InertialTypes

Contains enumeration/types for various Inertial information

Types
InertialCategory

The enums for all the different types/categories of Inertial commands and data.

CATEGORY_SENSOR

0x80 - The Sensor Inertial type

CATEGORY_GPS

0x81 - The GPS Inertial type

CATEGORY_ESTFILTER

0x82 - The Estimation Filter Inertial type

Command

The enums for all of the different Inertial commands.

CMD_PING

0x0101  - Ping

CMD_SET_IDLE

0x0102  - Set to Idle

CMD_GET_DEVICE_INFO

0x0103  - Get Device Information

CMD_GET_DESCRIPTOR_SETS

0x0104  - Get Device Descriptor Sets

CMD_BUILT_IN_TEST

0x0105  - Device Build-In Test

CMD_RESUME

0x0106  - Resume

CMD_RESET

0x017E  - Device Reset

CMD_POLL_SENSOR_DATA

0x0C01  - Poll Sensor Data

CMD_POLL_GPS_DATA

0x0C02  - Poll GPS Data

CMD_POLL_EF_DATA

0x0C03  - Poll Estimation Filter Data

CMD_GET_SENSOR_RATE_BASE

0x0C06  - Get Sensor Data Rate Base

CMD_GET_GPS_RATE_BASE

0x0C07  - Get GPS Data Rate Base

CMD_GET_EF_RATE_BASE

0x0C0B  - Get Estimation Filter Data Rate Base

CMD_SENSOR_MESSAGE_FORMAT

0x0C08  - Sensor Data Message Format

CMD_GPS_MESSAGE_FORMAT

0x0C09  - GPS Message Format

CMD_EF_MESSAGE_FORMAT

0x0C0A  - Estimation Filter Message Format

CMD_CONTINUOUS_DATA_STREAM

0x0C11  - Enable/Disable Device Continuous Data Stream

CMD_SAVE_STARTUP_SETTINGS

0x0C30  - Device Startup Settings

CMD_GPS_DYNAMICS_MODE

0x0C34  - GPS Dynamics Mode

CMD_SENSOR_SIG_COND_SETTINGS

0x0C35  - Sensor Signal Conditioning Settings

CMD_SENSOR_TIMESTAMP

0x0C36  - Sensor Timestamp

CMD_ACCEL_BIAS

0x0C37  - Accel Bias

CMD_GYRO_BIAS

0x0C38  - Gyro Bias

CMD_CAP_GYRO_BIAS

0x0C39  - Capture Gyro Bias

CMD_MAG_HARD_IRON_OFFSET

0x0C3A  - Magnetometer Hard Iron Offset

CMD_MAG_SOFT_IRON_MATRIX

0x0C3B  - Magnetometer Soft Iron Matrix

CMD_CF_REALIGN_UP

0x0C3C  - Complimentary Filter - Realign Up

CMD_CF_REALIGN_NORTH

0x0C3D  - Complimentary Filter - Realign North

CMD_CONING_SCULLING

0x0C3E  - Coning and Sculling Enable

CMD_UART_BAUD_RATE

0x0C40  - UART Baud Rate

CMD_LOWPASS_FILTER_SETTINGS

0x0C50  - Advanced Low-Pass Filter Settings

CMD_DATA_STREAM_FORMAT

0x0C60  - Device Data Stream Format

CMD_POWER_STATES

0x0C61  - Device Power States

CMD_GPS_STARTUP_SETTINGS

0x0C62  - Save/Restore Advanced GPS Startup Settings

CMD_DEVICE_STATUS

0x0C64  - Device Status

CMD_EF_RESET_FILTER

0x0D01  - Estimation Filter - Reset Filter

CMD_EF_INIT_ATTITUDE

0x0D02  - Estimation Filter - Set Initial Attitude

CMD_EF_INIT_HEADING

