xsens

package module
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 Go to latest Published: Aug 16, 2023 License: MIT Imports: 12 Imported by: 0

README

Xsens Go

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A Go client for Xsens IMU(s).

Disclaimer: This is a 3rd party SDK with no official support.

For 1st party support on Xsens devices, turn to the Xsens online support platform BASE.

Documentation

The SDK implements the Xsens MT Low Level Communication Protocol.

Supported devices

This SDK has primarily been tested on the Xsens MTi-G-710, but should be compatible with all products in the MTi product line.

Usage

$ go get -u go.einride.tech/xsens

Examples

Read measurement data
package main

import (
	"context"
	"flag"
	"log"
	"os"

	"go.bug.st/serial"
	"go.einride.tech/xsens"
)

func main() {
	ctx := context.Background()
	log.SetFlags(0)
	port := flag.String("port", "", "serial port to read from")
	baudRateFlag := flag.Int("baudRate", int(serial.BaudRate115200), "baud rate for serial port")
	flag.Parse()
	if *port == "" {
		flag.Usage()
		os.Exit(1)
	}
	// Open serial port.
	serialPort, err := serial.Open(*port, serial.BaudRate(*baudRateFlag))
	if err != nil {
		log.Fatal(err)
	}
	client := xsens.NewClient(serialPort)
	// Perform GoToMeasurement sequence.
	if err := client.GoToMeasurement(ctx); err != nil {
		log.Panic(err)
	}
	for {
		// Scan through all packets in the current MTData2 message.
		log.Println(client.MessageIdentifier())
		for client.ScanMeasurementData() {
			log.Printf("\t%v", client.DataType())
			log.Printf("\t%+v", client.MeasurementData())
		}
		// Receive next MTData2 message.
		if err := client.Receive(ctx); err != nil {
			log.Panic(err)
		}
	}
}

Documentation

Overview

Package xsens provides primitives for communication with Xsens IMU sensors.

Index

Constants

View Source 
const (
	DefaultSerialBaudRate = 115200
	DefaultSerialDataBits = 8
	DefaultSerialStopBits = 1
)

Default serial communication options.

View Source 
const (
	UTCDateValidFlag              = 0x01
	UTCTimeOfDayValidFlag         = 0x02
	UTCTimeOfDayFullyResolvedFlag = 0x04
)
View Source 
const MinLengthOfMessage = lengthOfPreamble +
	lengthOfBusIdentifier +
	lengthOfMessageIdentifier +
	lengthOfLength +
	lengthOfChecksum

MinLengthOfMessage is the minimum length of a valid Xsens message.

Variables

This section is empty.

Functions

func ScanMessages added in v0.15.0 

func ScanMessages(data []byte, atEOF bool) (advance int, token []byte, err error)

ScanMessages is a bufio.Scanner SplitFunc that splits a stream into Xsens messages.

Types

type Acceleration added in v0.15.0 

type Acceleration = VectorXYZ

Acceleration contains the calibrated acceleration vector in x, y, and z axes in m/s 2 .

type AccelerationHR added in v0.15.0 

type AccelerationHR = VectorXYZ

AccelerationHR contains the high-resolution calibrated acceleration vector in x, y, and z axes in m/s 2 .

For the MTi 1-series, with the exception of the MTi-7, the output data rate is 1000 Hz based on the internal clock of the IMU which is not aligned with other data; data has not been processed in the SDI algorithm. It has been calibrated with the Xsens calibration parameters (except for g-sensitivity).

For the MTi-7, the output data is 800 Hz based on the internal clock of the IMUs which are not aligned with other data; data has not been processed in the SDI algorithm. It has been calibrated with the Xsens calibration parameters (except for g-sensitivity).

For the MTi 100-series and MTi-G-710, the output data is 1000 Hz, synchronized with the internal clock of the MTi 100-series (10 ppm; 1 ppm with GNSS ClockSync). The data has been processed in the SDI algorithm. Note that AccelerationHR is not grouped with messages coming out at the same time.

type AltitudeEllipsoid added in v0.15.0 

type AltitudeEllipsoid = Scalar

AltitudeEllipsoid contains the altitude of the MTi-G in meters above the WGS-84 Ellipsoid.

type BaroPressure added in v0.9.0 

type BaroPressure uint32

BaroPressure contains the pressure as measured by the internal barometer expressed in Pascal.

func (*BaroPressure) MarshalMTData2Packet added in v0.15.0 

func (b *BaroPressure) MarshalMTData2Packet(id DataIdentifier) (MTData2Packet, error)

func (*BaroPressure) String added in v0.9.0 

func (b *BaroPressure) String() string

String returns a string representation of the value.

func (*BaroPressure) UnmarshalMTData2Packet added in v0.15.0 

func (b *BaroPressure) UnmarshalMTData2Packet(packet MTData2Packet) error

type CANBaudRate added in v0.18.0 

type CANBaudRate int

func (CANBaudRate) ID added in v0.19.0 

func (c CANBaudRate) ID() (CANBaudRateID, error)

type CANBaudRateID added in v0.19.0 

type CANBaudRateID int8
const (
	CANBaudRate1M   CANBaudRateID = 0x0C
	CANBaudRate800k CANBaudRateID = 0x0B
	CANBaudRate500k CANBaudRateID = 0x0A
	CANBaudRate250k CANBaudRateID = 0x00
	CANBaudRate125k CANBaudRateID = 0x01
	CANBaudRate100k CANBaudRateID = 0x02
	CANBaudRate83k3 CANBaudRateID = 0x03
	CANBaudRate62k5 CANBaudRateID = 0x04
	CANBaudRate50k  CANBaudRateID = 0x05
	CANBaudRate33k3 CANBaudRateID = 0x06
	CANBaudRate20k  CANBaudRateID = 0x07
	CANBaudRate10k  CANBaudRateID = 0x08
	CANBaudRate5k   CANBaudRateID = 0x09
)

func (CANBaudRateID) String added in v0.19.0 

func (i CANBaudRateID) String() string

type CANConfig added in v0.18.0 

type CANConfig struct {
	Enable   bool
	BaudRate CANBaudRateID
}

func (*CANConfig) MarshalBinary added in v0.18.0 

func (o *CANConfig) MarshalBinary() ([]byte, error)

MarshalBinary returns the wire representation of the CAN configuration.

func (*CANConfig) MarshalText added in v0.18.0 

func (o *CANConfig) MarshalText() ([]byte, error)

MarshalText returns a text representation of the CAN configuration.

func (*CANConfig) UnmarshalBinary added in v0.18.0 

func (o *CANConfig) UnmarshalBinary(data []byte) error

UnmarshalBinary sets *o from a wire representation of the CAN configuration.

type CANDataIdentifier added in v0.18.0 

type CANDataIdentifier uint8
const (
	CANDataIdentifierInvalid            CANDataIdentifier = 0x00
	CANDataIdentifierError              CANDataIdentifier = 0x01
	CANDataIdentifierWarning            CANDataIdentifier = 0x02
	CANDataIdentifierSampleTime         CANDataIdentifier = 0x05
	CANDataIdentifierGroupCounter       CANDataIdentifier = 0x06
	CANDataIdentifierUtcTime            CANDataIdentifier = 0x07
	CANDataIdentifierStatusWord         CANDataIdentifier = 0x11
	CANDataIdentifierQuaternion         CANDataIdentifier = 0x21
	CANDataIdentifierEulerAngles        CANDataIdentifier = 0x22
	CANDataIdentifierDeltaV             CANDataIdentifier = 0x31
	CANDataIdentifierRateOfTurn         CANDataIdentifier = 0x32
	CANDataIdentifierDeltaQ             CANDataIdentifier = 0x33
	CANDataIdentifierAcceleration       CANDataIdentifier = 0x34
	CANDataIdentifierFreeAcceleration   CANDataIdentifier = 0x35
	CANDataIdentifierMagneticField      CANDataIdentifier = 0x41
	CANDataIdentifierTemperature        CANDataIdentifier = 0x51
	CANDataIdentifierBaroPressure       CANDataIdentifier = 0x52
	CANDataIdentifierRateOfTurnHR       CANDataIdentifier = 0x61
	CANDataIdentifierAccelerationHR     CANDataIdentifier = 0x62
	CANDataIdentifierLatLong            CANDataIdentifier = 0x71
	CANDataIdentifierAltitudeEllipsoid  CANDataIdentifier = 0x72
	CANDataIdentifierPositionEcefX      CANDataIdentifier = 0x73
	CANDataIdentifierPositionEcefY      CANDataIdentifier = 0x74
	CANDataIdentifierPositionEcefZ      CANDataIdentifier = 0x75
	CANDataIdentifierVelocityXYZ        CANDataIdentifier = 0x76
	CANDataIdentifierGnssReceiverStatus CANDataIdentifier = 0x79
	CANDataIdentifierGnssReceiverDop    CANDataIdentifier = 0x7A
)

func (CANDataIdentifier) String added in v0.18.0 

func (i CANDataIdentifier) String() string

func (*CANDataIdentifier) UnmarshalText added in v0.18.0 

func (i *CANDataIdentifier) UnmarshalText(text []byte) error

type CANIDLengthFlag added in v0.18.0 

type CANIDLengthFlag bool
const (
	CANIDLengthFlag11bits CANIDLengthFlag = false
	CANIDLengthFlag29bits CANIDLengthFlag = true
)

type CANOutputConfiguration added in v0.18.0 

type CANOutputConfiguration []CANOutputConfigurationSetting

func (*CANOutputConfiguration) MarshalBinary added in v0.18.0 

func (o *CANOutputConfiguration) MarshalBinary() ([]byte, error)

