AHRS_3DMGX3 Class Reference

Provides software interface to the Microstrain 3DMGX1 AHRS. More...

#include <AHRS_3DMGX3.h>

Inheritance diagram for AHRS_3DMGX3:

Collaboration diagram for AHRS_3DMGX3:

Public Member Functions
	AHRS_3DMGX3 (const Module *module)
virtual	~AHRS_3DMGX3 ()
virtual void	run ()
	The actual "payload" of the component. More...
virtual RunState	start ()
	Do what needs to be done to run Similar to initialize, in old init/run/uninit sequence. More...
virtual RunState	starting ()
	Might follow a STOP...START sequence. More...
virtual RunState	pause ()
	Pause for a short period (indicated by pauseTime) More...
virtual RunState	paused ()
	Should eventually follow a PAUSE request: should set continueTime. More...
virtual RunState	resume ()
	Resume from PAUSE. More...
virtual RunState	resuming ()
	Might follow a PAUSE...RESUME sequence. More...
virtual RunState	runnable ()
	Should eventually follow a START request or RESETTING. More...
virtual RunState	resetting ()
	Might occur in case of Error. More...
virtual RunState	stop ()
	Initial state – can be later followed by START. More...
virtual RunState	stopping ()
	Might follow a STOP request. More...
virtual RunState	stopped ()
	Initial state – can be later followed by START. More...
void	uninitialize ()
	Provide a space for uninitialization. More...
virtual ConfigURI	getConfigURI (ConfigOption configOption) const
	Should return [myNamespace]::SIMULATE_HARDWARE, or [myNamespace]::POWER, etc. More...
Public Member Functions inherited from SyncComponent
CycleOrder	getCycleOrder (void)
	Getter function for controlThreadOrderPreference. More...
void	setRepeating (bool repeating)
int	getDivisor () const
int	getModulo () const
bool	isRepeater ()
bool	isRepeating ()
Public Member Functions inherited from Component
virtual	~Component ()
	Destructor cleans up readers_ and writers_. More...
void	registerReader (DataReader *reader)
void	unregisterReader (DataReader *reader)
void	registerWriter (DataWriter *writer)
void	unregisterWriter (DataWriter *writer)
void	disableMetering (void)
FlexArray< DataReader * > &	getReaderList (void)
FlexArray< DataWriter * > &	getWriterList (void)
const Module *	getModule ()
virtual void	initialize ()
	Provide a space for initialization before being run. More...
virtual void	configure ()
	Read (or re-read!) configuration settings. More...
virtual void	execute (void)
bool	isActive () const
	Indicates if the component is active. More...
const CodedStr &	getName (void) const
	Returns the name. More...
const Timestamp &	getTimeOfLastRun (void) const
ComponentState	getState (void)
	Return the component's current state. More...
void	setState (ComponentState state)
RunState	getRunState (void)
	Return the component's run state. More...
bool	isUsingRunState ()
	Return true if using runState. More...
void	requestData (bool requestingData)
	Tell the component to start (or stop) sending data. More...
void	requestStart ()
	Tell the component to start runnning. More...
void	requestPause (const Timespan expectedPauseTime)
	Tell the component to pause runnning. More...
void	requestResume ()
	Tell the component resume from pause. More...
void	requestStop ()
	Tell the component to stop runnning. More...
virtual RunState	satisfied ()
	Possible return value of a Behavior. More...
virtual RunState	pausing ()
	Might follow a PAUSE request. More...
void	setCriticalFailureReported (bool boolVal)
void	setRecoveringFromCritical (bool boolVal)
void	setFailureReported (bool boolVal)
bool	isFailureUninitialized ()
void	setFailureUninitialized (bool boolVal)
void	setRetryTimeout (const Timespan &timeout)
virtual bool	isCompleted (void)
	Query if this component is completed. More...
void	setPeriod (const Timespan &period)
	Set the period of this component... used if it is periodic. More...
const Timespan &	getPeriod (void)
	Returns the component's period (regardless of whether it is periodic) More...
ComponentType	getComponentType ()
	Getter function for ComponentType. More...
virtual bool	isFailed (void) const
virtual FailureMode::FailType	getFailureType (void) const
virtual bool	getCriticalFailureReported (void) const
virtual bool	getFailureReported (void) const
virtual Timespan	getRetryTimeout (void) const
virtual FailureMode::FailType	setFailure (FailureMode::FailType failureType)
virtual int	getFailCount (void) const
virtual bool	isFailureMissionCritical ()
virtual int	getAllowableFailures (void) const
virtual void	setAllowableFailures (int fails)
Logger &	getLogger (void)
virtual int	incrementFailCount (void)
virtual void	resetFailCount (void)
virtual int	getSkippedRunsSinceFail (void) const
virtual int	incrementSkippedRunsSinceFail (void)
virtual void	logVoltage (float voltage, float averageVoltage)
virtual void	logCurrent (float current, float averageCurrent)
const Timestamp &	getWriteTimestamp (void)
void	setWriteTimestamp (const Timestamp &writeTimestamp)
BlobReader *	newBlobReader (const BlobURI &blobURI)
BlobReader *	newBlobReaderFromUniversal (const Str &componentName, const UniversalBlobURI &blobURI)
BlobWriter *	newBlobWriter (const BlobURI &blobURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
ConfigReader *	newConfigReader (const ConfigURI &configURI)
DataReader *	newDataReader (const DataURI &dataURI)
DataReader *	newDataReaderFromUniversal (const Str &componentName, const UniversalURI &universalURI)
DataWriter *	newDataWriter (const DataURI &dataURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
UniversalBlobReader *	newUniversalBlobReader (const UniversalBlobURI &universalURI)
UniversalBlobWriter *	newUniversalBlobWriter (const UniversalBlobURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
UniversalDataReader *	newUniversalReader (const UniversalURI &universalURI)
UniversalDataWriter *	newUniversalWriter (const UniversalURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

