witmotion Namespace Reference

Main namespace of Witmotion UART connection library. More...

Classes
struct	witmotion_datapacket
	Generic structure respresenting the standard 11-byte datapacket defined in Witmotion protocol. More...
struct	witmotion_config_packet
	Generic structure respresenting the standard 5-byte configuration command defined in Witmotion protocol. More...
class	QAbstractWitmotionSensorReader
	Abstract base class to program convenience classes for the sensors. More...
class	witmotion_typed_packets
class	witmotion_typed_bytecounts
class	QBaseSerialWitmotionSensorReader
class	QAbstractWitmotionSensorController
class	QGeneralSensorController

Enumerations
enum	witmotion_packet_id {   pidRTC = 0x50 ,   pidAcceleration = 0x51 ,   pidAngularVelocity = 0x52 ,   pidAngles = 0x53 ,   pidMagnetometer = 0x54 ,   pidDataPortStatus = 0x55 ,   pidAltimeter = 0x56 ,   pidGPSCoordinates = 0x57 ,   pidGPSGroundSpeed = 0x58 ,   pidOrientation = 0x59 ,   pidGPSAccuracy = 0x5A }
	Packet type IDs from the vendor-defined protocol. More...
enum	witmotion_config_register_id {   ridSaveSettings = 0x00 ,   ridCalibrate = 0x01 ,   ridOutputValueSet = 0x02 ,   ridOutputFrequency = 0x03 ,   ridPortBaudRate = 0x04 ,   ridAccelerationBiasX = 0x05 ,   ridAccelerationBiasY = 0x06 ,   ridAccelerationBiasZ = 0x07 ,   ridAngularVelocityBiasX = 0x08 ,   ridAngularVelocityBiasY = 0x09 ,   ridAngularVelocityBiasZ = 0x0A ,   ridMagnetometerBiasX = 0x0B ,   ridMagnetometerBiasY = 0x0C ,   ridMagnetometerBiasZ = 0x0D ,   ridPortModeD0 = 0x0E ,   ridPortModeD1 = 0x0F ,   ridPortModeD2 = 0x10 ,   ridPortModeD3 = 0x11 ,   ridPortPWMLevelD0 = 0x12 ,   ridPortPWMLevelD1 = 0x13 ,   ridPortPWMLevelD2 = 0x14 ,   ridPortPWMLevelD3 = 0x15 ,   ridPortPWMPeriodD0 = 0x16 ,   ridPortPWMPeriodD1 = 0x17 ,   ridPortPWMPeriodD2 = 0x18 ,   ridPortPWMPeriodD3 = 0x19 ,   ridIICAddress = 0x1A ,   ridLED = 0x1B ,   ridGPSBaudRate = 0x1C ,   ridFilterBandwidth = 0x1F ,   ridGyroscopeRange = 0x20 ,   ridAccelerometerRange = 0x21 ,   ridStandbyMode = 0x22 ,   ridInstallationDirection = 0x23 ,   ridTransitionAlgorithm = 0x24 ,   ridInstructionStart = 0x2D ,   ridTimeYearMonth = 0x30 ,   ridTimeDayHour = 0x31 ,   ridTimeMinuteSecond = 0x32 ,   ridTimeMilliseconds = 0x33 ,   ridSetAccelerationX = 0x34 ,   ridSetAccelerationY = 0x35 ,   ridSetAccelerationZ = 0x36 ,   ridSetAngularVelocityX = 0x37 ,   ridSetAngularVelocityY = 0x38 ,   ridSetAngularVelocityZ = 0x39 ,   ridSetMagnetometerX = 0x3A ,   ridSetMagnetometerY = 0x3B ,   ridSetMagnetometerZ = 0x3C ,   ridSetAngleRoll = 0x3D ,   ridSetAnglePitch = 0x3E ,   ridSetAngleYaw = 0x3F ,   ridSetTemperature = 0x40 ,   ridSetPortStatusD0 = 0x41 ,   ridSetPortStatusD1 = 0x42 ,   ridSetPortStatusD2 = 0x43 ,   ridSetPortStatusD3 = 0x44 ,   ridSetPressureLow = 0x45 ,   ridSetPressureHigh = 0x46 ,   ridSetAltitudeLow = 0x47 ,   ridSetAltitudeHigh = 0x48 ,   ridSetLongitudeLow = 0x49 ,   ridSetLongitudeHigh = 0x4A ,   ridSetLatitudeLow = 0x4B ,   ridSetLatitudeHigh = 0x4C ,   ridSetGPSAltitude = 0x4D ,   ridSetGPSYaw = 0x4E ,   ridSetGPSGroundSpeedLow = 0x4F ,   ridSetGPSGroundSpeedHigh = 0x50 ,   ridSetOrientationX = 0x51 ,   ridSetOrientationY = 0x52 ,   ridSetOrientationZ = 0x53 ,   ridSetOrientationW = 0x54 ,   ridGyroscopeAutoCalibrate = 0x63 ,   ridUnlockConfiguration = 0x69 }
	List of configuration slots (registers) available for the library. More...