MarshalBinary returns the wire representation of the CAN output configuration.

func (*CANOutputConfiguration) MarshalText added in v0.18.0 

func (o *CANOutputConfiguration) MarshalText() ([]byte, error)

MarshalText returns a text representation of the CAN output configuration.

func (*CANOutputConfiguration) UnmarshalBinary added in v0.18.0 

func (o *CANOutputConfiguration) UnmarshalBinary(data []byte) error

UnmarshalBinary sets *o from a wire representation of the CAN output configuration.

type CANOutputConfigurationSetting added in v0.18.0 

type CANOutputConfigurationSetting struct {
	// DataIdentifier is the data identifier of the data.
	CANDataIdentifier CANDataIdentifier

	// CANIDLengthFlag specifies whether the CAN address is 11 (CANIDLengthFlag11bits)
	// or 29 bits (CANIDLengthFlag29bits).
	CANIDLengthFlag CANIDLengthFlag

	// IDMask is a uint32 version of CANDataIdentifier.
	//
	// Only used for reading. DefaultIDMask is used for writing.
	IDMask IDMask

	// OutputFrequency is the output frequency of the data.
	//
	// Selecting an Output OutputFrequency of either 0x0000 or 0xFFFF, makes the device select the
	// maximum frequency for the given data identifier. The device reports the resulting effective
	// frequencies in its response message.
	OutputFrequency OutputFrequency
}

CANOutputConfigurationSetting is the output configuration for a single CAN measurement data type.

func (*CANOutputConfigurationSetting) DefaultIDMask added in v0.19.1 

func (o *CANOutputConfigurationSetting) DefaultIDMask() IDMask

DefaultIDMask returns the default CAN ID Mask.

type Client 

type Client struct {
	// contains filtered or unexported fields
}

Client for communicating with an Xsens device.

func NewClient 

func NewClient(p io.ReadWriteCloser) *Client

NewClient returns a new client using the provided ReadWriterCloser for communication.

func (*Client) Acceleration added in v0.15.0 

func (c *Client) Acceleration() *Acceleration

func (*Client) AltitudeEllipsoid added in v0.15.0 

func (c *Client) AltitudeEllipsoid() *AltitudeEllipsoid

func (*Client) BaroPressure added in v0.15.0 

func (c *Client) BaroPressure() *BaroPressure

func (*Client) Close 

func (c *Client) Close() error

Close the client's ReadWriterCloser.

func (*Client) DataType added in v0.15.0 

func (c *Client) DataType() DataType

DataType returns the data type of the current scanned measurement data packet.

func (*Client) DeltaQ added in v0.15.0 

func (c *Client) DeltaQ() *DeltaQ

func (*Client) DeltaV added in v0.15.0 

func (c *Client) DeltaV() *DeltaV

func (*Client) EulerAngles added in v0.15.0 

func (c *Client) EulerAngles() *EulerAngles

func (*Client) FreeAcceleration added in v0.15.0 

func (c *Client) FreeAcceleration() *FreeAcceleration

func (*Client) GNSSPVTData added in v0.15.0 

func (c *Client) GNSSPVTData() *GNSSPVTData

func (*Client) GNSSSatInfo added in v0.15.0 

func (c *Client) GNSSSatInfo() *GNSSSatInfo

func (*Client) GetCANConfiguration added in v0.18.0 

func (c *Client) GetCANConfiguration(ctx context.Context) (*CANConfig, error)

GetCANConfiguration returns the Xsens CAN output configuration.

func (*Client) GetCANOutputConfiguration added in v0.18.0 

func (c *Client) GetCANOutputConfiguration(ctx context.Context) (CANOutputConfiguration, error)

GetCANOutputConfiguration returns the Xsens CAN output configuration.

func (*Client) GetDeviceID added in v0.18.0 

func (c *Client) GetDeviceID(ctx context.Context) (*DeviceID, error)

GetDeviceID returns the Xsens DeviceID.

func (*Client) GetHWVersion added in v0.20.0 

func (c *Client) GetHWVersion(ctx context.Context) (*HWVersion, error)

GetHWVersion returns the Xsens HWVersion.

func (*Client) GetOutputConfiguration added in v0.15.0 

func (c *Client) GetOutputConfiguration(ctx context.Context) (OutputConfiguration, error)

GetOutputConfiguration returns the Xsens output configuration.

func (*Client) GetProductCode added in v0.20.0 

func (c *Client) GetProductCode(ctx context.Context) (*ProductCode, error)

GetProductCode returns the Xsens ProductCode.

func (*Client) GoToConfig added in v0.15.0 

func (c *Client) GoToConfig(ctx context.Context) error

GoToConfig puts the Xsens device in config mode.

func (*Client) GoToMeasurement added in v0.15.0 

func (c *Client) GoToMeasurement(ctx context.Context) error

GoToMeasurement puts the Xsens device in measurement mode.

func (*Client) LatLon added in v0.15.0 

func (c *Client) LatLon() *LatLon

func (*Client) MagneticField added in v0.15.0 

func (c *Client) MagneticField() *MagneticField

func (*Client) MeasurementData added in v0.15.0 

func (c *Client) MeasurementData() MeasurementData

MeasurementData returns the last scanned measurement data.

func (*Client) MessageIdentifier added in v0.15.0 

func (c *Client) MessageIdentifier() MessageIdentifier

MessageIdentifier returns the message identifier of the last received message.

func (*Client) PacketCounter added in v0.15.0 

func (c *Client) PacketCounter() *PacketCounter

func (*Client) PositionECEF added in v0.15.0 

func (c *Client) PositionECEF() *PositionECEF

func (*Client) Quaternion added in v0.15.0 

func (c *Client) Quaternion() *Quaternion

func (*Client) RateOfTurn added in v0.15.0 

func (c *Client) RateOfTurn() *RateOfTurn

func (*Client) RawMessage added in v0.15.0 

func (c *Client) RawMessage() []byte

RawMessage returns the raw bytes of the last received message.

func (*Client) RawPacket added in v0.15.0 

func (c *Client) RawPacket() []byte

RawPacket returns the raw bytes of the current measurement data packet.

func (*Client) Receive added in v0.15.0 

func (c *Client) Receive(_ context.Context) error

Receive an Xsens message.

Clears state related to a previously received message, such as scanned measurement data.

func (*Client) RotationMatrix added in v0.15.0 

func (c *Client) RotationMatrix() *RotationMatrix

func (*Client) SampleTimeCoarse added in v0.15.0 

func (c *Client) SampleTimeCoarse() *SampleTimeCoarse

func (*Client) SampleTimeFine added in v0.15.0 

func (c *Client) SampleTimeFine() *SampleTimeFine

func (*Client) ScanMeasurementData added in v0.15.0 

func (c *Client) ScanMeasurementData() bool

ScanMeasurementData advances to the next measurement data packet, when the current message contains measurement data.

func (*Client) SetCANConfiguration added in v0.18.0 

func (c *Client) SetCANConfiguration(ctx context.Context, configuration CANConfig) error

SetCANConfiguration sets the Xsens device CAN configuration.

func (*Client) SetCANOutputConfiguration added in v0.18.0 

func (c *Client) SetCANOutputConfiguration(ctx context.Context, configuration CANOutputConfiguration) error

SetCANOutputConfiguration sets the Xsens device CAN output configuration.

func (*Client) SetOutputConfiguration added in v0.15.0 

func (c *Client) SetOutputConfiguration(ctx context.Context, configuration OutputConfiguration) error

SetOutputConfiguration sets the Xsens device output configuration.

func (*Client) StatusByte added in v0.15.0 

func (c *Client) StatusByte() *StatusByte

func (*Client) StatusWord added in v0.15.0 

func (c *Client) StatusWord() *StatusWord

func (*Client) Temperature added in v0.15.0 

func (c *Client) Temperature() *Temperature

func (*Client) UTCTime added in v0.15.0 

func (c *Client) UTCTime() *UTCTime

func (*Client) VelocityXYZ added in v0.15.0 

func (c *Client) VelocityXYZ() *VelocityXYZ

type CoordinateSystem added in v0.9.0 

type CoordinateSystem uint8

CoordinateSystem represents the coordinate system of a measurement data output. 

const (
	CoordinateSystemEastNorthUp   CoordinateSystem = 0x0
	CoordinateSystemNorthEastDown CoordinateSystem = 0x4
	CoordinateSystemNorthWestUp   CoordinateSystem = 0x8
)

Coordinate systems.

func (CoordinateSystem) String added in v0.9.0 

func (i CoordinateSystem) String() string

type DataIdentifier added in v0.9.0 

type DataIdentifier struct {
	DataType         DataType
	CoordinateSystem CoordinateSystem
	Precision        Precision
}

DataIdentifier is an Xsens data identifier.

Each data identifier is constructed in this way:

+-------------------------------------------------------------------------------+ | 15 | 14 | 13 | 12 | 11 | 10 | 9 | 8 | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 | +------------------------+--------------+-------------------+-------------------+ | Group | Reserved | Type | Format | +------------------------+--------------+-------------------+-------------------+

Group defines the category of the data, such as timestamps, orientations, angular velocities, etc.

Type combined with Group defines the actual type of the data.

func (DataIdentifier) DataSize added in v0.15.0 

func (d DataIdentifier) DataSize() uint8

DataSize returns the data size (in bytes) of measurement data with the current identifier.