Private Member Functions
	AHRS_3DMGX3 (const AHRS_3DMGX3 &old)
void	readConfig ()
bool	isDataRequested ()
float	extractFloat (char *convertFloat)
FailureMode::FailType	readTemperature (float &temperature)
FailureMode::FailType	readTransducers (float &roll, float &pitch, float &magHeading, float &rollRate, float &pitchRate, float &yawRate)

Private Attributes
UniversalDataReader *	latitudeReader_
UniversalDataReader *	longitudeReader_
DataWriter *	compassHeadingWriter_
UniversalDataWriter *	magneticHeadingWriter_
UniversalDataWriter *	trueHeadingWriter_
UniversalDataWriter *	pitchWriter_
UniversalDataWriter *	rollWriter_
UniversalBlobWriter *	rotationMatrixWriter_
UniversalDataWriter *	rollRateWriter_
UniversalDataWriter *	pitchRateWriter_
UniversalDataWriter *	yawRateWriter_
ConfigReader *	magDeviationCfgReader_
ConfigReader *	pitchOffsetCfgReader_
ConfigReader *	rollOffsetCfgReader_
bool	debug_
LoadControl	loadControl_
Timespan	ahrsTimeout_
Timestamp	startTime_
bool	usingSimWarned_
float	magDeviation_
	Deviation of this compass in the vehicle. More...
float	magVariation_
float	pitchOffset_
	Offset for mounting. In degrees. More...
float	rollOffset_
float	gyroGain_
char	deviceResponse_ [96]
UartStream	uart_
FailureMode::FailType	fault_

