SelfCalibrationIMUDiagnostics.h File Reference

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Data Structures
struct	dwSelfCalibrationImuDiagnostics
	self-calibration imu diagnostic data More...
struct	dwSelfCalibrationImuInputMonitorDiagnostics
	self-calibration IMU diagnostic data for input monitoring: More...
struct	dwSelfCalibrationImuOutputMonitorDiagnostics
	self-calibration IMU diagnostic data for output monitoring: More...
struct	dwSelfCalibrationImuParameterEstimatorDiagnostics
	IMU estimator parameters for an individual signal. More...

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Data Structure Documentation

dwSelfCalibrationImuDiagnostics

struct dwSelfCalibrationImuDiagnostics

Data Fields
dwVector3f	correctionsPosition	corrections sensor XYZ [meters]
dwVector3f	correctionsRPY	corrections sensor RPY [deg]
uint64_t	cycleCount	calibration cycle index
dwSelfCalibrationImuParameterEstimatorDiagnostics	forwardAzimuthDiagnostics	forward azimuth estimation diagnostics
dwSelfCalibrationImuParameterEstimatorDiagnostics	forwardInclinationDiagnostics	forward inclination estimation diagnostics
dwSelfCalibrationImuInputMonitorDiagnostics	inputs	input monitor diagnostics
dwVector3f	nominalPositionM	nominal sensor XYZ [meters]
dwVector3f	nominalRPYDeg	nominal sensor RPY [deg]
dwSelfCalibrationImuOutputMonitorDiagnostics	outputs	output monitor diagnostics
char8_t	sensorName[DW_MAX_RIG_SENSOR_NAME_SIZE]	sensor name
dwTime_t	sensorTimestamp	sensor pose timestamp (should match exactly to the calibrationSensorToRig timestamp)
dwCalibrationSignalStateArray	signalStates	supported calibration signal states
dwSelfCalibrationImuParameterEstimatorDiagnostics	upAzimuthDiagnostics	up azimuth estimation diagnostics
dwSelfCalibrationImuParameterEstimatorDiagnostics	upInclinationDiagnostics	up inclination estimation diagnostics

dwSelfCalibrationImuInputMonitorDiagnostics

struct dwSelfCalibrationImuInputMonitorDiagnostics

Data Fields
uint32_t	debouncedImuRangeAndRateErrors	number of reported SEH-errors due to imu frame signal failures
uint32_t	debouncedImuSignalIntegrityErrors	number of reported SEH-errors due to imu frame signal integrity failures
uint32_t	debouncedVehicleIOSpeedRangeAndRateErrors	number of reported SEH-errors due to vehicleIO speed range and rate monitor failures
uint32_t	debouncedVehicleIOSpeedSignalIntegrityErrors	number of reported SEH-errors due to vehicleIO speed signal integrity failures
uint32_t	imuRangeAndRateErrors	number of errors in the imu frame range and rate monitor
uint32_t	imuSignalIntegrityErrors	number of errors in the imu signal integrity monitor
uint32_t	vehicleIOSpeedRangeAndRateErrors	number of errors in the vehicleIO speed range and rate monitor
uint32_t	vehicleIOSpeedSignalIntegrityErrors	number of errors in the imu signal integrity monitor

dwSelfCalibrationImuOutputMonitorDiagnostics

struct dwSelfCalibrationImuOutputMonitorDiagnostics

Data Fields
uint32_t	routineFailureErrors	number of routine failure monitor errors
uint32_t	routineNotAcceptedErrors	number of routine not-accepted (inprep mode) monitor errors
uint32_t	routineTimeoutErrors	number of routine timeout monitor errors
uint32_t	sensorDeadjustedErrors	number of the routine deadjusted monitor errors
uint64_t	totalRoutineErrors	number of reported SEH-errors due to calibration failures (timeout, deadjusted or algorithmic failures)

dwSelfCalibrationImuParameterEstimatorDiagnostics

struct dwSelfCalibrationImuParameterEstimatorDiagnostics

Data Fields
float32_t	longHistMaxVotes	maximal number of votes in a single bin of a long-term histogram, zero if this parameter is not applicable
uint32_t	longHistNumberOfOutliers	number of outliers for a long-term histogram, zero if this parameter is not applicable
float32_t	longHistTotalNumVotes	total number of votes in all bins of a long-term histogram, zero if this parameter is not applicable