Returns 0 for unsupported data identifiers.

func (*DataIdentifier) SetUint16 added in v0.15.0 

func (d *DataIdentifier) SetUint16(value uint16)

SetUint16 sets the data identifier from a uint16 representation.

func (DataIdentifier) String added in v0.9.0 

func (d DataIdentifier) String() string

String returns a string representation of the data identifier.

func (DataIdentifier) Uint16 added in v0.15.0 

func (d DataIdentifier) Uint16() uint16

Uint16 returns the data identifier represented as a uint16.

type DataType added in v0.9.0 

type DataType uint16

DataType represents an Xsens data type. 

const (
	DataTypeUTCTime          DataType = 0x1010
	DataTypePacketCounter    DataType = 0x1020
	DataTypeITOW             DataType = 0x1030
	DataTypeGPSAge           DataType = 0x1040
	DataTypePressureAge      DataType = 0x1050
	DataTypeSampleTimeFine   DataType = 0x1060
	DataTypeSampleTimeCoarse DataType = 0x1070
)

Data group: Timestamp. 

const (
	DataTypeQuaternion     DataType = 0x2010
	DataTypeRotationMatrix DataType = 0x2020
	DataTypeEulerAngles    DataType = 0x2030
)

Data group: Orientation. 

const (
	DataTypeDeltaV           DataType = 0x4010
	DataTypeAcceleration     DataType = 0x4020
	DataTypeFreeAcceleration DataType = 0x4030
	DataTypeAccelerationHR   DataType = 0x4040
)

Data group: Acceleration. 

const (
	DataTypeAltitudeEllipsoid DataType = 0x5020
	DataTypePositionECEF      DataType = 0x5030
	DataTypeLatLon            DataType = 0x5040
)

Data group: Position. 

const (
	DataTypeGNSSPVTData DataType = 0x7010
	DataTypeGNSSSatInfo DataType = 0x7020
)

Data group: GNSS. 

const (
	DataTypeRateOfTurn   DataType = 0x8020
	DataTypeDeltaQ       DataType = 0x8030
	DataTypeRateOfTurnHR DataType = 0x8040
)

Data group: Angular velocity. 

const (
	DataTypeGPSDOP     DataType = 0x8830
	DataTypeGPSSOL     DataType = 0x8840
	DataTypeGPSTimeUTC DataType = 0x8880
	DataTypeGPSSVInfo  DataType = 0x88a0
)

Data group: GPS. 

const (
	DataTypeStatusByte DataType = 0xe010
	DataTypeStatusWord DataType = 0xe020
)

Data group: Status. 

const (
	DataTypeBaroPressure DataType = 0x3010
)

Data group: Pressure. 

const (
	DataTypeMagneticField DataType = 0xc020
)

Data group: Magnetic. 

const (
	DataTypeTemperature DataType = 0x0810
)

Data group: Temperature. 

const (
	DataTypeVelocityXYZ DataType = 0xd010
)

Data group: Velocity.

func (DataType) HasCoordinateSystem added in v0.9.0 

func (d DataType) HasCoordinateSystem() bool

HasCoordinateSystem returns true for data types which support configurable coordinate system.

func (DataType) HasPrecision added in v0.9.0 

func (d DataType) HasPrecision() bool

HasPrecision returns true for data types which support configurable output precision.

func (DataType) String added in v0.9.0 

func (i DataType) String() string

type DeltaQ added in v0.15.0 

type DeltaQ = Quaternion

DeltaQ contains the delta quaternion value of the SDI output.

type DeltaV added in v0.15.0 

type DeltaV = VectorXYZ

DeltaV contains the delta velocity value of the SDI output in m/s.

type DeviceID added in v0.18.0 

type DeviceID uint32

func (*DeviceID) HexString added in v0.20.0 

func (d *DeviceID) HexString() string

func (*DeviceID) UnmarshalBinary added in v0.18.0 

func (d *DeviceID) UnmarshalBinary(data []byte) error

type ErrorCode added in v0.9.0 

type ErrorCode uint8

ErrorCode represents an Xsens error code. 

const (
	// ErrorCodeOK: No error.
	ErrorCodeOK ErrorCode = 0

	// ErrorCodeNoBus: No bus communication possible.
	ErrorCodeNoBus ErrorCode = 1

	// ErrorCodeBusNotReady: InitBus and/or SetBID are not issued.
	ErrorCodeBusNotReady ErrorCode = 2

	// ErrorCodeInvalidPeriod: Period sent is invalid.
	ErrorCodeInvalidPeriod ErrorCode = 3

	// ErrorCodeInvalidMessage: Message is invalid or not implemented.
	ErrorCodeInvalidMessage ErrorCode = 4

	// ErrorCodeInitBusFail1: A slave did not respond to WaitForSetBID.
	ErrorCodeInitBusFail1 ErrorCode = 16

	// ErrorCodeInitBusFail2: An incorrect answer received after WaitForSetBID.
	ErrorCodeInitBusFail2 ErrorCode = 17

	// ErrorCodeInitBusFail3: After four bus-scans still undetected Motion Trackers.
	ErrorCodeInitBusFail3 ErrorCode = 18

	// ErrorCodeSetBIDFail1: No reply to SetBID message during SetBID procedure.
	ErrorCodeSetBIDFail1 ErrorCode = 20

	// ErrorCodeSetBIDFail2: Other than SetBIDAck received.
	ErrorCodeSetBIDFail2 ErrorCode = 21

	// ErrorCodeMeasurementFail1: Period too short to collect all data from Motion Trackers.
	ErrorCodeMeasurementFail1 ErrorCode = 24

	// ErrorCodeMeasurementFail2: Motion Tracker responds with other than SlaveData message.
	ErrorCodeMeasurementFail2 ErrorCode = 25

	// ErrorCodeMeasurementFail3: Total bytes of data of Motion Trackers exceeds 255 bytes.
	ErrorCodeMeasurementFail3 ErrorCode = 26

	// ErrorCodeMeasurementFail4: Timer overflows during measurement.
	ErrorCodeMeasurementFail4 ErrorCode = 27

	// ErrorCodeMeasurementFail5: Timer overflows during measurement.
	ErrorCodeMeasurementFail5 ErrorCode = 28

	// ErrorCodeMeasurementFail6: No correct response from Motion Tracker during measurement.
	ErrorCodeMeasurementFail6 ErrorCode = 29

	// ErrorCodeTimerOverflow: Timer overflow during measurement.
	ErrorCodeTimerOverflow ErrorCode = 30

	// ErrorCodeBaudrateInvalid: Baud rate does not comply with valid range.
	ErrorCodeBaudrateInvalid ErrorCode = 32

	// ErrorCodeInvalidParam: An invalid parameter is supplied.
	ErrorCodeInvalidParam ErrorCode = 33

	// ErrorCodeMeasurementFail7: TX PC Buffer is full.
	ErrorCodeMeasurementFail7 ErrorCode = 35

	// ErrorCodeMeasurementFail8: TX PC Buffer overflow, cannot fit full message.
	ErrorCodeMeasurementFail8 ErrorCode = 36

	// ErrorCodeDeviceError: Device generated an error, try updating the firmware.
	ErrorCodeDeviceError ErrorCode = 40

	// ErrorCodeDataOverflow: Device generates more data than bus can handle (baud rate too low).
	ErrorCodeDataOverflow ErrorCode = 41

	// ErrorCodeBufferOverflow: Sample buffer of the device was full during a communication outage.
	ErrorCodeBufferOverflow ErrorCode = 42
)

func (ErrorCode) String added in v0.9.0 

func (i ErrorCode) String() string

type EulerAngles added in v0.15.0 

type EulerAngles = VectorXYZ

EulerAngles contains the three Euler angles in degrees that represent the orientation of the device.

type FP1220 added in v0.9.0 

type FP1220 [4]byte

FP1220 is a fixed point 12.20 value.

The 12.20 fixed point output is calculated with:

int32_t fixedPointValue12p20 = round(floatingPointValue * 2^20)

The resulting 32bit integer value is transmitted in big-endian order (MSB first).

The range of a 12.20 fixed point value is [-2048.0, 2047.9999990].

func (FP1220) Float64 added in v0.9.0 

func (fp FP1220) Float64() float64

Float64 returns the value as a 64-bit floating point value.

func (*FP1220) FromFloat64 added in v0.15.0 

func (fp *FP1220) FromFloat64(f float64)

func (FP1220) String added in v0.9.0 

func (fp FP1220) String() string

String returns a string representation of the value.

type FP1632 added in v0.9.0 

type FP1632 [6]byte

FP1220 is a fixed point 16.32 value.

The 16.32 fixed point output is calculated with:

int64_t fixedPointValue16p32 = round(floatPointValue * 2^32)

Of the resulting 64 bit integer only the 6 least significant bytes are transmitted.

If these are the bytes b0 to b5 (with b0 the LSB) they are transmitted in this order:

[b3, b2, b1, b0, b5, b4] [0, 1, 2, 3, 4, 5 ]

This can be interpreted as first transmitting the 32bit fractional part and then the 16 bit integer part, both parts are in big-endian order (MSB first).