Additional Inherited Members
Public Types inherited from Component
enum	ComponentState {   BLOCK_CONTINUOUS, BLOCK_PERIODIC, BLOCK_NORMAL, BLOCK_COMPLETED,   BLOCK_UNKNOWN }
	In this model, the component has basically two states: wanting to run, and completed (no longer needing to run). More...
enum	ComponentType { COMPONENT_ASYNC, COMPONENT_CONFIG, COMPONENT_BEHAVIOR, COMPONENT_SYNC }
	Components can indicate how they want to be handled by their type. More...
enum	RunState {   NO_RUN_STATE = 0, START, STARTING, RUNNABLE,   SATISFIED, PAUSE, PAUSING, PAUSED,   RESUME, RESUMING, RESETTING, STOP,   STOPPING, STOPPED }
Static Public Attributes inherited from SyncComponent
static const int	CYCLE_INCREMENT
static const int	CYCLE_REPEAT_OFFSET
static const CycleOrder	CYCLE_STARTER
static const CycleOrder	CYCLE_SIMULATOR
static const CycleOrder	CYCLE_SENSOR
static const CycleOrder	CYCLE_DERIVATION
static const CycleOrder	CYCLE_ESTIMATION
static const CycleOrder	CYCLE_NAVIGATION
static const CycleOrder	CYCLE_MISSION_MANAGER
static const CycleOrder	CYCLE_MISSION
static const CycleOrder	CYCLE_CONTROL
static const CycleOrder	CYCLE_SERVO
static const CycleOrder	CYCLE_TEST
static const CycleOrder	CYCLE_REPORTER
static const CycleOrder	CYCLE_LOGGER
Protected Types inherited from Component
enum	ConfigOption { CONFIG_SIMULATE_HARDWARE, CONFIG_POWER, CONFIG_FREQUENCY, CONFIG_LATENCY }
Protected Member Functions inherited from SyncSensorComponent
	SyncSensorComponent (const Str &name, const Module *module, int divisor=1, int modulo=0)
Protected Member Functions inherited from SyncComponent
void	setRepeater (bool repeater)
Protected Member Functions inherited from Component
virtual ConfigURI	getConfigURI (ConfigOption configOption, ElementURI forElement) const
	Should return [myNamespace]::POWER_[forElement], [myNamespace]::LATENCY_[forElement], etc. More...
virtual void	setDurationOfLastRun (const Timespan &span)
virtual void	setTimeOfRun (const Timestamp &time)
virtual void	setTimeOfLastRun (const Timestamp &time)
virtual void	setDt (const Timespan &dt)
virtual bool	setEnabled (bool enabled=true)
void	setRunState (const RunState runState)
const Timespan	getPauseTime () const
virtual void	setFailureMissionCritical (bool failureMissionCritical)
bool	simulateHardware ()
Protected Attributes inherited from Component
Logger	logger_
Syslog::Severity	debugLevel_
ComponentState	state_
	Keep track of whether the component has "completed" or should be run again. More...
Timespan	desiredPeriod_
CodedStr &	name_
	Store the component's name (used for logging purposes) More...
Timestamp	timeOfRun_
Timestamp	timeOfLastRun_
Timespan	durationOfLastRun_
Timespan	dt_
Timespan	retryTimeout_
bool	enabled_
bool	failureReported_
	Indicates if the failure has been reported – cuts down on syslog. More...
bool	criticalFailureReported_
	Indicates if a "Critical" failure has been reported – cuts down on syslog. More...
bool	recoveringFromCritical_
	Indicates that a component had a previous critical failure that has been cleared temporarily awaiting final word from the component itself. More...
bool	failureUninitialized_
	Indicates if the failure has resulted in an uninitialize call. More...
int	failCount_
	Number of failures logged by PCaller. More...
bool	failureMissionCritical_
	If true (default), complete failure ends mission. More...
int	allowableFailures_
	Number of failures allowed to occur. More...
int	skippedRunsSinceFail_
	Number of skipped runs since failureMode_ set by failCount_. More...
FailureMode::FailType	failureType_
	Failed status. If failCount_ > 0, then this may be reset. More...
Timestamp	timeOfFailure_
	Time of last failure. Relevant only if failed=true. More...
Timestamp	writeTimestamp_
	Time of last write. More...
FlexArray< DataReader * >	readers_
FlexArray< DataWriter * >	writers_
const Module *	module_
Timespan	pauseTime_
bool	meteringEnabled_
	If true, metering is enabled. More...
DataWriter *	durationOfLastRunWriter_
	Writer for durationOfLastRun. More...
DataWriter *	voltageWriter_
DataWriter *	avgVoltageWriter_
DataWriter *	currentWriter_
DataWriter *	avgCurrentWriter_
bool	persistentPause_
	True if data is persistent while component is paused. More...

