OrientationValues Class Reference

OrientationValues reads and outputs orientation parameters. More...

#include <orientation_sensor.h>

Collaboration diagram for OrientationValues:

Public Types
enum	OrientationValType {   kCompassHeading , kYaw , kPitch , kRoll ,   kAttitude , kAccelerationX , kAccelerationY , kAccelerationZ ,   kRateOfTurn , kRateOfPitch , kRateOfRoll , kTemperature ,   kMagCalFitInUse , kMagCalFitTrial , kMagCalAlgorithmSolver , kMagInclination ,   kMagFieldMagnitude , kMagFieldMagnitudeTrial , kMagNoiseCovariance }

Public Member Functions
	OrientationValues (OrientationSensor *orientation_sensor, OrientationValType value_type=kCompassHeading)
float	ReportValue (void)
	fetches current orientation parameter

Public Attributes
OrientationSensor *	orientation_sensor_
	Pointer to the orientation sensor.

Private Attributes
OrientationValType	value_type_
	Particular type of orientation parameter supplied.
uint	report_interval_ms_
	Interval between data outputs via Signal K.
int8_t	save_mag_cal_
	Flag for saving current magnetic calibration.
int	throttlePrint_

Detailed Description

OrientationValues reads and outputs orientation parameters.

One parameter is sent per instance of OrientationValues, selected from the list of OrientationValType. The one exception is the attitude (yaw,pitch,roll) which consists of three parameters and is provided by the AttitudeValues class instead of this one. Create new instances in main.cpp for each parameter desired.

Definition at line 57 of file orientation_sensor.h.

Member Enumeration Documentation

OrientationValType

enum OrientationValues::OrientationValType

Enumerator
kCompassHeading	compass heading, also called yaw
kYaw	rotation about the vertical axis
kPitch	rotation about the transverse axis
kRoll	rotation about the longitudinal axis
kAttitude	attitude combines heading, pitch, and roll
kAccelerationX	acceleration in the stern-to-bow axis
kAccelerationY	acceleration in the starboard-to-port axis
kAccelerationZ	acceleration in the down-to-up axis
kRateOfTurn	rate of change of compass heading
kRateOfPitch	rate of change of pitch
kRateOfRoll	rate of change of roll
kTemperature	temperature as reported by sensor IC
kMagCalFitInUse	fit of currently-used calibration. <3.5 is good.
kMagCalFitTrial	fit of candidate calibration. <3.5 is good.
kMagCalAlgorithmSolver	cal algorithm order used. [0,4,7,10] 10 is best
kMagInclination	geomagnetic inclination based on current readings
kMagFieldMagnitude	geomagnetic magnitude of current calibration
kMagFieldMagnitudeTrial	geomagnetic magnitude based on current readings
kMagNoiseCovariance	deviation of current reading from calibrated geomag sphere

Definition at line 59 of file orientation_sensor.h.

Constructor & Destructor Documentation

OrientationValues()

OrientationValues::OrientationValues	(	OrientationSensor *	orientation_sensor,
		OrientationValType	value_type = kCompassHeading
	)

Definition at line 111 of file orientation_sensor.cpp.

Member Function Documentation

ReportValue()

float OrientationValues::ReportValue

(

void

)

fetches current orientation parameter

Definition at line 122 of file orientation_sensor.cpp.

Member Data Documentation

orientation_sensor_

OrientationSensor* OrientationValues::orientation_sensor_

Pointer to the orientation sensor.

Definition at line 85 of file orientation_sensor.h.

report_interval_ms_

uint OrientationValues::report_interval_ms_

private

Interval between data outputs via Signal K.

Definition at line 95 of file orientation_sensor.h.

save_mag_cal_

int8_t OrientationValues::save_mag_cal_

private

Flag for saving current magnetic calibration.

Definition at line 96 of file orientation_sensor.h.

throttlePrint_

int OrientationValues::throttlePrint_

private

Definition at line 97 of file orientation_sensor.h.

value_type_

OrientationValType OrientationValues::value_type_

private

Particular type of orientation parameter supplied.

Definition at line 94 of file orientation_sensor.h.

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The documentation for this class was generated from the following files:

• src/orientation_sensor.h
• src/orientation_sensor.cpp