The range of a 16.32 fixed point value is [-32768.0, 32767.9999999998].

func (FP1632) Float64 added in v0.9.0 

func (fp FP1632) Float64() float64

Float64 returns the value as a 64-bit floating point value.

func (*FP1632) FromFloat64 added in v0.15.0 

func (fp *FP1632) FromFloat64(f float64)

func (FP1632) String added in v0.9.0 

func (fp FP1632) String() string

String returns a string representation of the value.

type FixType added in v0.15.0 

type FixType uint8

FixType represents an Xsens GNSS fix type. 

const (
	FixTypeNoFix                FixType = 0x00
	FixTypeDeadReckoningOnly    FixType = 0x01
	FixType2DFix                FixType = 0x02
	FixType3DFix                FixType = 0x03
	FixTypeGNSSAndDeadReckoning FixType = 0x04
	FixTypeTimeOnly             FixType = 0x05
)

func (FixType) String added in v0.15.0 

func (i FixType) String() string

type FreeAcceleration added in v0.15.0 

type FreeAcceleration = VectorXYZ

FreeAcceleration contains the free acceleration vector in x, y, and z axes in m/s 2 .

type GNSSPVTData added in v0.9.0 

type GNSSPVTData struct {
	// ITOW is the GPS time of week.
	//
	//  Unit: ms
	ITOW uint32

	// Year (UTC).
	//
	//  Unit: y
	Year uint16

	// Month (UTC).
	//
	//  Unit: m
	Month uint8

	// Day of the month (UTC).
	//
	//  Unit: d
	Day uint8

	// Hour of the day 0..23 (UTC).
	//
	//  Unit: h
	Hour uint8

	// Minute of hour 0..59 (UTC).
	//
	//  Unit: min
	Min uint8

	// Seconds of minute 0..60 (UTC).
	//
	//  Unit: s
	Sec uint8

	// Valid is the validity flags.
	//
	//  bit (0) = UTC Date is valid
	//  bit (1) = UTC Time of Day is valid
	//  bit (2) = UTC Time of Day has been fully resolved (i.e. no seconds uncertainty)
	Valid UTCValidity

	// TAcc is the time accuracy estimate (UTC).
	//
	//  Unit: ns
	TAcc uint32

	// Nano is the fraction of second -1e-9 .. 1e-9.
	//
	//  Unit: ns
	Nano int32

	// FixType is the GNSS fix type.
	FixType FixType

	// Flags are the fix status flags
	//
	//  bit (0) = Valid fix (within DOP and accuracy masks)
	//  bit (1) = Differential corrections are applied
	//  bit (2) = Reserved
	//  bit (3) = Reserved
	//  bit (4) = Reserved
	//  bit (5) = Heading of vehicle is valid
	Flags uint8

	// NumSV is the number of satellites used in navigation solution.
	NumSV uint8

	// Reserved1 is reserved for future use.
	Reserved1 uint8

	// Lon is the position longitude.
	//
	//  Scale: 1e-7
	//  Unit: deg
	Lon int32

	// Lat is the position latitude.
	//
	//  Scale: 1e-7
	//  Unit: deg
	Lat int32

	// Height above ellipsoid.
	//
	//  Unit: mm
	Height int32

	// HMSL is the height above mean sea level.
	//
	//  Unit: mm
	HMSL int32

	// HAcc is the horizontal accuracy estimate.
	//
	//  Unit: mm
	HAcc uint32

	// VAcc is the vertical accuracy estimate.
	//
	//  Unit: mm
	VAcc uint32

	// VelN is the NED north velocity.
	//
	//  Unit: mm/s
	VelN int32

	// VelE is the NED east velocity.
	//
	//  Unit: mm/s
	VelE int32

	// VelD is the NED down velocity.
	//
	//  Unit: mm/s
	VelD int32

	// GSpeed is the 2D ground speed.
	//
	//  Unit: mm/s
	GSpeed int32

	// HeadMot is the 2D heading of motion.
	//
	//  Scale: 1e-5
	//  Unit: deg
	HeadMot int32

	// SAcc is the speed accuracy estimate.
	//
	//  Unit: mm/s
	SAcc uint32

	// HeadAcc is the heading accuracy estimate (both motion and vehicle).
	//
	//  Unit: deg
	HeadAcc uint32

	// HeadVeh is the 2D heading of the vehicle.
	//
	//  Scale: 1e-5
	//  Unit: deg
	HeadVeh uint32

	// GDOP is the Geometric DOP.
	//
	//  Scale: 0.01
	GDOP uint16

	// PDOP is the Position DOP.
	//
	//  Scale: 0.01
	PDOP uint16

	// PDOP is the Time DOP.
	//
	//  Scale: 0.01
	TDOP uint16

	// VDOP is the Vertical DOP.
	//
	//  Scale: 0.01
	VDOP uint16

	// HDOP is the Horizontal DOP.
	//
	//  Scale: 0.01
	HDOP uint16

	// NDOP is the Northing DOP.
	//
	//  Scale: 0.01
	NDOP uint16

	// EDOP is the Easting DOP.
	//
	//  Scale: 0.01
	EDOP uint16
}

GNSSPVTData contains the current GNSS position, velocity and time data.

func (*GNSSPVTData) MarshalMTData2Packet added in v0.15.0 

func (g *GNSSPVTData) MarshalMTData2Packet(id DataIdentifier) (MTData2Packet, error)

func (*GNSSPVTData) Time added in v0.15.0 

func (g *GNSSPVTData) Time() time.Time

func (*GNSSPVTData) UnmarshalMTData2Packet added in v0.15.0 

func (g *GNSSPVTData) UnmarshalMTData2Packet(packet MTData2Packet) error

type GNSSSat added in v0.9.0 

type GNSSSat struct {
	// GNSSID is the GNSS identifier.
	//
	//  0 = GPS
	//  1 = SBAS
	//  2 = Galileo
	//  3 = BeiDou
	//  4 = IMES
	//  5 = QZSS
	//  6 = GLONASS
	GNSSID uint8

	// SVID is the satellite identifier.
	SVID uint8

	// CNO is the carrier to noise ratio (signal strength).
	//
	//  Unit: dBHz
	CNO uint8

	// Flags contains the satellite flags.
	//
	//  bit (0..2) = signal quality indicator
	//   0 = no signal
	//   1 = searching signal
	//   2 = signal acquired
	//   3 = signal detected but unusable
	//   4 = code locked and time synchronized
	//   5, 6, 7 = code & carrier locked; time synchronized
	//  bit (3) = SV is being used for navigation
	//  bit (4..5) = SV health flag
	//    0 = unknown
	//    1 = healthy
	//    2 = unhealthy
	//  bit (6) = differential correction data is available
	//  bit (7) = reserved
	Flags uint8
}

type GNSSSatInfo added in v0.9.0 

type GNSSSatInfo struct {
	// ITOW is the GPS time of week.
	//
	//  Unit: ms
	ITOW uint32

	// NumSVS is the number of satellites.
	NumSVS uint8

	// Res1 is reserved for future use.
	Res1 uint8

	// Res2 is reserved for future use.
	Res2 uint8

	// Res3 is reserved for future use.
	Res3 uint8
}

GNSSSatInfo contains info on the currently used GNSS satellites.

func (*GNSSSatInfo) MarshalMTData2Packet added in v0.15.0 

func (g *GNSSSatInfo) MarshalMTData2Packet(id DataIdentifier) (MTData2Packet, error)

func (*GNSSSatInfo) UnmarshalMTData2Packet added in v0.15.0 

func (g *GNSSSatInfo) UnmarshalMTData2Packet(packet MTData2Packet) error

type HWVersion added in v0.20.0 

type HWVersion string // MAJOR.minor

func (*HWVersion) UnmarshalBinary added in v0.20.0 

func (d *HWVersion) UnmarshalBinary(data []byte) error

type IDMask added in v0.18.0 

type IDMask = uint32

type LatLon added in v0.9.0 

type LatLon struct {
	Lat, Lon float64
}

LatLon contains the latitude and longitude in degrees of the MTi-G position.

func (*LatLon) MarshalMTData2Packet added in v0.15.0 

func (t *LatLon) MarshalMTData2Packet(id DataIdentifier) (MTData2Packet, error)

func (*LatLon) UnmarshalMTData2Packet added in v0.15.0 

func (t *LatLon) UnmarshalMTData2Packet(packet MTData2Packet) error

type MTData2 added in v0.9.0 

type MTData2 []byte

MTData2 represents an Xsens MTData2 payload.

func (MTData2) PacketAt added in v0.9.0 

func (m MTData2) PacketAt(i int) (MTData2Packet, error)

PacketAt returns the MTData2 packet starting at the provided index.

func (MTData2) String added in v0.9.0 

func (m MTData2) String() string

type MTData2Packet added in v0.9.0 

type MTData2Packet []byte

MTData2Packet represents an individual packet of an XSens MTData2 message.

func NewMTData2Package added in v0.15.0 

func NewMTData2Package(length uint8, identifier DataIdentifier) MTData2Packet

func (MTData2Packet) Data added in v0.9.0 

func (m MTData2Packet) Data() []byte

Data returns the packet data.

func (MTData2Packet) Identifier added in v0.9.0 

func (m MTData2Packet) Identifier() DataIdentifier

Identifier returns the packet's data identifier.

func (MTData2Packet) SetIdentifier added in v0.15.0 

func (m MTData2Packet) SetIdentifier(id DataIdentifier)

func (MTData2Packet) SetLength added in v0.15.0 

func (m MTData2Packet) SetLength(length uint8)

func (MTData2Packet) String added in v0.9.0 

func (m MTData2Packet) String() string

String returns a string representation of the packet.

type MagneticField added in v0.15.0 

type MagneticField = VectorXYZ

MagneticField contains the magnetic field value in x, y, and z axes in arbitrary units.

Magnetic field is normalized to 1.0 during calibration.

type MeasurementData added in v0.9.0 

type MeasurementData interface {
	UnmarshalMTData2Packet(MTData2Packet) error
	MarshalMTData2Packet(id DataIdentifier) (MTData2Packet, error)
}

MeasurementData is a generic interface for any measurement data produced by an Xsens device.

type Message added in v0.9.0 

type Message []byte

func NewMessage added in v0.9.0 

func NewMessage(mid MessageIdentifier, data []byte) Message

NewMessage creates a new Xsens message with the provided identifier and data.

