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