphael Siryani)
Date
25 February 2013

Copyright Notice

Copyright (C) 2007-2013, SBG Systems SAS. All rights reserved.

This source code is intended for use only by SBG Systems SAS and those that have explicit written permission to use it from SBG Systems SAS.

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.

Macro Definition Documentation

§ SBG_ECOM_SOLUTION_MODE_SHIFT

#define SBG_ECOM_SOLUTION_MODE_SHIFT   (0u)

Solution status mode definitions.Shift used to extract the clock status part.

Referenced by sbgEComLogEkfBuildSolutionStatus(), and sbgEComLogEkfGetSolutionMode().

§ SBG_ECOM_SOLUTION_MODE_MASK

#define SBG_ECOM_SOLUTION_MODE_MASK   (0x0000000Fu)

Mask used to keep only the clock status part.

Referenced by sbgEComLogEkfBuildSolutionStatus(), and sbgEComLogEkfGetSolutionMode().

§ SBG_ECOM_SOL_ATTITUDE_VALID

#define SBG_ECOM_SOL_ATTITUDE_VALID   (0x00000001u << 4)

Solution bit masks definitions.Set to 1 if attitude data is reliable (Roll/Pitch error < 0,5°).

§ SBG_ECOM_SOL_HEADING_VALID

#define SBG_ECOM_SOL_HEADING_VALID   (0x00000001u << 5)

Set to 1 if geading data is reliable (Heading error < 1°).

§ SBG_ECOM_SOL_VELOCITY_VALID

#define SBG_ECOM_SOL_VELOCITY_VALID   (0x00000001u << 6)

Set to 1 if velocity data is reliable (velocity error < 1.5 m/s).

§ SBG_ECOM_SOL_POSITION_VALID

#define SBG_ECOM_SOL_POSITION_VALID   (0x00000001u << 7)

Set to 1 if position data is reliable (Position error < 10m).

§ SBG_ECOM_SOL_VERT_REF_USED

#define SBG_ECOM_SOL_VERT_REF_USED   (0x00000001u << 8)

Set to 1 if vertical reference is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_MAG_REF_USED

#define SBG_ECOM_SOL_MAG_REF_USED   (0x00000001u << 9)

Set to 1 if magnetometer is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_GPS1_VEL_USED

#define SBG_ECOM_SOL_GPS1_VEL_USED   (0x00000001u << 10)

Set to 1 if GPS1 velocity is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_GPS1_POS_USED

#define SBG_ECOM_SOL_GPS1_POS_USED   (0x00000001u << 11)

Set to 1 if GPS1 Position is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_GPS1_HDT_USED

#define SBG_ECOM_SOL_GPS1_HDT_USED   (0x00000001u << 13)

Set to 1 if GPS1 True Heading is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_GPS2_VEL_USED

#define SBG_ECOM_SOL_GPS2_VEL_USED   (0x00000001u << 14)

Set to 1 if GPS2 velocity is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_GPS2_POS_USED

#define SBG_ECOM_SOL_GPS2_POS_USED   (0x00000001u << 15)

Set to 1 if GPS2 Position is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_GPS2_HDT_USED

#define SBG_ECOM_SOL_GPS2_HDT_USED   (0x00000001u << 17)

Set to 1 if GPS2 True Heading is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_ODO_USED

#define SBG_ECOM_SOL_ODO_USED   (0x00000001u << 18)

Set to 1 if Odometer is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_DVL_BT_USED

#define SBG_ECOM_SOL_DVL_BT_USED   (0x00000001u << 19)

Set to 1 if DVL Bottom Tracking is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_DVL_WT_USED

#define SBG_ECOM_SOL_DVL_WT_USED   (0x00000001u << 20)

Set to 1 if DVL Water Tracking is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_USER_POS_USED

#define SBG_ECOM_SOL_USER_POS_USED   (0x00000001u << 21)

Set to 1 if user velocity is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_USER_VEL_USED

#define SBG_ECOM_SOL_USER_VEL_USED   (0x00000001u << 22)

Set to 1 if user Position is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_USER_HEADING_USED

#define SBG_ECOM_SOL_USER_HEADING_USED   (0x00000001u << 23)

Set to 1 if user Course is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_USBL_USED

#define SBG_ECOM_SOL_USBL_USED   (0x00000001u << 24)

Set to 1 if USBL / LBL is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_AIR_DATA_USED

#define SBG_ECOM_SOL_AIR_DATA_USED   (0x00000001u << 25)

Set to 1 if AirData (altimeter and/or true airspeed) is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_ZUPT_USED

#define SBG_ECOM_SOL_ZUPT_USED   (0x00000001u << 26)

Set to 1 if a ZUPT is used in solution (data used and valid since 3s).

§ SBG_ECOM_SOL_ALIGN_VALID

#define SBG_ECOM_SOL_ALIGN_VALID   (0x00000001u << 27)

Set to 1 if sensor alignment and calibration parameters are valid

§ SBG_ECOM_SOL_DEPTH_USED

#define SBG_ECOM_SOL_DEPTH_USED   (0x00000001u << 28)

Set to 1 if Depth sensor (for subsea navigation) is used in solution (data used and valid since 3s).

Typedef Documentation

§ SbgEComSolutionMode

Solution filter mode enum.

§ SbgLogEkfEulerData

EKF computed orientation using euler angles.

