EzAsyncData

This example walks through using the EzAsyncData class to easily access asynchronous data from a VectorNav sensor.

1. Open a terminal window and execute the command python (Windows) or python3 (Linux).

2. Import all objects from the vnpy namespace:

   >>> from vnpy import *
   

3. Connect to the VectorNav sensor. This call will return a new EzAsyncData object.

   >>> ez = EzAsyncData.connect('COM1', 115200)
   

4. Grab the latest cached data received from the VectorNav sensor and display the yaw, pitch, roll. Note that any configuration you have done to the sensor may disable the factory default output containing yaw, pitch roll.

   >>> cd = ez.current_data
   >>> cd.yaw_pitch_roll
   vec3f([ -43.793, 13.607, 165.152 ])
   

5. EzAsyncData wraps a VnSensor object. Low-level register configuration of the VectorNav sensor can be performed via this wrapped object.

   >>> ez.sensor.write_async_data_output_frequency(1)
   >>> ez.sensor.read_async_data_output_frequency()
   1