Detailed Description

Provides software interface to the Microstrain 3DMGX1 AHRS.

Can also use SimSlate to provide simulated AHRS values when they are available.

AHRS_3DMGX3.h should only be included by AHRS_3DMGX3.cpp Other classes should include AHRS_3DMGX3IF.h

Constructor & Destructor Documentation

AHRS_3DMGX3::AHRS_3DMGX3

(

const Module *

module

)

References AHRS_ACCURACY, AHRS_RATE_ACCURACY, compassHeadingWriter_, Units::DEGREE, UniversalURI::LATITUDE, latitudeReader_, UniversalURI::LONGITUDE, longitudeReader_, magDeviationCfgReader_, magneticHeadingWriter_, Component::newConfigReader(), Component::newDataWriter(), Component::newUniversalBlobWriter(), Component::newUniversalReader(), Component::newUniversalWriter(), Units::NONE, pitchOffsetCfgReader_, pitchRateWriter_, pitchWriter_, UniversalURI::PLATFORM_MAGNETIC_ORIENTATION, UniversalURI::PLATFORM_ORIENTATION, UniversalURI::PLATFORM_ORIENTATION_MATRIX, UniversalURI::PLATFORM_PITCH_ANGLE, UniversalURI::PLATFORM_PITCH_RATE, UniversalURI::PLATFORM_ROLL_ANGLE, UniversalURI::PLATFORM_ROLL_RATE, UniversalURI::PLATFORM_YAW_RATE, Units::RADIAN_PER_SECOND, rollOffsetCfgReader_, rollRateWriter_, rollWriter_, rotationMatrixWriter_, Component::setRunState(), Component::START, trueHeadingWriter_, and yawRateWriter_.

AHRS_3DMGX3::~AHRS_3DMGX3 ( )

virtual

AHRS_3DMGX3::AHRS_3DMGX3 ( const AHRS_3DMGX3 &  old )

private

Member Function Documentation

float AHRS_3DMGX3::extractFloat ( char *  convertFloat )

private

Referenced by readTransducers().

ConfigURI AHRS_3DMGX3::getConfigURI ( ConfigOption  configOption ) const

virtual

Should return [myNamespace]::SIMULATE_HARDWARE, or [myNamespace]::POWER, etc.

Reimplemented from Component.

References Component::CONFIG_POWER, Component::CONFIG_SIMULATE_HARDWARE, and ConfigURI::NO_CONFIG_URI.

bool AHRS_3DMGX3::isDataRequested ( )

private

References compassHeadingWriter_, DataWriter::isDataRequested(), magneticHeadingWriter_, pitchRateWriter_, pitchWriter_, rollRateWriter_, rollWriter_, rotationMatrixWriter_, trueHeadingWriter_, and yawRateWriter_.

Referenced by paused(), runnable(), and stopped().

Component::RunState AHRS_3DMGX3::pause ( )

virtual

Pause for a short period (indicated by pauseTime)

Reimplemented from Component.

References UartStream::close(), debug_, Syslog::FAULT, FailureMode::HARDWARE, Syslog::INFO, loadControl_, Component::logger_, Component::PAUSED, LoadControl::powerDown(), Component::setFailure(), Component::simulateHardware(), Component::STOP, Logger::syslog(), and uart_.

