Imu.py File Reference

Laelaps Ineria Measurement Unit module. More...

Go to the source code of this file.

Classes
class	Laelaps.Imu.ImuException
	international system of units (m, s, radians, m/s, m/s^2, radians/s) More...
class	Laelaps.Imu.Imu
	IMU class. More...

Variables
string	Laelaps.Imu.MSP_PREAMBLE = '$M'
string	Laelaps.Imu.MSP_DIR_TO = '<'
string	Laelaps.Imu.MSP_DIR_FROM = '>'
	Laelaps.Imu.MSP_CMD_PREAMBLE = MSP_PREAMBLE+MSP_DIR_TO
	Laelaps.Imu.MSP_RSP_PREAMBLE = MSP_PREAMBLE+MSP_DIR_FROM
int	Laelaps.Imu.MSP_POS_SIZE = 3
int	Laelaps.Imu.MSP_POS_CMD_ID = 4
	data size position in message
int	Laelaps.Imu.MSP_POS_DATA = 5
	command id position in message
int	Laelaps.Imu.MSP_CMD_HDR_LEN = len(MSP_CMD_PREAMBLE)+2
	start of data position in message More...
int	Laelaps.Imu.MSP_CMD_MIN_LEN = MSP_CMD_HDR_LEN+1
	command minimum length (no data)
int	Laelaps.Imu.MSP_RSP_HDR_LEN = len(MSP_RSP_PREAMBLE)+2
	response header length (preamble + size + cmdid)
int	Laelaps.Imu.MSP_RSP_MIN_LEN = MSP_RSP_HDR_LEN+1
	response minimum length (no data)
int	Laelaps.Imu.MSP_IDENT = 100
int	Laelaps.Imu.MSP_RAW_IMU = 102
int	Laelaps.Imu.MSP_ATTITUDE = 108
int	Laelaps.Imu.X = 0
int	Laelaps.Imu.Y = 1
	x axis index
int	Laelaps.Imu.Z = 2
	y axis index
int	Laelaps.Imu.ROLL = 0
	z axis index
int	Laelaps.Imu.PITCH = 1
	roll index
int	Laelaps.Imu.YAW = 2
	pitch index
int	Laelaps.Imu.NUM_AXES = 3
	yaw index
float	Laelaps.Imu.G = 9.80665
	number of axes
float	Laelaps.Imu.DEG_TO_RAD = math.pi/180.0
	standard gravity in m/s^2
float	Laelaps.Imu.MSP_ACCEL_RAW_TO_G = 1.0
	math can save your life
float	Laelaps.Imu.MSP_GYRO_RAW_TO_DEG_PER_S = 1.0
	raw IMU acceleration conversion
float	Laelaps.Imu.MSP_ATTITUDE_RAW_TO_DEG = 0.1
	raw IMU rotation conversion
string	Laelaps.Imu.UNITS_RAW = 'raw'
	attitude conversion
string	Laelaps.Imu.UNITS_G = 'g'
	raw sensor values
string	Laelaps.Imu.UNITS_M_PER_S2 = 'm/s^2'
	acceleration in standard g's
string	Laelaps.Imu.UNITS_DEG_PER_S = 'deg/s'
	acceleration in meters/second^2
string	Laelaps.Imu.UNITS_RAD_PER_S = 'rad/s'
	degrees/second
string	Laelaps.Imu.UNITS_DEG = 'degrees'
	radians/second
string	Laelaps.Imu.UNITS_RAD = 'radians'
	degrees
string	Laelaps.Imu.UNITS_SI = 'si'
	radians
string	Laelaps.Imu.device = "/dev/ttyUSB0"
int	Laelaps.Imu.baud = 115200
	Laelaps.Imu.imu = Imu()
	Laelaps.Imu.baudrate
	Laelaps.Imu.ident = imu.readIdent()
	Laelaps.Imu.meas = imu.readRawImu()
	Laelaps.Imu.rpy = imu.readAttitude('degrees')

Detailed Description

Laelaps Ineria Measurement Unit module.

LastChangedDate

2016-02-02 13:47:13 -0700 (Tue, 02 Feb 2016)

Rev

4293

Author

: Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2015-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

EULA@

Permission is hereby granted, without written agreement and without license or royalty fees, to use, copy, modify, and distribute this software and its documentation for any purpose, provided that (1) The above copyright notice and the following two paragraphs appear in all copies of the source code and (2) redistributions including binaries reproduces these notices in the supporting documentation. Substantial modifications to this software may be copyrighted by their authors and need not follow the licensing terms described here, provided that the new terms are clearly indicated in all files where they apply.

IN NO EVENT SHALL THE AUTHOR, ROADNARROWS LLC, OR ANY MEMBERS/EMPLOYEES OF ROADNARROW LLC OR DISTRIBUTORS OF THIS SOFTWARE BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE AUTHORS OR ANY OF THE ABOVE PARTIES HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

THE AUTHOR AND ROADNARROWS LLC SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND THE AUTHORS AND DISTRIBUTORS HAVE NO OBLIGATION TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.

—@

Definition in file Imu.py.

Variable Documentation

int Laelaps.Imu.MSP_CMD_HDR_LEN = len(MSP_CMD_PREAMBLE)+2

start of data position in message

command header length (preamble + size + cmdid)

Definition at line 78 of file Imu.py.