Functions
uint8_t	witmotion_output_frequency (const int hertz)
	Converts the frequency value in Hertz to subsequent Witmotion opcode. More...
uint8_t	witmotion_baud_rate (const QSerialPort::BaudRate rate)
bool	id_registered (const size_t id)
float	decode_acceleration (const int16_t *value)
float	decode_angular_velocity (const int16_t *value)
float	decode_angle (const int16_t *value)
float	decode_temperature (const int16_t *value)
float	decode_orientation (const int16_t *value)
void	decode_gps_coord (const int32_t *value, double &deg, double &min)
void	decode_realtime_clock (const witmotion_datapacket &packet, uint8_t &year, uint8_t &month, uint8_t &day, uint8_t &hour, uint8_t &minute, uint8_t &second, uint16_t &millisecond)
void	decode_accelerations (const witmotion_datapacket &packet, float &x, float &y, float &z, float &t)
void	decode_angular_velocities (const witmotion_datapacket &packet, float &x, float &y, float &z, float &t)
void	decode_angles (const witmotion_datapacket &packet, float &roll, float &pitch, float &yaw, float &t)
void	decode_magnetometer (const witmotion_datapacket &packet, float &x, float &y, float &z, float &t)
void	decode_altimeter (const witmotion_datapacket &packet, double &pressure, double &height)
void	decode_gps (const witmotion_datapacket &packet, double &longitude_deg, double &longitude_min, double &latitude_deg, double &latitude_min)
void	decode_gps_ground_speed (const witmotion_datapacket &packet, float &altitude, float &angular_velocity, double &ground_speed)
void	decode_orientation (const witmotion_datapacket &packet, float &x, float &y, float &z, float &w)
void	decode_gps_accuracy (const witmotion_datapacket &packet, size_t &satellites, float &local_accuracy, float &horizontal_accuracy, float &vertical_accuracy)
template<typename T >
T	variance (const std::vector< T > &array)
static const std::string	library_version ()

Variables
static const uint8_t	WITMOTION_HEADER_BYTE = 0x55
	Packet header byte value (vendor protocol-specific)
static const uint8_t	WITMOTION_CONFIG_HEADER = 0xFF
	Configuration header byte value (vendor protocol-specific)
static const uint8_t	WITMOTION_CONFIG_KEY = 0xAA
	Configuration marker key byte value (vendor protocol-specific)
static const std::set< size_t >	witmotion_registered_ids
	Packet ID set to retrieve descriptions via witmotion_packet_descriptions. More...
static const std::map< uint8_t, std::string >	witmotion_packet_descriptions
	Packet ID string set to store built-in descriptions for message-enumerator. More...

Detailed Description

Upper level namespace containing all the declared constants, parameters, classes, functions.

Note

It is strictly NOT RECOMMENDED to use this namespace implicitly through using namespace directive.

Enumeration Type Documentation

witmotion_config_register_id

enum witmotion::witmotion_config_register_id

List of configuration slots (registers) available for the library. The actual availability depends from the actual sensor and installation circuit. Please refer to the official documentation for detailed explanation.