§ SbgLogEkfQuatData

EFK computed orientation using quaternion.

§ SbgLogEkfNavData

EFK computed navigation data.

Enumeration Type Documentation

§ _SbgEComSolutionMode

Solution filter mode enum.

Enumerator
SBG_ECOM_SOL_MODE_UNINITIALIZED 

The Kalman filter is not initialized and the returned data are all invalid.

SBG_ECOM_SOL_MODE_VERTICAL_GYRO 

The Kalman filter only rely on a vertical reference to compute roll and pitch angles. Heading and navigation data drift freely.

SBG_ECOM_SOL_MODE_AHRS 

A heading reference is available, the Kalman filter provides full orientation but navigation data drift freely.

SBG_ECOM_SOL_MODE_NAV_VELOCITY 

The Kalman filter computes orientation and velocity. Position is freely integrated from velocity estimation.

SBG_ECOM_SOL_MODE_NAV_POSITION 

Nominal mode, the Kalman filter computes all parameters (attitude, velocity, position). Absolute position is provided.

Function Documentation

§ sbgEComLogEkfGetSolutionMode()

SBG_INLINE SbgEComSolutionMode sbgEComLogEkfGetSolutionMode ( uint32_t  status)

Method used to read the solution mode from a solution status field.

Parameters
[in]statusStatus uint32_t value to extract the solution mode from it.
Returns
The extracted solution mode.

References SBG_ECOM_SOLUTION_MODE_MASK, and SBG_ECOM_SOLUTION_MODE_SHIFT.

§ sbgEComLogEkfBuildSolutionStatus()

SBG_INLINE uint32_t sbgEComLogEkfBuildSolutionStatus ( SbgEComSolutionMode  solutionMode,
uint32_t  masks 
)

Method used to write the solution status field.

Parameters
[in]solutionModeThe solution mode to set.
[in]masksBit mask to set.
Returns
The build solution status field.

References SBG_ECOM_SOLUTION_MODE_MASK, and SBG_ECOM_SOLUTION_MODE_SHIFT.

§ sbgEComBinaryLogParseEkfEulerData()

SbgErrorCode sbgEComBinaryLogParseEkfEulerData ( SbgStreamBuffer *  pInputStream,
SbgLogEkfEulerData pOutputData 
)

Parse data for the SBG_ECOM_LOG_EKF_EULER message and fill the corresponding structure.

Parameters
[in]pInputStreamInput stream buffer to read the payload from.
[out]pOutputDataPointer on the output structure that stores parsed data.
Returns
SBG_NO_ERROR if the payload has been parsed.

§ sbgEComBinaryLogWriteEkfEulerData()

SbgErrorCode sbgEComBinaryLogWriteEkfEulerData ( SbgStreamBuffer *  pOutputStream,
const SbgLogEkfEulerData pInputData 
)

Write data for the SBG_ECOM_LOG_EKF_EULER message to the output stream buffer from the provided structure.

Parameters
[out]pOutputStreamOutput stream buffer to write the payload to.
[in]pInputDataPointer on the input structure that stores data to write.
Returns
SBG_NO_ERROR if the message has been generated in the provided buffer.

§ sbgEComBinaryLogParseEkfQuatData()

SbgErrorCode sbgEComBinaryLogParseEkfQuatData ( SbgStreamBuffer *  pInputStream,
SbgLogEkfQuatData pOutputData 
)

Parse data for the SBG_ECOM_LOG_EKF_QUAT message and fill the corresponding structure.

Parameters
[in]pInputStreamInput stream buffer to read the payload from.
[out]pOutputDataPointer on the output structure that stores parsed data.
Returns
SBG_NO_ERROR if the payload has been parsed.

§ sbgEComBinaryLogWriteEkfQuatData()

SbgErrorCode sbgEComBinaryLogWriteEkfQuatData ( SbgStreamBuffer *  pOutputStream,
const SbgLogEkfQuatData pInputData 
)

Write data for the SBG_ECOM_LOG_EKF_QUAT message to the output stream buffer from the provided structure.

Parameters
[out]pOutputStreamOutput stream buffer to write the payload to.
[in]pInputDataPointer on the input structure that stores data to write.
Returns
SBG_NO_ERROR if the message has been generated in the provided buffer.

§ sbgEComBinaryLogParseEkfNavData()

SbgErrorCode sbgEComBinaryLogParseEkfNavData ( SbgStreamBuffer *  pInputStream,
SbgLogEkfNavData pOutputData 
)

Parse data for the SBG_ECOM_LOG_EKF_NAV message and fill the corresponding structure.

Parameters
[in]pInputStreamInput stream buffer to read the payload from.
[out]pOutputDataPointer on the output structure that stores parsed data.
Returns
SBG_NO_ERROR if the payload has been parsed.

§ sbgEComBinaryLogWriteEkfNavData()

SbgErrorCode sbgEComBinaryLogWriteEkfNavData ( SbgStreamBuffer *  pOutputStream,
const SbgLogEkfNavData pInputData 
)

Write data for the SBG_ECOM_LOG_EKF_NAV message to the output stream buffer from the provided structure.

Parameters
[out]pOutputStreamOutput stream buffer to write the payload to.
[in]pInputDataPointer on the input structure that stores data to write.
Returns
SBG_NO_ERROR if the message has been generated in the provided buffer.