public static void getCurrentConfig(mscl.InertialNode node)
{
//many other settings are available than shown below
//reference the documentation for the full list of commands
//if the node supports AHRS/IMU
if (node.features().supportsCategory(mscl.MipTypes.DataClass.CLASS_AHRS_IMU))
{
//get a list of the AHRS/IMU channels currently active on the Node
mscl.MipChannels ahrsImuActiveChs = node.getActiveChannelFields(mscl.MipTypes.DataClass.CLASS_AHRS_IMU);
Console.WriteLine("AHRS/IMU Channels");
Console.WriteLine("-----------------");
foreach (mscl.MipChannel ch in ahrsImuActiveChs)
{
Console.WriteLine("Channel Field: " + ch.channelField().ToString("X"));
Console.WriteLine("Sample Rate: " + ch.sampleRate().prettyStr());
}
}
//if the node supports Estimation Filter
if (node.features().supportsCategory(mscl.MipTypes.DataClass.CLASS_ESTFILTER))
{
//get a list of the Estimation Filter channels currently active on the Node
mscl.MipChannels estFilterActiveChs = node.getActiveChannelFields(mscl.MipTypes.DataClass.CLASS_ESTFILTER);
Console.WriteLine();
Console.WriteLine("Estimation Filter Channels");
Console.WriteLine("--------------------------");
foreach (mscl.MipChannel ch in estFilterActiveChs)
{
Console.WriteLine("Channel Field: " + ch.channelField().ToString("X"));
Console.WriteLine("Sample Rate: " + ch.sampleRate().prettyStr());
}
}
//if the node supports GNSS
if (node.features().supportsCategory(mscl.MipTypes.DataClass.CLASS_GNSS))
{
//get a list of the GNSS channels currently active on the Node
mscl.MipChannels gnssActiveChs = node.getActiveChannelFields(mscl.MipTypes.DataClass.CLASS_GNSS);
Console.WriteLine();
Console.WriteLine("GNSS Channels");
Console.WriteLine("--------------------------");
foreach (mscl.MipChannel ch in gnssActiveChs)
{
Console.WriteLine("Channel Field: " + ch.channelField().ToString("X"));
Console.WriteLine("Sample Rate: " + ch.sampleRate().prettyStr());
}
}
Console.WriteLine("Altitude Aiding enabled?: " + node.getAltitudeAid().ToString());
mscl.PositionOffset offset = node.getAntennaOffset();
Console.WriteLine("Antenna Offset: x=" + offset.x().ToString() + " y=" + offset.y().ToString() + " z=" + offset.z().ToString());
Console.WriteLine("Pitch/Roll Aiding enabled?: " + node.getPitchRollAid().ToString());
}
public static void setCurrentConfig(mscl.InertialNode node)
{
//many other settings are available than shown below
//reference the documentation for the full list of commands
//if the node supports AHRS/IMU
if (node.features().supportsCategory(mscl.MipTypes.DataClass.CLASS_AHRS_IMU))
{
mscl.MipChannels ahrsImuChs = new mscl.MipChannels();
ahrsImuChs.Add(new mscl.MipChannel(mscl.MipTypes.ChannelField.CH_FIELD_SENSOR_SCALED_ACCEL_VEC, mscl.SampleRate.Hertz(500)));
ahrsImuChs.Add(new mscl.MipChannel(mscl.MipTypes.ChannelField.CH_FIELD_SENSOR_SCALED_GYRO_VEC, mscl.SampleRate.Hertz(100)));
//apply to the node
node.setActiveChannelFields(mscl.MipTypes.DataClass.CLASS_AHRS_IMU, ahrsImuChs);
}
//if the node supports Estimation Filter
if (node.features().supportsCategory(mscl.MipTypes.DataClass.CLASS_ESTFILTER))
{
mscl.MipChannels estFilterChs = new mscl.MipChannels();
estFilterChs.Add(new mscl.MipChannel(mscl.MipTypes.ChannelField.CH_FIELD_ESTFILTER_ESTIMATED_GYRO_BIAS, mscl.SampleRate.Hertz(100)));
//apply to the node
node.setActiveChannelFields(mscl.MipTypes.DataClass.CLASS_ESTFILTER, estFilterChs);
}
//if the node supports GNSS
if (node.features().supportsCategory(mscl.MipTypes.DataClass.CLASS_GNSS))
{
mscl.MipChannels gnssChs = new mscl.MipChannels();
gnssChs.Add(new mscl.MipChannel(mscl.MipTypes.ChannelField.CH_FIELD_GNSS_LLH_POSITION, mscl.SampleRate.Hertz(1)));
//apply to the node
node.setActiveChannelFields(mscl.MipTypes.DataClass.CLASS_GNSS, gnssChs);
}
node.setPitchRollAid(true);
node.setAltitudeAid(false);
mscl.PositionOffset offset = new mscl.PositionOffset(0.0f, 0.0f, 0.0f);
node.setAntennaOffset(offset);
}