Enumerator
ridSaveSettings	Saves the settings uploaded in the current bringup session, or resets it to default (if supported). To make factory reset of the sensor, set raw[0] = 0x01 in witmotion_config_packet instance used.
ridCalibrate	Sets the sensor to calibration mode. The value stored in witmotion_config_packet::setting.raw[0] determines device selection: 0x00 - End calibration 0x01 - Accelerometer calibration 0x03 - Altitude reset (only for barometric altimeter) 0x04 - Yaw [Z] Euler angle origin point reset 0x07 - Magnetometer calibration 0x08 - Angle reference reset
ridOutputValueSet	Regulates sensor output. The value stored in witmotion_config_packet::setting.raw determines packet ID selection to output from low to high bits by offset. 0 means disabling of the selected data packet output. raw[0] offset Packet type raw[1] offset Packet type 0 pidRTC 0 pidGPSGroundSpeed 1 pidAcceleration 1 pidOrientation 2 pidAngularVelocity 2 pidGPSAccuracy 3 pidAngles 3 Reserved 4 pidMagnetometer 4 Reserved 5 pidDataPortStatus 5 Reserved 6 pidAltimeter 6 Reserved 7 pidGPSCoordinates 7 Reserved
ridOutputFrequency	Regulates output frequency. NOTE: the maximum available frequency is determined internally by the available bandwidth obtained from ridPortBaudRate. The actual value stored in witmotion_config_packet::setting.raw[0] can be determined from the following table. witmotion_config_packet::setting.raw[1] is set to 0x00. Also the table contains argument value for witmotion_output_frequency helper function which is used by the controller applications. Frequency, Hz Value Argument 0 (shutdown) 0x0D 0 0 (single measurement) 0x0C -1 0.1 0x01 -10 0.5 0x02 -2 1 0x03 1 2 0x04 2 5 0x05 5 10 (default) 0x06 10 20 0x07 20 50 0x08 50 100 0x09 100 125 0x0A 125 200 0x0B 200 Maximal available by hardware 0x0C Not supported
ridPortBaudRate	Regulates port baud rate. NOTE: the sensor has no possibility of hardware flow control and it cannot report to the system what baud rate should be explicitly used! The actual value stored in witmotion_config_packet::setting.raw[0] can be determined from the following table. witmotion_config_packet::setting.raw[1] is set to 0x00. The witmotion_baud_rate helper function argument is accepted as QSerialPort::BaudRate enumeration member, so only the speed inticated in that enumeration are explicitly supported. Rate, baud 1200/1400 4800 9600 19200 38400 57600 115200 Value 0x00 0x01 0x02 0x03 0x04 0x05 0x06 This parameter also implicitly sets ridOutputFrequency to the maximal feasible value for the available bandwidth.
ridAccelerationBiasX	Sets acceleration zero point bias for X axis, refer to Acceleration bias calculation page for explanation.
ridAccelerationBiasY	Sets acceleration zero point bias for Y axis, refer to Acceleration bias calculation page for explanation.
ridAccelerationBiasZ	Sets acceleration zero point bias for Z axis, refer to Acceleration bias calculation page for explanation.
ridAngularVelocityBiasX	Sets angular velocity zero point bias for X axis. NOT YET PROVEN AS WORKING.
ridAngularVelocityBiasY	Sets angular velocity zero point bias for Y axis. NOT YET PROVEN AS WORKING.
ridAngularVelocityBiasZ	Sets angular velocity zero point bias for Z axis. NOT YET PROVEN AS WORKING.
ridMagnetometerBiasX	Sets magnetometer zero point bias for X axis. MAY BLOCK THE MEASUREMENTS
ridMagnetometerBiasY	Sets magnetometer zero point bias for Y axis. MAY BLOCK THE MEASUREMENTS
ridMagnetometerBiasZ	Sets magnetometer zero point bias for Z axis. MAY BLOCK THE MEASUREMENTS
ridPortModeD0	Digital port D0 mode. The values are set only via witmotion_config_packet::setting.raw[0] whilst witmotion_config_packet::setting.raw[1] is set to 0. Please refer to the following table to determine the exact value needed. Description Analog input (default) Digital input Digital output (high) Digital output (low) PWM output Value 0x00 0x01 0x02 0x03 0x04
ridPortModeD1	Digital port D1 mode. The values are set only via witmotion_config_packet::setting.raw[0] whilst witmotion_config_packet::setting.raw[1] is set to 0. Please refer to the following table to determine the exact value needed. Description Analog input (default) Digital input Digital output (high) Digital output (low) PWM output Value 0x00 0x01 0x02 0x03 0x04 Note If the external GPS receiver is used to obtain world time, and it is compatible with Witmotion serial protocol, the port D1 should be connected to its TX pin and turned into GPS receiver port by the special value 0x05 set for this register. The baud rate on which GPS receiver communicates with the sensor, is set via ridGPSBaudRate register.