The provided data can be nil or empty, for messages without any data.

func (Message) BusIdentifier added in v0.9.0 

func (m Message) BusIdentifier() uint8

BusIdentifier of the message.

An MT will only acknowledge a message (reply) if it is addressed with a valid BID. An MT will always acknowledge a message with the same BID that has been used to address it.

Messages generated by the MT itself (i.e. not in acknowledge on a request) will always have a BID of 255 (0xFF). In practice, the only message for which this occurs is the MTData2 messages.

func (Message) Checksum added in v0.9.0 

func (m Message) Checksum() uint8

Checksum of the message.

This field is used for communication error-detection. If all message bytes excluding the preamble are summed and the lower byte value of the result equals zero, the message is valid and it may be processed. The checksum value of the message should be included in the summation.

func (Message) Data added in v0.9.0 

func (m Message) Data() []byte

Data returns the data of the message.

func (Message) ErrorCode added in v0.9.0 

func (m Message) ErrorCode() ErrorCode

ErrorCode returns the message's error code.

The error code is 0 (OK) for non-error messages.

func (Message) Identifier added in v0.9.0 

func (m Message) Identifier() MessageIdentifier

Identifier of the message.

func (Message) IsError added in v0.9.0 

func (m Message) IsError() bool

IsError is true if the message is an error message.

func (Message) IsExtended added in v0.9.0 

func (m Message) IsExtended() bool

IsExtended returns true if the message is extended.

func (Message) Length added in v0.9.0 

func (m Message) Length() uint16

Length of the message.

func (Message) Preamble added in v0.9.0 

func (m Message) Preamble() uint8

Preamble of the message.

Every message starts with the preamble. This field always contains the value 250 (=0xFA).

func (Message) String added in v0.9.0 

func (m Message) String() string

String returns a string representation of the message.

func (Message) Validate added in v0.9.0 

func (m Message) Validate() error

Validate the length and checksum of the message.

type MessageIdentifier added in v0.9.0 

type MessageIdentifier uint8

MessageIdentifier identifies the type of an Xsens message. 