0x0D03  - Estimation Filter - Set Initial Heading

CMD_EF_INIT_ATTITUDE_FROM_AHRS

0x0D04  - Estimation Filter - Set Initial Attitude from AHRS

CMD_EF_VEHIC_DYNAMICS_MODE

0x0D10  - Estimation Filter - Vehicle Dynamics Mode

CMD_EF_SENS_VEHIC_FRAME_TRANS

0x0D11  - Estimation Filter - Sensor to Vehicle Frame Transformation

CMD_EF_SENS_VEHIC_FRAME_OFFSET

0x0D12  - Estimation Filter - Sensor to Vehicle Frame Offset

CMD_EF_ANTENNA_OFFSET

0x0D13  - Estimation Filter - Antenna Offset

CMD_EF_BIAS_EST_CTRL

0x0D14  - Estimation Filter - Bias Estimation Control

CMD_EF_GPS_SRC_CTRL

0x0D15  - Estimation Filter - GPS Source Control

CMD_EF_EXTERN_GPU_UPDATE

0x0D16  - Estimation Filter - External GPS Update

CMD_EF_EXTERN_HEADING_UPDATE

0x0D17  - Estimation Filter - External Heading Update

CMD_EF_HEADING_UPDATE_CTRL

0x0D18  - Estimation Filter - Heading Update Control

CMD_EF_AUTO_INIT_CTRL

0x0D19  - Estimation Filter - Auto-Initialization Control

CMD_EF_ACCEL_WHT_NSE_STD_DEV

0x0D1A  - Estimation Filter - Accelerometer White Noise Standard Deviation

CMD_EF_GYRO_WHT_NSE_STD_DEV

0x0D1B  - Estimation Filter - Gyroscope White Noise Standard Deviation

CMD_EF_GYRO_BIAS_MODEL_PARAMS

0x0D1D  - Estimation Filter - Gyroscope Bias Model Parameters

CMD_COMMUNICATION_MODE

0x7F10  - Communication Mode

CMD_HARDWARE_CTRL

0x7F11  - Hardware Control

ChannelField

The enums for all of the different Inertial Channel Field IDs.

CH_FIELD_SENSOR_RAW_ACCEL_VEC

0x8001  - Raw Accelerometer Vector

CH_FIELD_SENSOR_RAW_GYRO_VEC

0x8002  - Raw Gyro Vector

CH_FIELD_SENSOR_RAW_MAG_VEC

0x8003  - Raw Magnetometer Vector

CH_FIELD_SENSOR_SCALED_ACCEL_VEC

0x8004  - Scaled Accelerometer Vector

CH_FIELD_SENSOR_SCALED_GYRO_VEC

0x8005  - Scaled Gyro Vector

CH_FIELD_SENSOR_SCALED_MAG_VEC

0x8006  - Scaled Magnetometer Vector

CH_FIELD_SENSOR_DELTA_THETA_VEC

0x8007  - Delta Theta Vector

CH_FIELD_SENSOR_DELTA_VELOCITY_VEC

0x8008  - Delta Velocity Vector

CH_FIELD_SENSOR_ORIENTATION_MATRIX

0x8009  - Orientation Matrix

CH_FIELD_SENSOR_ORIENTATION_QUATERNION

0x800A  - Quaternion

CH_FIELD_SENSOR_ORIENTATION_UPDATE_MATRIX

0x800B  - Orientation Update Matrix

CH_FIELD_SENSOR_EULER_ANGLES

0x800C  - Euler Angles

CH_FIELD_SENSOR_INTERNAL_TIMESTAMP

0x800E  - Internal Timestamp

CH_FIELD_SENSOR_BEACONED_TIMESTAMP

0x800F  - Beaconed Timestamp

CH_FIELD_SENSOR_STABILIZED_MAG_VEC

0x8010  - Stabilized Mag Vector (North)

CH_FIELD_SENSOR_STABILIZED_ACCEL_VEC

0x8011  - Stabliized Accel Vector (Up)