ridPortModeD2	Digital port D2 mode. The values are set only via witmotion_config_packet::setting.raw[0] whilst witmotion_config_packet::setting.raw[1] is set to 0. Please refer to the following table to determine the exact value needed. Description Analog input (default) Digital input Digital output (high) Digital output (low) PWM output Value 0x00 0x01 0x02 0x03 0x04
ridPortModeD3	Digital port D3 mode. The values are set only via witmotion_config_packet::setting.raw[0] whilst witmotion_config_packet::setting.raw[1] is set to 0. Please refer to the following table to determine the exact value needed. Description Analog input (default) Digital input Digital output (high) Digital output (low) PWM output Value 0x00 0x01 0x02 0x03 0x04
ridPortPWMLevelD0	Digital port D0 PWM high level pulse width, microseconds, 16-bit unsigned integer.
ridPortPWMLevelD1	Digital port D1 PWM high level pulse width, microseconds, 16-bit unsigned integer.
ridPortPWMLevelD2	Digital port D2 PWM high level pulse width, microseconds, 16-bit unsigned integer.
ridPortPWMLevelD3	Digital port D3 PWM high level pulse width, microseconds, 16-bit unsigned integer.
ridPortPWMPeriodD0	Digital port D0 PWM period length, microseconds, 16-bit unsigned integer.
ridPortPWMPeriodD1	Digital port D1 PWM period length, microseconds, 16-bit unsigned integer.
ridPortPWMPeriodD2	Digital port D2 PWM period length, microseconds, 16-bit unsigned integer.
ridPortPWMPeriodD3	Digital port D3 PWM period length, microseconds, 16-bit unsigned integer.
ridIICAddress	Sets up I2C address of the sensor. Default value is 0x50, 7-bit unsigned integer in witmotion_config_packet::setting.raw[0] whilst witmotion_config_packet::setting.raw[1] is set to 0.
ridLED	Toggles on/off LED indication (for enclosed sensors only).
ridGPSBaudRate	Regulates GPS receiver baud rate on port D1 (see ridPortModeD1). The following table contains value set for witmotion_config_packet::setting.raw[0] representing the different baud rates. witmotion_config_packet::setting.raw[1] should be set to 0. Rate, baud 1200/1400 4800 9600 19200 38400 57600 115200 230400 460800 921600 Value 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 Note Baud rates over 256000 baud should not be considered standard.
ridFilterBandwidth	Regulates internal filter bandwidth according to witmotion_config_packet::setting. raw[0] value. Please refer to the following table for details. Value Bandwidth, Hz 0x00 256 0x01 184 0x02 94 0x03 44 0x04 21 0x05 10 0x06 5 witmotion_config_packet::setting.raw[1] should be set to 0. NOT YET PROVEN AS WORKING
ridGyroscopeRange	Regulates gyroscope value range according to witmotion_config_packet::setting. raw[0] value. Please refer to the following table for details. Value Range, \( deg/s \) 0x00 250 0x01 500 0x02 1000 0x03 2000 witmotion_config_packet::setting.raw[1] should be set to 0. NOT YET PROVEN AS WORKING
ridAccelerometerRange	Regulates accelerometer value range according to witmotion_config_packet::setting. raw[0] value. Please refer to the following table for details. Value Range, \( m/s^2 \) 0x00 \( 2 \cdot g\) 0x01 \( 4 \cdot g\) 0x02 \( 8 \cdot g\) 0x03 \( 16 \cdot g\) Here \( g = 9.81 m/s^2 \). witmotion_config_packet::setting.raw[1] should be set to 0. NOT YET PROVEN AS WORKING
ridStandbyMode	Toggles dormant mode. witmotion_config_packet::setting.raw[0] should be set to 0x01, witmotion_config_packet::setting.raw[1] to 0.
ridInstallationDirection	Toggles on/off internal rotation transform for vertical installation. witmotion_config_packet::setting.raw[1] should be set to 0, witmotion_config_packet::setting.raw[0] being to 0x01 allows vertical installation, to 0x00 - horizontal installation.
ridTransitionAlgorithm	Regulates whether 9-axis (0x01 in witmotion_config_packet::setting.raw[0]) or 6-axis (0x00) transition algorithm should be used. witmotion_config_packet::setting.raw[1] should be set to 0.
ridInstructionStart	Instruction mode. 0x00 in witmotion_config_packet::setting.raw[0] means starting instruction mode, 0x01 toggles it off whilst witmotion_config_packet::setting.raw[1] is set explicitly to 0.
ridTimeYearMonth	Sets RTC to the given year (witmotion_config_packet::setting.raw[0]) and month (witmotion_config_packet::setting.raw[1]). Year is a signed 8-bit integer with zero origin point set to 2000 year Gregorian calendar. Month is digitized to 1-12, unsigned 8-bit integer.
ridTimeDayHour	Sets RTC to the given day of the month (witmotion_config_packet::setting.raw[0]) and hour (witmotion_config_packet::setting.raw[1]) in 24H system.
ridTimeMinuteSecond	Sets RTC to the given minute (witmotion_config_packet::setting.raw[0]) and second (witmotion_config_packet::setting.raw[1]) in 24H system.
