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setNoRotation on low level communication

In xda_c_cpp I found the setNoRotation() function to estimate the Gyro bias, unfortunately I have to use the low level communication (src_cpp) for our ARM system, but I did not find a function name as setNoRotation. So how can I estimate the Gyro bias (setNoRotation) on low level communication (in using src_cpp) ?

Li Jinke Completed
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Hi Li,

You have to send a setNoRotation message yourself according to the format specified in the low level communication documentation:

https://xsens.com/download/usermanual/ISM/MT_LowLevelCommunicationProtocol_Documentation.pdf

As an example, for the setNoRotation, you can extend the DeviceClass interface of the src_cpp example like this:

bool DeviceClass::setNoRotation(uint16_t duration)
{
XsMessage snd(XMID_SetNoRotation, sizeof(uint16_t));
XsMessage rcv;
snd.setDataShort(duration);
writeMessage(snd);
if (!waitForMessage(XMID_SetNoRotationAck, rcv))
return false;

return true;
}

 

Please note that you have to send the setNoRotation message in measurement mode to operate correctly.

Best regards,

Tjerk

 

Tjerk Hofmeijer 0 votes

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