Component::RunState AHRS_3DMGX3::paused ( )

virtual

Should eventually follow a PAUSE request: should set continueTime.

Reimplemented from Component.

References debug_, Syslog::INFO, isDataRequested(), Component::logger_, Component::PAUSED, resume(), and Logger::syslog().

void AHRS_3DMGX3::readConfig ( void  )

private

References magDeviation_, magDeviationCfgReader_, pitchOffset_, pitchOffsetCfgReader_, Units::RADIAN, DataReader::read(), rollOffset_, and rollOffsetCfgReader_.

Referenced by runnable(), and starting().

FailureMode::FailType AHRS_3DMGX3::readTemperature ( float &  temperature )

private

References FailureMode::COMMUNICATIONS, FailureMode::DATA, deviceResponse_, Syslog::ERROR, UartStream::errorString(), UartStream::flush(), UartStream::hasError(), Component::logger_, FailureMode::NONE, UartStream::read(), Logger::syslog(), uart_, and UartStream::waitForBufferEmpty().

FailureMode::FailType AHRS_3DMGX3::readTransducers ( float &  roll, float &  pitch, float &  magHeading, float &  rollRate, float &  pitchRate, float &  yawRate  )

private

References FailureMode::COMMUNICATIONS, FailureMode::DATA, deviceResponse_, Syslog::ERROR, UartStream::errorString(), extractFloat(), UartStream::flush(), UartStream::hasError(), Component::logger_, FailureMode::NONE, UartStream::read(), Logger::syslog(), and uart_.

Referenced by runnable(), and starting().

virtual RunState AHRS_3DMGX3::resetting ( )

inlinevirtual

Might occur in case of Error.

Reimplemented from Component.

References stop().

Component::RunState AHRS_3DMGX3::resume ( )

virtual

Resume from PAUSE.

Reimplemented from Component.

References FailureMode::COMMUNICATIONS, debug_, Syslog::ERROR, UartStream::errorString(), Syslog::FAULT, FailureMode::HARDWARE, UartStream::hasError(), Syslog::INFO, loadControl_, Component::logger_, UartStream::open(), LoadControl::powerUp(), Component::RESUMING, Component::setFailure(), Component::simulateHardware(), Component::STOP, Logger::syslog(), and uart_.

Referenced by paused().

Component::RunState AHRS_3DMGX3::resuming ( )

virtual

Might follow a PAUSE...RESUME sequence.

Reimplemented from Component.

References debug_, Syslog::INFO, Component::logger_, Component::RUNNABLE, and Logger::syslog().

void AHRS_3DMGX3::run ( void  )

virtual

The actual "payload" of the component.

Reimplemented from Component.

Component::RunState AHRS_3DMGX3::runnable ( )

virtual

Should eventually follow a START request or RESETTING.

Reimplemented from Component.

References ahrsTimeout_, compassHeadingWriter_, debug_, Timestamp::elapsed(), LoadControl::errorString(), Syslog::FAULT, fault_, Str::find(), FailureMode::HARDWARE, LoadControl::hasError(), SimSlate::HEADING_RADIAN, Syslog::INFO, DataReader::isActive(), isDataRequested(), latitudeReader_, loadControl_, Component::logger_, longitudeReader_, magDeviation_, magneticHeadingWriter_, magVariation_, AuvMath::ModPi(), FailureMode::NONE, Units::NONE, Timestamp::Now(), Component::PAUSE, SimSlate::PITCH_RADIAN, SimSlate::PITCH_RATE_RADIAN_PER_SECOND, pitchOffset_, pitchRateWriter_, pitchWriter_, MagneticVariation::Radian(), Units::RADIAN, Units::RADIAN_PER_SECOND, DataReader::read(), SimSlate::Read(), readConfig(), readTransducers(), LoadControl::requestVoltageAndCurrent(), Component::resetFailCount(), SimSlate::ROLL_RADIAN, SimSlate::ROLL_RATE_RADIAN_PER_SECOND, rollOffset_, rollRateWriter_, rollWriter_, rotationMatrixWriter_, Component::RUNNABLE, Component::setFailure(), Component::simulateHardware(), Component::START, startTime_, Component::STOP, Logger::syslog(), trueHeadingWriter_, DataWriter::write(), AbstractBlobWriter::write2DClass(), SimSlate::YAW_RATE_RADIAN_PER_SECOND, and yawRateWriter_.