ridTimeMilliseconds	Sets RTC to the given milliseconds exposed as 16-bit unsigned integer.
ridSetAccelerationX	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for acceleration on X axis. NOT YET PROVEN AS WORKING.
ridSetAccelerationY	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for acceleration on Y axis. NOT YET PROVEN AS WORKING.
ridSetAccelerationZ	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for acceleration on Z axis. NOT YET PROVEN AS WORKING.
ridSetAngularVelocityX	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for angular velocity on X axis. NOT YET PROVEN AS WORKING.
ridSetAngularVelocityY	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for angular velocity on Y axis. NOT YET PROVEN AS WORKING.
ridSetAngularVelocityZ	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for angular velocity on Z axis. NOT YET PROVEN AS WORKING.
ridSetMagnetometerX	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for magnetometer on X axis. MAY BLOCK THE MEASUREMENTS
ridSetMagnetometerY	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for magnetometer on Y axis. MAY BLOCK THE MEASUREMENTS
ridSetMagnetometerZ	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for magnetometer on Z axis. MAY BLOCK THE MEASUREMENTS
ridSetAngleRoll	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for Euler angle (roll) over X axis. NOT YET PROVEN AS WORKING.
ridSetAnglePitch	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for Euler angle (pitch) over Y axis. NOT YET PROVEN AS WORKING.
ridSetAngleYaw	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for Euler angle (yaw) over Z axis. NOT YET PROVEN AS WORKING.
ridSetTemperature	Sets up origin point or impostor value (needed when the corresponding spatial measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for temperature. NOT YET PROVEN AS WORKING.
ridSetPortStatusD0	Action unknown, not yet documented by Witmotion.
ridSetPortStatusD1	Action unknown, not yet documented by Witmotion.
ridSetPortStatusD2	Action unknown, not yet documented by Witmotion.
ridSetPortStatusD3	Action unknown, not yet documented by Witmotion.
ridSetPressureLow	Sets up low part of initial value for 32-bit pressure measurement register. NOT YET PROVEN AS WORKING.
ridSetPressureHigh	Sets up high part of initial value for 32-bit pressure measurement register. NOT YET PROVEN AS WORKING.
ridSetAltitudeLow	Sets up low part of initial value for 32-bit altitude measurement register. NOT YET PROVEN AS WORKING.
ridSetAltitudeHigh	Sets up high part of initial value for 32-bit altitude measurement register. NOT YET PROVEN AS WORKING.
ridSetLongitudeLow	Sets up low part of initial value for 32-bit longitude measurement register. NOT YET PROVEN AS WORKING.
ridSetLongitudeHigh	Sets up high part of initial value for 32-bit longitude measurement register. NOT YET PROVEN AS WORKING.
ridSetLatitudeLow	Sets up low part of initial value for 32-bit latitude measurement register. NOT YET PROVEN AS WORKING.
ridSetLatitudeHigh	Sets up high part of initial value for 32-bit latitude measurement register. NOT YET PROVEN AS WORKING.
ridSetGPSAltitude	Sets up initial or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for GPS altitude measurement. NOT YET PROVEN AS WORKING.
ridSetGPSYaw	Sets up initial or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for GPS orientation angle measurement. NOT YET PROVEN AS WORKING.
ridSetGPSGroundSpeedLow	Sets up low part of initial value for 32-bit GPS ground speed measurement register. NOT YET PROVEN AS WORKING.
ridSetGPSGroundSpeedHigh	Sets up high part of initial value for 32-bit GPS ground speed measurement register. NOT YET PROVEN AS WORKING.
ridSetOrientationX	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for orientation quaternion, X component. NOT YET PROVEN AS WORKING.
ridSetOrientationY	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for orientation quaternion, Y component. NOT YET PROVEN AS WORKING.
ridSetOrientationZ	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for orientation quaternion, Z component. NOT YET PROVEN AS WORKING.
ridSetOrientationW	Sets up origin point or impostor value (needed when the measurement is forced for output by ridOutputValueSet but not actually supported by the sensor) for orientation quaternion, W component. NOT YET PROVEN AS WORKING.
ridGyroscopeAutoCalibrate	Toggles on/off automatic precalibration of the gyroscope. witmotion_config_packet::setting.raw[1] should be set to 0. 0x01 in witmotion_config_packet::setting.raw[0] turns gyroscope automatic precalibration OFF. To turn it ON the value should be 0x00.
ridUnlockConfiguration	"Magic" vendor-defined value for configuration unlock packet 0xFF 0xAA 0x69 0x88 0xB5.