CH_FIELD_SENSOR_GPS_CORRELATION_TIMESTAMP

0x8012  - GPS Correlation Timestamp

CH_FIELD_SENSOR_SCALED_AMBIENT_PRESSURE

0x8017  - Scaled Ambient Pressure

CH_FIELD_GPS_LLH_POSITION

0x8103  - LLH Position

CH_FIELD_GPS_ECEF_POSITION

0x8104  - ECEF Position

CH_FIELD_GPS_NED_VELOCITY

0x8105  - NED Velocity

CH_FIELD_GPS_ECEF_VELOCITY

0x8106  - ECEF Velocity

CH_FIELD_GPS_DOP

0x8107  - DOP Data

CH_FIELD_GPS_UTC_TIME

0x8108  - UTC Time

CH_FIELD_GPS_GPS_TIME

0x8109  - GPS Time

CH_FIELD_GPS_CLOCK_INFO

0x810A  - Clock Information

CH_FIELD_GPS_FIX_INFO

0x810B  - GPS Fix Information

CH_FIELD_GPS_SPACE_VEHICLE_INFO

0x810C  - Space Vehicle Information

CH_FIELD_GPS_HARDWARE_STATUS

0x810D  - Hardware Status

CH_FIELD_GPS_DGPS_INFO

0x810E  - DGPS Information

CH_FIELD_GPS_DGPS_CHANNEL_STATUS

0x810F  - Individual DGPS Channel Status Entry

CH_FIELD_ESTFILTER_ESTIMATED_LLH_POS

0x8201  - Estimated LLH Position

CH_FIELD_ESTFILTER_ESTIMATED_NED_VELOCITY

0x8202  - Estimated NED Velocity

CH_FIELD_ESTFILTER_ESTIMATED_ORIENT_QUATERNION

0x8203  - Estimated Orientation Quaternion

CH_FIELD_ESTFILTER_ESTIMATED_ORIENT_MATRIX

0x8204  - Estimated Orientation Matrix

CH_FIELD_ESTFILTER_ESTIMATED_ORIENT_EULER

0x8205  - Estimated Orientation, Euler Angles

CH_FIELD_ESTFILTER_ESTIMATED_GYRO_BIAS

0x8206  - Estimated Gyro Bias

CH_FIELD_ESTFILTER_ESTIMATED_ACCEL_BIAS

0x8207  - Estimated Accel Bias

CH_FIELD_ESTFILTER_ESTIMATED_LLH_UNCERT

0x8208  - Estimated LLH Position Uncertainty

CH_FIELD_ESTFILTER_ESTIMATED_NED_UNCERT

0x8209  - Estimated NED Velocity Uncertainty

CH_FIELD_ESTFILTER_ESTIMATED_ATT_UNCERT_EULER

0x820A  - Estimated Attitude Uncertainty, Euler Angles

CH_FIELD_ESTFILTER_ESTIMATED_GYRO_BIAS_UNCERT

0x820B  - Estimated Gyro Bias Uncertainty

CH_FIELD_ESTFILTER_ESTIMATED_ACCEL_BIAS_UNCERT

0x820C  - Estimated Accel Bias Uncertainty

CH_FIELD_ESTFILTER_ESTIMATED_LINEAR_ACCEL

0x820D  - Estimated Linear Acceleration

CH_FIELD_ESTFILTER_ESTIMATED_ANGULAR_RATE

0x820E  - Estimated Angular Rate

CH_FIELD_ESTFILTER_WGS84_LOC_GRAV_MAGNITUDE

0x820F  - WG284 Local Gravity Magnitude

CH_FIELD_ESTFILTER_FILTER_STATUS

0x8210  - Filter Status

CH_FIELD_ESTFILTER_GPS_TIMESTAMP

0x8211  - GPS Timestamp

CH_FIELD_ESTFILTER_ESTIMATED_ATT_UNCERT_QUAT

0x8212  - Estimated Attitude Uncertainty, Quaternion Elements

CH_FIELD_ESTFILTER_ESTIMATED_GRAVITY_VECTOR

0x8213  - Estimated Gravity Vector

CH_FIELD_ESTFILTER_HEADING_UPDATE_SOURCE

0x8214  - Heading Update Source

CH_FIELD_ESTFILTER_MAGNETIC_MODEL_SLN

0x8215  - Magnetic Model Solution

CH_FIELD_ESTFILTER_ESTIMATED_GYRO_SCALE_FACTOR

0x8216  - Gyro Scale Factor

CH_FIELD_ESTFILTER_ACCEL_SCALE_FACTOR

0x8217  - Accel Scale Factor

CH_FIELD_ESTFILTER_GYRO_SCALE_FACTOR_UNCERT

0x8218  - Gyro Scale Factor Uncertainty

CH_FIELD_ESTFILTER_ACCEL_SCALE_FACTOR_UNCERT

0x8219  - Accel Scale Factor Uncertainty

CH_FIELD_ESTFILTER_COMPENSATED_ACCEL

0x821C  - Compensated Accel

CH_FIELD_ESTFILTER_STD_ATMOSPHERE_MODEL

0x8220  - Standard Atmosphere Model

CH_FIELD_ESTFILTER_PRESSURE_ALTITUDE

0x8221  - Estimated Pressure Altitude

CH_FIELD_ESTFILTER_GPS_ANTENNA_CORRECTION

0x8230  - GPS Antenna Offset Correction

CH_FIELD_ESTFILTER_GPS_ANTENNA_CORRECTION_UNCERT

0x8231  - GPS Antenna Offset Correction Uncertainty

ChannelQualifier

The enums for different Inertial Channel Qualifiers.  This combined with the ChannelField produces a unique identifier for each individual channel that is collected.