const (
	MessageIdentifierWakeup                        MessageIdentifier = 0x3E
	MessageIdentifierWakeupAck                     MessageIdentifier = 0x3F
	MessageIdentifierReqDID                        MessageIdentifier = 0x00
	MessageIdentifierDeviceID                      MessageIdentifier = 0x01
	MessageIdentifierInitBus                       MessageIdentifier = 0x02
	MessageIdentifierInitBusResults                MessageIdentifier = 0x03
	MessageIdentifierReqPeriod                     MessageIdentifier = 0x04
	MessageIdentifierReqPeriodAck                  MessageIdentifier = 0x05
	MessageIdentifierSetPeriod                     MessageIdentifier = 0x04
	MessageIdentifierSetPeriodAck                  MessageIdentifier = 0x05
	MessageIdentifierSetBid                        MessageIdentifier = 0x06
	MessageIdentifierSetBidAck                     MessageIdentifier = 0x07
	MessageIdentifierAutoStart                     MessageIdentifier = 0x06
	MessageIdentifierAutoStartAck                  MessageIdentifier = 0x07
	MessageIdentifierBusPower                      MessageIdentifier = 0x08
	MessageIdentifierBusPowerAck                   MessageIdentifier = 0x09
	MessageIdentifierReqDataLength                 MessageIdentifier = 0x0A
	MessageIdentifierDataLength                    MessageIdentifier = 0x0B
	MessageIdentifierReqConfiguration              MessageIdentifier = 0x0C
	MessageIdentifierConfiguration                 MessageIdentifier = 0x0D
	MessageIdentifierRestoreFactoryDef             MessageIdentifier = 0x0E
	MessageIdentifierRestoreFactoryDefAck          MessageIdentifier = 0x0F
	MessageIdentifierGotoMeasurement               MessageIdentifier = 0x10
	MessageIdentifierGotoMeasurementAck            MessageIdentifier = 0x11
	MessageIdentifierReqFirmwareRevision           MessageIdentifier = 0x12
	MessageIdentifierFirmwareRevision              MessageIdentifier = 0x13
	MessageIdentifierReqBluetoothDisable           MessageIdentifier = 0x14
	MessageIdentifierReqBluetoothDisableAck        MessageIdentifier = 0x15
	MessageIdentifierDisableBluetooth              MessageIdentifier = 0x14
	MessageIdentifierDisableBluetoothAck           MessageIdentifier = 0x15
	MessageIdentifierReqXmOutputMode               MessageIdentifier = 0x16
	MessageIdentifierReqXmOutputModeAck            MessageIdentifier = 0x17
	MessageIdentifierSetXmOutputMode               MessageIdentifier = 0x16
	MessageIdentifierSetXmOutputModeAck            MessageIdentifier = 0x17
	MessageIdentifierReqBaudrate                   MessageIdentifier = 0x18
	MessageIdentifierReqBaudrateAck                MessageIdentifier = 0x19
	MessageIdentifierSetBaudrate                   MessageIdentifier = 0x18
	MessageIdentifierSetBaudrateAck                MessageIdentifier = 0x19
	MessageIdentifierReqSyncMode                   MessageIdentifier = 0x1A
	MessageIdentifierReqSyncModeAck                MessageIdentifier = 0x1B
	MessageIdentifierSetSyncMode                   MessageIdentifier = 0x1A
	MessageIdentifierSetSyncModeAck                MessageIdentifier = 0x1B
	MessageIdentifierReqProductCode                MessageIdentifier = 0x1C
	MessageIdentifierProductCode                   MessageIdentifier = 0x1D
	MessageIdentifierReqHWVersion                  MessageIdentifier = 0x1E
	MessageIdentifierHWVersion                     MessageIdentifier = 0x1F
	MessageIdentifierReqProcessingFlags            MessageIdentifier = 0x20
	MessageIdentifierReqProcessingFlagsAck         MessageIdentifier = 0x21
	MessageIdentifierSetProcessingFlags            MessageIdentifier = 0x20
	MessageIdentifierSetProcessingFlagsAck         MessageIdentifier = 0x21
	MessageIdentifierReqInputTrigger               MessageIdentifier = 0x26
	MessageIdentifierReqInputTriggerAck            MessageIdentifier = 0x27
	MessageIdentifierSetInputTrigger               MessageIdentifier = 0x26
	MessageIdentifierSetInputTriggerAck            MessageIdentifier = 0x27
	MessageIdentifierReqOutputTrigger              MessageIdentifier = 0x28
	MessageIdentifierReqOutputTriggerAck           MessageIdentifier = 0x29
	MessageIdentifierSetOutputTrigger              MessageIdentifier = 0x28
	MessageIdentifierSetOutputTriggerAck           MessageIdentifier = 0x29
	MessageIdentifierSetSyncBoxMode                MessageIdentifier = 0x2A
	MessageIdentifierSetSyncBoxModeAck             MessageIdentifier = 0x2B
	MessageIdentifierReqSyncBoxMode                MessageIdentifier = 0x2A
	MessageIdentifierReqSyncBoxModeAck             MessageIdentifier = 0x2B
	MessageIdentifierSetSyncConfiguration          MessageIdentifier = 0x2C
	MessageIdentifierSetSyncConfigurationAck       MessageIdentifier = 0x2D
	MessageIdentifierReqSyncConfiguration          MessageIdentifier = 0x2C
	MessageIdentifierSyncConfiguration             MessageIdentifier = 0x2D
	MessageIdentifierDriverDisconnect              MessageIdentifier = 0x2E
	MessageIdentifierDriverDisconnectAck           MessageIdentifier = 0x2F
	MessageIdentifierXmPowerOff                    MessageIdentifier = 0x44
	MessageIdentifierReqOutputConfiguration        MessageIdentifier = 0xC0
	MessageIdentifierReqOutputConfigurationAck     MessageIdentifier = 0xC1
	MessageIdentifierSetOutputConfiguration        MessageIdentifier = 0xC0
	MessageIdentifierSetOutputConfigurationAck     MessageIdentifier = 0xC1
	MessageIdentifierReqOutputMode                 MessageIdentifier = 0xD0
	MessageIdentifierReqOutputModeAck              MessageIdentifier = 0xD1
	MessageIdentifierSetOutputMode                 MessageIdentifier = 0xD0
	MessageIdentifierSetOutputModeAck              MessageIdentifier = 0xD1
	MessageIdentifierReqOutputSettings             MessageIdentifier = 0xD2
	MessageIdentifierReqOutputSettingsAck          MessageIdentifier = 0xD3
	MessageIdentifierSetOutputSettings             MessageIdentifier = 0xD2
	MessageIdentifierSetOutputSettingsAck          MessageIdentifier = 0xD3
	MessageIdentifierReqOutputSkipFactor           MessageIdentifier = 0xD4
	MessageIdentifierReqOutputSkipFactorAck        MessageIdentifier = 0xD5
	MessageIdentifierSetOutputSkipFactor           MessageIdentifier = 0xD4
	MessageIdentifierSetOutputSkipFactorAck        MessageIdentifier = 0xD5
	MessageIdentifierReqSyncInSettings             MessageIdentifier = 0xD6
	MessageIdentifierReqSyncInSettingsAck          MessageIdentifier = 0xD7
	MessageIdentifierSetSyncInSettings             MessageIdentifier = 0xD6
	MessageIdentifierSetSyncInSettingsAck          MessageIdentifier = 0xD7
	MessageIdentifierReqSyncOutSettings            MessageIdentifier = 0xD8
	MessageIdentifierReqSyncOutSettingsAck         MessageIdentifier = 0xD9
	MessageIdentifierSetSyncOutSettings            MessageIdentifier = 0xD8
	MessageIdentifierSetSyncOutSettingsAck         MessageIdentifier = 0xD9
	MessageIdentifierReqErrorMode                  MessageIdentifier = 0xDA
	MessageIdentifierReqErrorModeAck               MessageIdentifier = 0xDB
	MessageIdentifierSetErrorMode                  MessageIdentifier = 0xDA
	MessageIdentifierSetErrorModeAck               MessageIdentifier = 0xDB
	MessageIdentifierReqTransmitDelay              MessageIdentifier = 0xDC
	MessageIdentifierReqTransmitDelayAck           MessageIdentifier = 0xDD
	MessageIdentifierSetTransmitDelay              MessageIdentifier = 0xDC
	MessageIdentifierSetTransmitDelayAck           MessageIdentifier = 0xDD
	MessageIdentifierSetMfmResults                 MessageIdentifier = 0xDE
	MessageIdentifierSetMfmResultsAck              MessageIdentifier = 0xDF
	MessageIdentifierReqObjectAlignment            MessageIdentifier = 0xE0
	MessageIdentifierReqObjectAlignmentAck         MessageIdentifier = 0xE1
	MessageIdentifierSetObjectAlignment            MessageIdentifier = 0xE0
	MessageIdentifierSetObjectAlignmentAck         MessageIdentifier = 0xE1
	MessageIdentifierReqXmErrorMode                MessageIdentifier = 0x82
	MessageIdentifierReqXmErrorModeAck             MessageIdentifier = 0x83
	MessageIdentifierSetXmErrorMode                MessageIdentifier = 0x82
	MessageIdentifierSetXmErrorModeAck             MessageIdentifier = 0x83
	MessageIdentifierReqBufferSize                 MessageIdentifier = 0x84
	MessageIdentifierReqBufferSizeAck              MessageIdentifier = 0x85
	MessageIdentifierSetBufferSize                 MessageIdentifier = 0x84
	MessageIdentifierSetBufferSizeAck              MessageIdentifier = 0x85
	MessageIdentifierReqHeading                    MessageIdentifier = 0x82
	MessageIdentifierReqHeadingAck                 MessageIdentifier = 0x83
	MessageIdentifierSetHeading                    MessageIdentifier = 0x82
	MessageIdentifierSetHeadingAck                 MessageIdentifier = 0x83
	MessageIdentifierReqMagneticField              MessageIdentifier = 0x6A
	MessageIdentifierReqMagneticFieldAck           MessageIdentifier = 0x6B
	MessageIdentifierSetMagneticField              MessageIdentifier = 0x6A
	MessageIdentifierSetMagneticFieldAck           MessageIdentifier = 0x6B
	MessageIdentifierReqLocationID                 MessageIdentifier = 0x84
	MessageIdentifierReqLocationIDAck              MessageIdentifier = 0x85
	MessageIdentifierSetLocationID                 MessageIdentifier = 0x84
	MessageIdentifierSetLocationIDAck              MessageIdentifier = 0x85
	MessageIdentifierReqExtOutputMode              MessageIdentifier = 0x86
	MessageIdentifierReqExtOutputModeAck           MessageIdentifier = 0x87
	MessageIdentifierSetExtOutputMode              MessageIdentifier = 0x86
	MessageIdentifierSetExtOutputModeAck           MessageIdentifier = 0x87
	MessageIdentifierReqBatteryLevel               MessageIdentifier = 0x88
	MessageIdentifierBatterylevel                  MessageIdentifier = 0x89
	MessageIdentifierReqInitTrackMode              MessageIdentifier = 0x88
	MessageIdentifierReqInitTrackModeAck           MessageIdentifier = 0x89
	MessageIdentifierSetInitTrackMode              MessageIdentifier = 0x88
	MessageIdentifierSetInitTrackModeAck           MessageIdentifier = 0x89
	MessageIdentifierReqMasterSettings             MessageIdentifier = 0x8A
	MessageIdentifierMasterSettings                MessageIdentifier = 0x8B
	MessageIdentifierStoreFilterState              MessageIdentifier = 0x8A
	MessageIdentifierStoreFilterStateAck           MessageIdentifier = 0x8B
	MessageIdentifierSetUtcTime                    MessageIdentifier = 0x60
	MessageIdentifierReqUtcTime                    MessageIdentifier = 0x60
	MessageIdentifierSetUtcTimeAck                 MessageIdentifier = 0x61
	MessageIdentifierUtcTime                       MessageIdentifier = 0x61
	MessageIdentifierAdjustUtcTime                 MessageIdentifier = 0xA8
	MessageIdentifierAdjustUtcTimeAck              MessageIdentifier = 0xA9
	MessageIdentifierReqActiveClockCorrection      MessageIdentifier = 0x9C
	MessageIdentifierActiveClockCorrection         MessageIdentifier = 0x9D
	MessageIdentifierStoreActiveClockCorrection    MessageIdentifier = 0x9E
	MessageIdentifierStoreActiveClockCorrectionAck MessageIdentifier = 0x9F
	MessageIdentifierReqAvailableFilterProfiles    MessageIdentifier = 0x62
	MessageIdentifierAvailableFilterProfiles       MessageIdentifier = 0x63
	MessageIdentifierReqFilterProfile              MessageIdentifier = 0x64
	MessageIdentifierReqFilterProfileAck           MessageIdentifier = 0x65
	MessageIdentifierSetFilterProfile              MessageIdentifier = 0x64
	MessageIdentifierSetFilterProfileAck           MessageIdentifier = 0x65
	MessageIdentifierReqGravityMagnitude           MessageIdentifier = 0x66
	MessageIdentifierReqGravityMagnitudeAck        MessageIdentifier = 0x67
	MessageIdentifierSetGravityMagnitude           MessageIdentifier = 0x66
	MessageIdentifierSetGravityMagnitudeAck        MessageIdentifier = 0x67
	MessageIdentifierReqGpsLeverArm                MessageIdentifier = 0x68
	MessageIdentifierReqGpsLeverArmAck             MessageIdentifier = 0x69
	MessageIdentifierSetGpsLeverArm                MessageIdentifier = 0x68
	MessageIdentifierSetGpsLeverArmAck             MessageIdentifier = 0x69
	MessageIdentifierReqLatLonAlt                  MessageIdentifier = 0x6E
	MessageIdentifierReqLatLonAltAck               MessageIdentifier = 0x6F
	MessageIdentifierSetLatLonAlt                  MessageIdentifier = 0x6E
	MessageIdentifierSetLatLonAltAck               MessageIdentifier = 0x6F
	MessageIdentifierGotoConfig                    MessageIdentifier = 0x30
	MessageIdentifierGotoConfigAck                 MessageIdentifier = 0x31
	MessageIdentifierBusData                       MessageIdentifier = 0x32
	MessageIdentifierMtData                        MessageIdentifier = 0x32
	MessageIdentifierSetNoRotation                 MessageIdentifier = 0x22
	MessageIdentifierSetNoRotationAck              MessageIdentifier = 0x23
	MessageIdentifierRunSelfTest                   MessageIdentifier = 0x24
	MessageIdentifierSelfTestResults               MessageIdentifier = 0x25
	MessageIdentifierPrepareData                   MessageIdentifier = 0x32
	MessageIdentifierReqData                       MessageIdentifier = 0x34
	MessageIdentifierReqDataAck                    MessageIdentifier = 0x35
	MessageIdentifierMTData2                       MessageIdentifier = 0x36
	MessageIdentifierReset                         MessageIdentifier = 0x40
	MessageIdentifierResetAck                      MessageIdentifier = 0x41
	MessageIdentifierError                         MessageIdentifier = 0x42
	MessageIdentifierMasterIndication              MessageIdentifier = 0x46
	MessageIdentifierStopRecordingIndication       MessageIdentifier = 0x12
	MessageIdentifierFlushingIndication            MessageIdentifier = 0x13
	MessageIdentifierReqFilterSettings             MessageIdentifier = 0xA0
	MessageIdentifierReqFilterSettingsAck          MessageIdentifier = 0xA1
	MessageIdentifierSetFilterSettings             MessageIdentifier = 0xA0
	MessageIdentifierSetFilterSettingsAck          MessageIdentifier = 0xA1
	MessageIdentifierReqAmd                        MessageIdentifier = 0xA2
	MessageIdentifierReqAmdAck                     MessageIdentifier = 0xA3
	MessageIdentifierSetAmd                        MessageIdentifier = 0xA2
	MessageIdentifierSetAmdAck                     MessageIdentifier = 0xA3
	MessageIdentifierResetOrientation              MessageIdentifier = 0xA4
	MessageIdentifierResetOrientationAck           MessageIdentifier = 0xA5
	MessageIdentifierReqGpsStatus                  MessageIdentifier = 0xA6
	MessageIdentifierGpsStatus                     MessageIdentifier = 0xA7
	MessageIdentifierWriteDeviceID                 MessageIdentifier = 0xB0
	MessageIdentifierWriteDeviceIDAck              MessageIdentifier = 0xB1
	MessageIdentifierWriteSecurityKey              MessageIdentifier = 0xB2
	MessageIdentifierWriteSecurityKeyAck           MessageIdentifier = 0xB3
	MessageIdentifierProtectFlash                  MessageIdentifier = 0xB4
	MessageIdentifierProtectFlashAck               MessageIdentifier = 0xB5
	MessageIdentifierReqSecurityCheck              MessageIdentifier = 0xB6
	MessageIdentifierSecurityCheck                 MessageIdentifier = 0xB7
	MessageIdentifierScanChannels                  MessageIdentifier = 0xB0
	MessageIdentifierScanChannelsAck               MessageIdentifier = 0xB1
	MessageIdentifierEnableMaster                  MessageIdentifier = 0xB2
	MessageIdentifierEnableMasterAck               MessageIdentifier = 0xB3
	MessageIdentifierDisableMaster                 MessageIdentifier = 0xB4
	MessageIdentifierDisableMasterAck              MessageIdentifier = 0xB5
	MessageIdentifierReqRadioChannel               MessageIdentifier = 0xB6
	MessageIdentifierReqRadioChannelAck            MessageIdentifier = 0xB7
	MessageIdentifierSetClientPriority             MessageIdentifier = 0xB8
	MessageIdentifierSetClientPriorityAck          MessageIdentifier = 0xB9
	MessageIdentifierReqClientPriority             MessageIdentifier = 0xB8
	MessageIdentifierReqClientPriorityAck          MessageIdentifier = 0xB9
	MessageIdentifierSetWirelessConfig             MessageIdentifier = 0xBA
	MessageIdentifierSetWirelessConfigAck          MessageIdentifier = 0xBB
	MessageIdentifierReqWirelessConfig             MessageIdentifier = 0xBA
	MessageIdentifierReqWirelessConfigAck          MessageIdentifier = 0xBB
	MessageIdentifierUpdateBias                    MessageIdentifier = 0xBC
	MessageIdentifierUpdateBiasAck                 MessageIdentifier = 0xBD
	MessageIdentifierToggleIoPins                  MessageIdentifier = 0xBE
	MessageIdentifierToggleIoPinsAck               MessageIdentifier = 0xBF
	MessageIdentifierSetTransportMode              MessageIdentifier = 0xC2
	MessageIdentifierSetTransportModeAck           MessageIdentifier = 0xC3
	MessageIdentifierReqTransportMode              MessageIdentifier = 0xC2
	MessageIdentifierReqTransportModeAck           MessageIdentifier = 0xC3
	MessageIdentifierAcceptMtw                     MessageIdentifier = 0xC4
	MessageIdentifierAcceptMtwAck                  MessageIdentifier = 0xC5
	MessageIdentifierRejectMtw                     MessageIdentifier = 0xC6
	MessageIdentifierRejectMtwAck                  MessageIdentifier = 0xC7
	MessageIdentifierInfoRequest                   MessageIdentifier = 0xC8
	MessageIdentifierInfoRequestAck                MessageIdentifier = 0xC9
	MessageIdentifierReqFrameRates                 MessageIdentifier = 0xCA
	MessageIdentifierReqFrameRatesAck              MessageIdentifier = 0xCB
	MessageIdentifierStartRecording                MessageIdentifier = 0xCC
	MessageIdentifierStartRecordingAck             MessageIdentifier = 0xCD
	MessageIdentifierStopRecording                 MessageIdentifier = 0xCE
	MessageIdentifierStopRecordingAck              MessageIdentifier = 0xCF
	MessageIdentifierInfoBatteryLevel              MessageIdentifier = 0x49
	MessageIdentifierInfoTemperature               MessageIdentifier = 0x4A
	MessageIdentifierGotoOperational               MessageIdentifier = 0xC0
	MessageIdentifierGotoOperationalAck            MessageIdentifier = 0xC1
	MessageIdentifierReqEmts                       MessageIdentifier = 0x90
	MessageIdentifierEmtsData                      MessageIdentifier = 0x91
	MessageIdentifierRestoreEmts                   MessageIdentifier = 0x94
	MessageIdentifierRestoreEmtsAck                MessageIdentifier = 0x95
	MessageIdentifierStoreEmts                     MessageIdentifier = 0x96
	MessageIdentifierStoreEmtsAck                  MessageIdentifier = 0x97
	MessageIdentifierGotoTransparentMode           MessageIdentifier = 0x50
	MessageIdentifierGotoTransparentModeAck        MessageIdentifier = 0x51

