Orientation

Data Structures
struct	msg_baseline_heading_t
struct	msg_orient_quat_t
struct	msg_orient_euler_t
struct	msg_angular_rate_t

Macros
#define	SBP_MSG_BASELINE_HEADING   0x020F
	Heading relative to True North. More...
#define	SBP_MSG_ORIENT_QUAT   0x0220
	Quaternion 4 component vector. More...
#define	SBP_MSG_ORIENT_EULER   0x0221
	Euler angles. More...
#define	SBP_MSG_ANGULAR_RATE   0x0222
	Vehicle Body Frame instantaneous angular rates. More...

Detailed Description

• Orientation Messages

Macro Definition Documentation

#define SBP_MSG_ANGULAR_RATE   0x0222

Vehicle Body Frame instantaneous angular rates.

This message reports the orientation rates in the vehicle body frame. The values represent the measurements a strapped down gyroscope would make and are not equivalent to the time derivative of the Euler angles. The orientation and origin of the user frame is specified via device settings. By convention, the vehicle x-axis is expected to be aligned with the forward direction, while the vehicle y-axis is expected to be aligned with the right direction, and the vehicle z-axis should be aligned with the down direction. This message will only be available in future INS versions of Swift Products and is not produced by Piksi Multi or Duro.

Definition at line 103 of file orientation.h.

#define SBP_MSG_BASELINE_HEADING   0x020F

Heading relative to True North.

This message reports the baseline heading pointing from the base station to the rover relative to True North. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). It is intended that time-matched RTK mode is used when the base station is moving.

Definition at line 38 of file orientation.h.

#define SBP_MSG_ORIENT_EULER   0x0221

Euler angles.

This message reports the yaw, pitch, and roll angles of the vehicle body frame. The rotations should applied intrinsically in the order yaw, pitch, and roll in order to rotate the from a frame aligned with the local-level NED frame to the vehicle body frame. This message will only be available in future INS versions of Swift Products and is not produced by Piksi Multi or Duro.

Definition at line 78 of file orientation.h.

#define SBP_MSG_ORIENT_QUAT   0x0220

Quaternion 4 component vector.

This message reports the quaternion vector describing the vehicle body frame's orientation with respect to a local-level NED frame. The components of the vector should sum to a unit vector assuming that the LSB of each component as a value of 2^-31. This message will only be available in future INS versions of Swift Products and is not produced by Piksi Multi or Duro.

Definition at line 55 of file orientation.h.