witmotion_packet_id

enum witmotion::witmotion_packet_id

If one of the packet type IDs defined here is registered after WITMOTION_HEADER_BYTE in the data flow received from the sensor, the packet header is considered found and the remaining bytes are considered as body of the packet. See util.h for decoder function reference.

Enumerator
pidRTC	Real-Time-Clock: Year from 2000, Month, Day, Hour, Minute, Second (8-bit unsigned integers) + Millisecond (16-bit unsigned integer), representing time passed since last time set up in the ridTimeYearMonth, ridTimeDayHour, ridTimeMinuteSecond and ridTimeMilliseconds registers.
pidAcceleration	Linear accelerations + temperature/reserved field [X-Y-Z] (16-bit binary normalized quasi-floats)
pidAngularVelocity	Angular velocities + temperature/reserved field [Roll-Pitch-Yaw] (16-bit binary normalized quasi-floats)
pidAngles	Euler angles + temperature/reserved field [Roll-Pitch-Yaw] (16-bit binary normalized quasi-floats)
pidMagnetometer	Magnetic field tensity + temperature/reserved field [world X-Y-Z] (16-bit binary normalized quasi-floats)
pidDataPortStatus	Data port status packet, vendor-defined value.
pidAltimeter	Altimeter + Barometer output (32-bit binary normalized quasi-floats)
pidGPSCoordinates	GPS: longitude + latitude, if supported by hardware (32-bit binary normalized quasi-floats)
pidGPSGroundSpeed	GPS: ground speed (32-bit binary normalized quasi-float) + altitude + angular velocity around vertical axis (16-bit binary normalized quasi-floats), if supported by hardware.
pidOrientation	Orientation defined as quaternion [X-Y-Z-W], when available from the sensor firmware (16-bit binary normalized quasi-floats)
pidGPSAccuracy	GPS: visible satellites + variance vector [East-North-Up] (16-bit binary normalized quasi-floats)

Function Documentation

witmotion_output_frequency()

uint8_t witmotion::witmotion_output_frequency

(

const int

hertz

)

Special values for the hertz argument are:

Value	Description
0	Shuts down the measurements but does not turn the device into dormant mode
-1	Orders the single-shot measurement, then shutdown
-2	1 measurement in 2 seconds
-10	1 measurement in 10 seconds

Parameters

hertz

- frequency in Hertz, or a special value as it is described above

Returns

Witmotion opcode value as a byte, 0x06 (10 Hz) by default is the argument is inacceptable

Variable Documentation

witmotion_packet_descriptions

const std::map<uint8_t, std::string> witmotion::witmotion_packet_descriptions

static

Initial value:

= {
    {0x50, "Real Time Clock"},
    {0x51, "Accelerations"},
    {0x52, "Angular velocities"},
    {0x53, "Spatial orientation (Euler angles)"},
    {0x54, "Magnetometer/Magnetic orientation"},
    {0x55, "Data ports (D0-D3) status"},
    {0x56, "Barometry/Altimeter"},
    {0x57, "GPS Coordinates"},
    {0x58, "GPS Ground Speed"},
    {0x59, "Spatial orientation (Quaternion)"},
    {0x5A, "GPS accuracy estimation"}
}

Contains values referenced in witmotion_packet_id enumeration with corresponding description strings used by message-enumerator application.

witmotion_registered_ids

const std::set<size_t> witmotion::witmotion_registered_ids

static

Initial value:

= {
    0x50,
    0x51,
    0x52,
    0x53,
    0x54,
    0x55,
    0x56,
    0x57,
    0x58,
    0x59,
    0x5A
}

Contains values referenced in witmotion_packet_id enumeration to explicitly determine a set of currently supported packet IDs. The packet IDs not referenced here sould not be considered supported.