	MessageIdentifierSetCANConfig          MessageIdentifier = 0xE6
	MessageIdentifierSetCANConfigAck       MessageIdentifier = 0xE7
	MessageIdentifierReqCANConfig          MessageIdentifier = 0xE6
	MessageIdentifierReqCANConfigAck       MessageIdentifier = 0xE7
	MessageIdentifierSetCANOutputConfig    MessageIdentifier = 0xE8
	MessageIdentifierSetCANOutputConfigAck MessageIdentifier = 0xE9
	MessageIdentifierReqCANOutputConfig    MessageIdentifier = 0xE8
	MessageIdentifierReqCANOutputConfigAck MessageIdentifier = 0xE9
)

func (MessageIdentifier) Ack added in v0.9.0 

func (mid MessageIdentifier) Ack() MessageIdentifier

Ack returns the message identifier's corresponding ack.

func (MessageIdentifier) IsAck added in v0.9.0 

func (mid MessageIdentifier) IsAck() bool

IsAck returns true if the message identifier is an ack.

func (MessageIdentifier) String added in v0.9.0 

func (i MessageIdentifier) String() string

type OutputConfiguration added in v0.9.0 

type OutputConfiguration []OutputConfigurationSetting

OutputConfiguration is measurement data output configuration.

The data is a list of maximum 32 data identifiers combined with a desired output frequency.

For data that is sent with every MTData2 message (Timestamp, Status), the Output OutputFrequency will be ignored and will be set to 0xFFFF.

func (*OutputConfiguration) Marshal added in v0.9.0 

func (o *OutputConfiguration) Marshal() ([]byte, error)

Marshal returns the wire representation of the output configuration.

func (*OutputConfiguration) MarshalText added in v0.9.0 

func (o *OutputConfiguration) MarshalText() (string, error)

MarshalText returns a text representation of the output configuration.

func (*OutputConfiguration) Unmarshal added in v0.9.0 

func (o *OutputConfiguration) Unmarshal(data []byte) error

Unmarshal sets *o from a wire representation of the output configuration.

type OutputConfigurationSetting added in v0.9.0 

type OutputConfigurationSetting struct {
	// DataIdentifier is the data identifier of the data.
	DataIdentifier

	// OutputFrequency is the output frequency of the data.
	//
	// Selecting an Output OutputFrequency of either 0x0000 or 0xFFFF, makes the device select the
	// maximum frequency for the given data identifier. The device reports the resulting effective
	// frequencies in its response message.
	OutputFrequency
}

OutputConfigurationSetting is the output configuration for a single measurement data type.

type OutputFrequency added in v0.9.0 

type OutputFrequency uint16

OutputFrequency represents the output frequency of a specific Xsens measurement data type. 

const MaxOutputFrequency OutputFrequency = 0xffff

MaxOutputFrequency is the sentinel value used for data types that should be included in every message, if possible.

func (OutputFrequency) String added in v0.9.0 

func (f OutputFrequency) String() string

String returns a string representation of the output frequency.

type PacketCounter added in v0.9.0 

type PacketCounter uint16

PacketCounter contains the packet counter.

This counter is incremented with every generated MTData2 message.

func (*PacketCounter) MarshalMTData2Packet added in v0.15.0 

func (p *PacketCounter) MarshalMTData2Packet(id DataIdentifier) (MTData2Packet, error)

func (*PacketCounter) String added in v0.9.0 

func (p *PacketCounter) String() string

String returns a string representation of the packet counter.

func (*PacketCounter) UnmarshalMTData2Packet added in v0.15.0 

func (p *PacketCounter) UnmarshalMTData2Packet(packet MTData2Packet) error

type PositionECEF added in v0.15.0 

type PositionECEF = VectorXYZ

PositionECEF contains the position of the MTi-G in the Earth-Centered, Earth-Fixed (ECEF) coordinate system in meters.

Note that position in ECEF cannot be represented in Fixed Point values because of the limited range of fixed point representations. Use double or float representation instead.

type Precision added in v0.9.0 

type Precision uint8

Precision is an Xsens data output precision. 

const (
	// PrecisionFloat32 uses single-precision IEEE 32-bit floating point numbers.
	PrecisionFloat32 Precision = 0x0

	// PrecisionFP1220 uses fixed point 12.20 32-bit numbers.
	PrecisionFP1220 Precision = 0x1

	// PrecisionFP1632 uses fixed point 16.32 48-bit numbers.
	PrecisionFP1632 Precision = 0x2

	// PrecisionFloat64 uses double-precision IEEE 64-bit floating point numbers.
	PrecisionFloat64 Precision = 0x3
)

func (Precision) Size added in v0.15.0 

func (p Precision) Size() uint8

Size returns the size (in bytes) of a value with the current precision.

Returns 0 for unsupported precisions.

func (Precision) String added in v0.9.0 

func (i Precision) String() string

type ProductCode added in v0.20.0 

type ProductCode string

func (*ProductCode) UnmarshalBinary added in v0.20.0 

func (d *ProductCode) UnmarshalBinary(data []byte) error

type Quaternion added in v0.9.0 

type Quaternion struct {
	Q0, Q1, Q2, Q3 float64
}

Quaternion contains a quaternion with q0, q1, q2 and q3-components.

func (*Quaternion) MarshalMTData2Packet added in v0.15.0 

func (t *Quaternion) MarshalMTData2Packet(id DataIdentifier) (MTData2Packet, error)

func (*Quaternion) UnmarshalMTData2Packet added in v0.15.0 

func (t *Quaternion) UnmarshalMTData2Packet(packet MTData2Packet) error

type RateOfTurn added in v0.15.0 

type RateOfTurn = VectorXYZ

RateOfTurn contains the calibrated rate of turn vector in x, y, and z axes in rad/s.

type RateOfTurnHR added in v0.15.0 

type RateOfTurnHR = VectorXYZ

RateOfTurnHR contains the high-resolution calibrated rate of turn vector in x, y, and z axes in rad/s.