CH_UNKNOWN

0 - Unknown Channel

CH_X

1  - X

CH_Y

2  - Y

CH_Z

3  - Z

CH_MATRIX

4  - Matrix

CH_QUATERNION

5 - Quaternion

CH_ROLL

6  - Roll

CH_PITCH

7 - Pitch

CH_YAW

8 - Yaw

CH_TICK

9 - Tick

CH_TIMESTAMP

10 - Timestamp

CH_STATUS

11 - Status

CH_TIME_OF_WEEK

12 - Time of Week

CH_WEEK_NUMBER

13 - Week Number

CH_LATITUDE

14 - Latitude

CH_LONGITUDE

15 - Longitude

CH_HEIGHT_ABOVE_ELLIPSOID

16 - Height Above Ellipsoid

CH_HEIGHT_ABOVE_MSL

17 - Height Above MSL

CH_HORIZONTAL_ACCURACY

18 - Horizontal Accuracy

CH_VERTICAL_ACCURACY

19 - Vertical Accuracy

CH_POSITION_ACCURACY

20 - Position Accuracy

CH_NORTH

21 - North

CH_EAST

22 - East

CH_DOWN

23 - Down

CH_SPEED

24 - Speed

CH_GROUND_SPEED

25 - Ground Speed

CH_HEADING

26 - Heading

CH_SPEED_ACCURACY

27 - Speed Accuracy

CH_HEADING_ACCURACY

28 - Heading Accuracy

CH_VELOCITY_ACCURACY

29 - Velocity Accuracy

CH_GEOMETRIC_DOP

30 - Geometric DOP

CH_POSITION_DOP

31 - Position DOP

CH_HORIZONTAL_DOP

32 - Horizontal DOP

CH_VERTICAL_DOP

33 - Vertical DOP

CH_TIME_DOP

34 - Time DOP

CH_NORTHING_DOP

35 - Northing DOP

CH_EASTING_DOP

36 - Easting DOP

CH_FLAGS

37 - Flags

CH_BIAS

38 - Bias

CH_DRIFT

39 - Drift

CH_ACCURACY_ESTIMATE

40 - Accuracy Estimate

CH_FIX_TYPE

41 - Fix Type

CH_SV_COUNT

42 - Number of Space Vehicles used for solution

CH_CHANNEL

43 - Channel Number

CH_ID

44 - ID Number

CH_CARRIER_TO_NOISE_RATIO

45 - Carrier to Noise Ratio

CH_AZIMUTH

46 - Azimuth

CH_ELEVATION

47 - Elevation

CH_SENSOR_STATE

48 - Sensor State

CH_ANTENNA_STATE

49 - Antenna State

CH_ANTENNA_POWER

50 - Antenna Power

CH_FILTER_STATE

51 - Filter State

CH_DYNAMICS_MODE

52 - Dynamics Mode

CH_MAGNITUDE

53 - Magnitude

CH_HEADING_UNCERTAINTY

54 - Heading Uncertainty

CH_SOURCE

55 - Source

CH_INCLINATION

56 - Inclination

CH_DECLINATION

57 - Declination

CH_PRESSURE

58 - Pressure

CH_AGE

59 - Age

CH_NUM_CHANNELS

60 - Number of Channels

CH_CORRECTION

61 - Correction

CH_RATE_CORRECTION

62 - Rate Correction

CH_GEOMETRIC_ALTITUDE

63 - Geometric Altitude

CH_GEOPOTENTIAL_ALTITUDE

64 - Geopotential Altitude

CH_TEMPERATURE

65 - Temperature

CH_DENSITY

66 - Density

CH_ALTITUDE

67 - Altitude

ChannelFields

A typedef for a vector of InertialTypes::ChannelFields.

ChannelId

A typedef for a ChannelField, ChannelQualifier pair.

Functions
channelFieldToCategory
static InertialCategory channelFieldToCategory(
InertialTypes::ChannelField channelField
)

Gets the InertialCategory for a InertialTypes::ChannelField.

Parameters
channelId

The InertialTypes::ChannelField to get the category for.

Returns

The InertialCategory for the given channel ID.

channelFieldToStr
static std::string channelFieldToStr(
ChannelField field
)

Gets a string representation of a ChannelField.

Parameters
field

The ChannelField to get a string for.

Returns

A string representation of the given ChannelField.

channelQualifierToStr
static std::string channelQualifierToStr(
ChannelQualifier qualifier
)

Gets a string representation of a ChannelQualifier.

Parameters
qualifier

The ChannelQualifier to get a string for.

Returns

A string representation of the given ChannelQualifier.

channelName
static std::string channelName(
ChannelField field,
ChannelQualifier qualifier
)

Gets the name of the specified ChannelId.  This is the universal channel name that should be used for uploading to SensorCloud.

Parameters
field

The ChannelField of the channel.

qualifier

The ChannelQualifier of the channel.

Returns

The universal name of the channel.

Exceptions
Constants
CHANNEL_NAMES

An unordered_map mapping each ChannelId to its respective name (universal SensorCloud name).