From fd97f97db4a4a7eb1ce9e85e3b0289efe4f05214 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Caruso?= <niccolo.caruso@skywarder.eu>
Date: Wed, 5 Mar 2025 23:09:56 +0100
Subject: [PATCH] [VN300] Adding accelerations to reduced VN300 set

Added accelerations to the reduced sampling set
---
 src/shared/sensors/Vectornav/VN300/VN300.cpp   | 7 +++++++
 src/shared/sensors/Vectornav/VN300/VN300Defs.h | 3 +++
 2 files changed, 10 insertions(+)

diff --git a/src/shared/sensors/Vectornav/VN300/VN300.cpp b/src/shared/sensors/Vectornav/VN300/VN300.cpp
index d5243bced..e23dc78b6 100644
--- a/src/shared/sensors/Vectornav/VN300/VN300.cpp
+++ b/src/shared/sensors/Vectornav/VN300/VN300.cpp
@@ -314,6 +314,12 @@ void VN300::buildBinaryDataReduced(const VN300Defs::BinaryDataReduced& rawData,
     data.quaternionX         = rawData.quaternionX;
     data.quaternionY         = rawData.quaternionY;
     data.quaternionZ         = rawData.quaternionZ;
+
+    // Accelerometer
+    data.accelerationTimestamp = timestamp;
+    data.accelerationX         = rawData.accelX;
+    data.accelerationY         = rawData.accelY;
+    data.accelerationZ         = rawData.accelZ;
 }
 
 bool VN300::setAntennaA(VN300Defs::AntennaPosition antPos)
@@ -399,6 +405,7 @@ bool VN300::setBinaryOutput()
                 VN300Defs::BINARYGROUP_COMMON | VN300Defs::BINARYGROUP_GPS;
             commonGroup = VN300Defs::COMMONGROUP_YAWPITCHROLL |
                           VN300Defs::COMMONGROUP_QUATERNION |
+                          VN300Defs::COMMONGROUP_ACCEL |
                           VN300Defs::COMMONGROUP_ANGULARRATE;
             gnssGroup = VN300Defs::GPSGROUP_FIX | VN300Defs::GPSGROUP_POSLLA;
 
diff --git a/src/shared/sensors/Vectornav/VN300/VN300Defs.h b/src/shared/sensors/Vectornav/VN300/VN300Defs.h
index 7e2b186d0..9a32dddee 100755
--- a/src/shared/sensors/Vectornav/VN300/VN300Defs.h
+++ b/src/shared/sensors/Vectornav/VN300/VN300Defs.h
@@ -277,6 +277,9 @@ struct __attribute__((packed)) BinaryDataReduced
     float angularX;
     float angularY;
     float angularZ;
+    float accelX;
+    float accelY;
+    float accelZ;
     uint8_t gpsFix;
     double latitude;
     double longitude;
-- 
GitLab