Component::RunState AHRS_3DMGX3::start ( )

virtual

Do what needs to be done to run Similar to initialize, in old init/run/uninit sequence.

Reimplemented from Component.

References FailureMode::COMMUNICATIONS, debug_, deviceResponse_, Syslog::ERROR, UartStream::errorString(), Syslog::FAULT, fault_, FailureMode::HARDWARE, UartStream::hasError(), Syslog::INFO, loadControl_, Component::logger_, FailureMode::NONE, Timestamp::Now(), UartStream::open(), LoadControl::powerUp(), Component::setAllowableFailures(), Component::setFailure(), Component::simulateHardware(), Component::START, Component::STARTING, startTime_, Component::STOP, Logger::syslog(), and uart_.

Referenced by stopped().

Component::RunState AHRS_3DMGX3::starting ( )

virtual

Might follow a STOP...START sequence.

Reimplemented from Component.

References debug_, Syslog::ERROR, Syslog::FAULT, fault_, Syslog::INFO, Component::logger_, magVariation_, FailureMode::NONE, Timestamp::Now(), SimSlate::PITCH_RADIAN, MagneticVariation::Radian(), Units::RADIAN, SimSlate::Read(), readConfig(), Slate::ReadOnce(), readTransducers(), Component::RUNNABLE, Component::setFailure(), Component::simulateHardware(), Component::STOP, Logger::syslog(), and usingSimWarned_.

Component::RunState AHRS_3DMGX3::stop ( )

virtual

Initial state – can be later followed by START.

Reimplemented from Component.

References debug_, Syslog::INFO, Component::logger_, Component::STOPPING, Logger::syslog(), and uninitialize().

Referenced by resetting(), and stopped().

Component::RunState AHRS_3DMGX3::stopped ( )

virtual

Initial state – can be later followed by START.

Reimplemented from Component.

References UartStream::close(), debug_, LoadControl::getPowerState(), Syslog::INFO, isDataRequested(), UartStream::isReadable(), loadControl_, Component::logger_, LoadControl::OFF, LoadControl::POWER_DOWN, Component::simulateHardware(), start(), stop(), Component::STOPPED, Logger::syslog(), and uart_.

Component::RunState AHRS_3DMGX3::stopping ( )

virtual

Might follow a STOP request.

Reimplemented from Component.

References debug_, LoadControl::errorString(), Syslog::FAULT, FailureMode::HARDWARE, LoadControl::hasError(), Syslog::INFO, loadControl_, Component::logger_, LoadControl::readFaults(), Component::setFailure(), Component::simulateHardware(), Component::STOPPED, and Logger::syslog().

void AHRS_3DMGX3::uninitialize ( void  )

virtual

Provide a space for uninitialization.

Reimplemented from Component.

References UartStream::close(), Syslog::FAULT, FailureMode::HARDWARE, Syslog::INFO, loadControl_, Component::logger_, LoadControl::powerDown(), Component::setFailure(), Component::simulateHardware(), Logger::syslog(), and uart_.

Referenced by stop().

Member Data Documentation

Timespan AHRS_3DMGX3::ahrsTimeout_

private

Referenced by runnable().