For the MTi 1-series, with the exception of the MTi-7, the output data rate is 1000 Hz based on the internal clock of the IMU which is not aligned with other data; data has not been processed in the SDI algorithm. It has been calibrated with the Xsens calibration parameters (except for g-sensitivity).

For the MTi-7, the output data is 800 Hz based on the internal clock of the IMUs which are not aligned with other data; data has not been processed in the SDI algorithm. It has been calibrated with the Xsens calibration parameters (except for g- sensitivity).

For the MTi 100-series and MTi-G-710, the output data is 1000 Hz, synchronized with the internal clock of the MTi 100-series (10 ppm; 1 ppm with GNSS ClockSync). The data has been processed in the SDI algorithm. Note that RateOfTurnHR is not grouped with messages coming out at the same time.

type RotationMatrix added in v0.9.0 

type RotationMatrix struct {
	A, B, C, D, E, F, G, H, I float64
}

RotationMatrix contains the rotation matrix (DCM) that represents the orientation of the MT.

func (*RotationMatrix) MarshalMTData2Packet added in v0.15.0 

func (t *RotationMatrix) MarshalMTData2Packet(id DataIdentifier) (MTData2Packet, error)

func (*RotationMatrix) UnmarshalMTData2Packet added in v0.15.0 

func (t *RotationMatrix) UnmarshalMTData2Packet(packet MTData2Packet) error

type SampleTimeCoarse added in v0.9.0 

type SampleTimeCoarse uint32

SampleTimeCoarse contains the sample time of an output expressed in seconds.

When there is no GNSS-fix in the MTi-G-710, this value is arbitrary for GNSS messages.

func (*SampleTimeCoarse) MarshalMTData2Packet added in v0.15.0 

func (s *SampleTimeCoarse) MarshalMTData2Packet(id DataIdentifier) (MTData2Packet, error)

func (*SampleTimeCoarse) String added in v0.9.0 

func (s *SampleTimeCoarse) String() string

String returns a string representation of the sample time.

func (*SampleTimeCoarse) UnmarshalMTData2Packet added in v0.15.0 

func (s *SampleTimeCoarse) UnmarshalMTData2Packet(packet MTData2Packet) error

type SampleTimeFine added in v0.9.0 

type SampleTimeFine uint32

SampleTimeFine contains the sample time of an output expressed in 10kHz ticks.

When there is no GNSS-fix in the MTi-G-710, this value is arbitrary for GNSS messages.

func (*SampleTimeFine) MarshalMTData2Packet added in v0.15.0 

func (s *SampleTimeFine) MarshalMTData2Packet(id DataIdentifier) (MTData2Packet, error)

func (*SampleTimeFine) String added in v0.9.0 

func (s *SampleTimeFine) String() string

String returns a string representation of the sample time.

func (*SampleTimeFine) UnmarshalMTData2Packet added in v0.15.0 

func (s *SampleTimeFine) UnmarshalMTData2Packet(packet MTData2Packet) error

type Scalar added in v0.9.0 

type Scalar float64

Scalar contains a single scalar value.

func (*Scalar) MarshalMTData2Packet added in v0.15.0 

func (s *Scalar) MarshalMTData2Packet(id DataIdentifier) (MTData2Packet, error)

func (*Scalar) String added in v0.9.0 

func (s *Scalar) String() string

String returns a string representation of the scalar.

func (*Scalar) UnmarshalMTData2Packet added in v0.15.0 

func (s *Scalar) UnmarshalMTData2Packet(packet MTData2Packet) error

type StatusByte added in v0.9.0 

type StatusByte uint8

StatusByte contains the 8bit status byte which is equal to bits 0-7 of an MTData2 StatusWord packet.

func (*StatusByte) MarshalMTData2Packet added in v0.15.0 

func (t *StatusByte) MarshalMTData2Packet(id DataIdentifier) (MTData2Packet, error)

func (*StatusByte) String added in v0.9.0 

func (t *StatusByte) String() string

func (*StatusByte) UnmarshalMTData2Packet added in v0.15.0 

func (t *StatusByte) UnmarshalMTData2Packet(packet MTData2Packet) error

type StatusWord added in v0.9.0 

type StatusWord uint32

StatusWord contains the 32bit status word.

0: Selftest

This flag indicates if the MT passed theself-test according to eMTS. For an up-to-date result of the self-test, use the command RunSelftest.

1: Filter Valid

This flag indicates if input into the orientation filter is reliable and / or complete. If for example the measurement range of internal sensors is exceeded, orientation output cannot be reliably estimated and the filter flag will drop to 0.

For the MTi-G, the filter flag will also become invalid if the GPS status remains invalid for an extended period.

2: GNSS fix

This flag indicates if the GNSS unit has a proper fix. The flag is only available in MTi-G units.

3-4: NoRotationUpdate Status

This flag indicates the status of the no rotation update procedure in the filter after the SetNoRotation message has been sent.

11: Running with no rotation assumption 10: Rotation detected, no gyro bias estimation (sticky) 00: Estimation complete, no errors

5 Representative Motion

(RepMo) Indicates if the MTi is in In-run Compass Calibration Representative Mode

6-7: Reserved Reserved for future use

8-19: Clip flags

Indicates out of range values on sensors.

8: Clipflag Acc X 9: Clipflag Acc Y 10: Clipflag Acc Z 11: Clipflag Gyr X 12: Clipflag Gyr Y 13: Clipflag Gyr Z 14: Clipflag Mag X 15: Clipflag Mag Y 16: Clipflag Mag Z 17-18: Reserved Reserved for future use 19: Clipping Indication (indicates that one or more sensors are out of range)

20: Reserved Reserved for future use

21: SyncIn Marker

When a SyncIn is detected, this bit will rise to 1.

22: SyncOut Marker

When SyncOut is active this bit will rise to 1.

23-25: Filter Mode

Indicates Filter Mode, currently only available for the MTi-G-710 and MTi-7:

000: Without GNSS (filter profile is in VRU mode) 001: Coasting mode (GNSS has been lost <60 sec ago) 011: With GNSS (default mode of MTi-G-710)

26-31: Reserved

Reserved for future use.

func (*StatusWord) MarshalMTData2Packet added in v0.15.0 

func (t *StatusWord) MarshalMTData2Packet(id DataIdentifier) (MTData2Packet, error)

func (*StatusWord) String added in v0.9.0 

func (t *StatusWord) String() string

String returns a string representation of the status word.

func (*StatusWord) UnmarshalMTData2Packet added in v0.15.0 

func (t *StatusWord) UnmarshalMTData2Packet(packet MTData2Packet) error

type Temperature added in v0.15.0 

type Temperature = Scalar

Temperature contains the internal temperature of the sensor in degrees Celsius.

type UTCTime added in v0.9.0 

type UTCTime struct {
	Ns                               uint32
	Year                             uint16
	Month, Day, Hour, Minute, Second uint8
	Valid                            UTCValidity
}

UTCTime contains the timestamp expressed as the UTC time.

func (*UTCTime) MarshalMTData2Packet added in v0.15.0 

func (u *UTCTime) MarshalMTData2Packet(id DataIdentifier) (MTData2Packet, error)

func (*UTCTime) String added in v0.9.0 

func (u *UTCTime) String() string

String returns the UTC time on RFC3339 (including nanoseconds) format.

func (*UTCTime) Time added in v0.9.0 

func (u *UTCTime) Time() time.Time

Time returns the native Go representation of the UTC time.

func (*UTCTime) UnmarshalMTData2Packet added in v0.15.0 

func (u *UTCTime) UnmarshalMTData2Packet(packet MTData2Packet) error

func (*UTCTime) UnmarshalTime added in v0.15.0 

func (u *UTCTime) UnmarshalTime(ts time.Time)

type UTCValidity added in v0.15.0 

type UTCValidity uint8

UTCValidity represents the validity of an Xsens UTC timestamp.

func (UTCValidity) IsDateValid added in v0.15.0 

func (u UTCValidity) IsDateValid() bool

func (UTCValidity) IsTimeOfDayFullyResolved added in v0.15.0 

func (u UTCValidity) IsTimeOfDayFullyResolved() bool

func (UTCValidity) IsTimeOfDayValid added in v0.15.0 

func (u UTCValidity) IsTimeOfDayValid() bool

type VectorXYZ added in v0.9.0 

type VectorXYZ struct {
	X, Y, Z float64
}

VectorXYZ contains a vector with x, y and z-components.

func (*VectorXYZ) MarshalMTData2Packet added in v0.15.0 

func (t *VectorXYZ) MarshalMTData2Packet(id DataIdentifier) (MTData2Packet, error)

func (*VectorXYZ) UnmarshalMTData2Packet added in v0.15.0 

func (t *VectorXYZ) UnmarshalMTData2Packet(packet MTData2Packet) error

type VelocityXYZ added in v0.15.0 

type VelocityXYZ = VectorXYZ

VelocityXYZ contains the X, Y and Z components of the MTi-G velocity in m/s.

Source Files

View all Source files

Directories

Path Synopsis
cmd
xsens command
examples
read command
mockserial
Package mockserial is a generated GoMock package.
 Package mockserial is a generated GoMock package.
Package xsensemulator provides primitives for emulating Xsens devices.
 Package xsensemulator provides primitives for emulating Xsens devices.

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