DataWriter* AHRS_3DMGX3::compassHeadingWriter_

private

Referenced by AHRS_3DMGX3(), isDataRequested(), and runnable().

bool AHRS_3DMGX3::debug_

private

Referenced by pause(), paused(), resume(), resuming(), runnable(), start(), starting(), stop(), stopped(), and stopping().

char AHRS_3DMGX3::deviceResponse_[96]

private

Referenced by readTemperature(), readTransducers(), and start().

FailureMode::FailType AHRS_3DMGX3::fault_

private

Referenced by runnable(), start(), and starting().

float AHRS_3DMGX3::gyroGain_

private

UniversalDataReader* AHRS_3DMGX3::latitudeReader_

private

Referenced by AHRS_3DMGX3(), and runnable().

LoadControl AHRS_3DMGX3::loadControl_

private

Referenced by pause(), resume(), runnable(), start(), stopped(), stopping(), and uninitialize().

UniversalDataReader* AHRS_3DMGX3::longitudeReader_

private

Referenced by AHRS_3DMGX3(), and runnable().

float AHRS_3DMGX3::magDeviation_

private

Deviation of this compass in the vehicle.

compass orientation +/- deviation due to vehicle = Magnetic orientation magnetic orientation +/- variation from map = True orientation

Referenced by readConfig(), and runnable().

ConfigReader* AHRS_3DMGX3::magDeviationCfgReader_

private

Referenced by AHRS_3DMGX3(), and readConfig().

UniversalDataWriter* AHRS_3DMGX3::magneticHeadingWriter_

private

Referenced by AHRS_3DMGX3(), isDataRequested(), and runnable().

float AHRS_3DMGX3::magVariation_

private

Referenced by runnable(), and starting().

float AHRS_3DMGX3::pitchOffset_

private

Offset for mounting. In degrees.

Referenced by readConfig(), and runnable().

ConfigReader* AHRS_3DMGX3::pitchOffsetCfgReader_

private

Referenced by AHRS_3DMGX3(), and readConfig().

UniversalDataWriter* AHRS_3DMGX3::pitchRateWriter_

private

Referenced by AHRS_3DMGX3(), isDataRequested(), and runnable().

UniversalDataWriter* AHRS_3DMGX3::pitchWriter_

private

Referenced by AHRS_3DMGX3(), isDataRequested(), and runnable().

float AHRS_3DMGX3::rollOffset_

private

Referenced by readConfig(), and runnable().

ConfigReader* AHRS_3DMGX3::rollOffsetCfgReader_

private

Referenced by AHRS_3DMGX3(), and readConfig().

UniversalDataWriter* AHRS_3DMGX3::rollRateWriter_

private

Referenced by AHRS_3DMGX3(), isDataRequested(), and runnable().

UniversalDataWriter* AHRS_3DMGX3::rollWriter_

private

Referenced by AHRS_3DMGX3(), isDataRequested(), and runnable().

UniversalBlobWriter* AHRS_3DMGX3::rotationMatrixWriter_

private

Referenced by AHRS_3DMGX3(), isDataRequested(), and runnable().

Timestamp AHRS_3DMGX3::startTime_

private

Referenced by runnable(), and start().

UniversalDataWriter* AHRS_3DMGX3::trueHeadingWriter_

private

Referenced by AHRS_3DMGX3(), isDataRequested(), and runnable().

UartStream AHRS_3DMGX3::uart_

private

Referenced by pause(), readTemperature(), readTransducers(), resume(), start(), stopped(), and uninitialize().

bool AHRS_3DMGX3::usingSimWarned_

private

Referenced by starting().

UniversalDataWriter* AHRS_3DMGX3::yawRateWriter_

private

Referenced by AHRS_3DMGX3(), isDataRequested(), and runnable().

---

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

• /Volumes/ubuntu_share/lrauv-application/Source/sensorModule/AHRS_3DMGX3.h
• /Volumes/ubuntu_share/lrauv-application/Source/sensorModule/AHRS_3DMGX3.cpp