VectorNav

Driver for VectorNav Inertial Measurement Unit (IMU) and Inertial Navigation System (INS) sensors. This library is compatible with Arduino and with CMake build systems.

Description

VectorNav produces a line of high accuracy IMU and INS sensors. The MEMS sensors in these units are temperature calibrated and an integrated microcontroller provides real-time Extended Kalman Filtering (EKF). The VN-100 is an IMU and Attitude and Heading Reference System (AHRS) providing IMU data and an estimate of the vehicle's attitude and heading. The VN-200 and VN-300 include an integrated GNSS receiver, providing GNSS data and extending the sensor to an Inertial Navigation System (INS), providing high rate estimates of the vehicle's velocity and position in addition to attitude. VN-200 and VN-300 attitude accuracy is higher than the VN-100, especially in flight dynamics and manuevers, such as prolonged turns. The VN-300 utilizes two GNSS receivers to enhance heading accuracy at low speeds. This library communicates with the VN-100, VN-200, and VN-300 sensors using SPI communication.

Installation

Arduino

Simply clone or download and extract the zipped library into your Arduino/libraries folder. The library is added as:

#include "vector_nav.h"

An example is located in examples/arduino/spi_example/spi_example.ino. This library is tested with Teensy 3.x, 4.x, and LC devices and is expected to work with other Arduino devices. Note that this library won't work with Arduino Uno and possibly other AVR processors, since Arduino Uno treats a double as 4 bytes and we really are expecting an 8 byte double to handle latitude and longitude data. If you have a recommended fix, please email me or issue a pull request.

CMake

CMake is used to build this library, which is exported as a library target called vector_nav. The header is added as:

#include "vector_nav.h"

The library can be also be compiled stand-alone using the CMake idiom of creating a build directory and then, from within that directory issuing:

cmake .. -DMCU=MK66FX1M0
make

This will build the library and an example executables called spi_example. The example executable source files are located at examples/cmake/spi_example.cc. Notice that the cmake command includes a define specifying the microcontroller the code is being compiled for. This is required to correctly configure the code, CPU frequency, and compile/linker options. The available MCUs are:

MK20DX128
MK20DX256
MK64FX512
MK66FX1M0
MKL26Z64
IMXRT1062_T40
IMXRT1062_T41
IMXRT1062_MMOD

These are known to work with the same packages used in Teensy products. Also switching packages is known to work well, as long as it's only a package change.

The spi_example target creates an executable for communicating with the sensor using SPI communication. This target also has a _hex for creating the hex file and an _upload for using the Teensy CLI Uploader to flash the Teensy. Instructions for setting up your build environment can be found in our build-tools repo.

Namespace

This library is within the namespace bfs.

Registers

registers.h defines all of the VectorNav configuration and data registers. Each register is defined as a struct, whose name matches the register name within the VectorNav User Manuals. The structs define the register ID, the register size, whether it is read only, and the register payload. The payload contains the register fields that are written to or read from.

The concept is the VectorNav class initializes communication with the sensor and provides methods for writing and reading these register structs to/from the sensor. The VectorNav class, including structs defined in registers.h, enables using any of the sensor's available functionality. The Vn100, Vn200, and Vn300 classes wrap around the VectorNav class to provide convenience methods for the most common configuration and data collection functions. Whereas these classes provide limited functionality, they provide a more intuitive interface for the majority of use cases.

Classes

VectorNav: enables initializing communication and writing / reading register structs.
Vn100: provides convenience methods for the VN-100 IMU / AHRS.
Vn200: provides convenience methods for the VN-200 GNSS-aided INS.
Vn300: provides convenience methods for the VN-300 GNSS-aided INS.

VectorNav

This class enables initializing communication with the VectorNav and writing and reading register structs, defined in registers.h, to the device.

Methods

VectorNav() Default constructor, requires calling Config method to setup the SPI bus and chip select pin.

VectorNav(SPIClass *bus, const uint8_t cs) Constructs a VectorNav object given a pointer to the SPI bus object that it is communicating over and the chip select pin number.

bfs::VectorNav vn(&SPI, 2);

ErrorCode Most VectorNav methods return an error code indicating success or failure of the operation. Below is a table of the error code values:

ENUM	Value
ERROR_SUCCESS	0
ERROR_HARD_FAULT	1
ERROR_SERIAL_BUFFER_OVERFLOW	2
ERROR_INVALID_CHECKSUM	3
ERROR_INVALID_COMMAND	4
ERROR_NOT_ENOUGH_PARAMETERS	5
ERROR_TOO_MANY_PARAMETERS	6
ERROR_INVALID_PARAMETER	7
ERROR_INVALID_REGISTER	8
ERROR_UNAUTHORIZED_ACCESS	9
ERROR_WATCHDOG_RESET	10
ERROR_OUTPUT_BUFFER_OVERFLOW	11
ERROR_INSUFFICIENT_BAUD_RATE	12
ERROR_NULL_PTR	13
ERROR_NO_COMM	14
ERROR_WRONG_MODEL	15
ERROR_ERROR_BUFFER_OVERFLOW	255

void Config(SPIClass *bus, const uint8_t cs) Sets up the SPI bus and chip select pin. Required if using the default constructor.

void Init() Initializes communication with the sensor. Note: this method simply initializes the communication bus and chip select pin. It does not test whether communication with the VectorNav sensor is successful. It is recommend to read a register to test for successful communication. The communication bus is not initialized within this library and must be initialized seperately; this enhances compatibility with other sensors that may on the same bus.

SPI.begin();
vn.Init();

ErrorCode ReadRegister(REG *ptr) Reads a register given a pointer to the register struct. Returns an ErrorCode indicating success or failure of the operation.

VnSerialNumber sn;
ErrorCode err = vn.ReadRegister(&sn);
if (err == ERROR_SUCCESS) {
  Serial.println(sn.payload.serial_num);
}

ErrorCode WriteRegister(const REG &ref) Writes a register given a reference to the register struct. Returns an ErrorCode indicating success or failure of the operation.

VnGnssAntennaOffset ant;
ant.payload.position_x = 2;
ant.payload.position_y = 0;
ant.payload.position_z = 0;
ErrorCode err = vn.WriteRegister(ant);

ErrorCode WriteSettings() Writes the current settings to the VectorNav non-volatile memory. Returns an ErrorCode indicating success or failure of the operation.

void RestoreFactorySettings() Restores the VectorNav to factory default settings.

void Reset() Resets the VectorNav.

ErrorCode KnownMagneticDisturbance(bool present) Notifies the VectorNav that a magnetic disturbance is present. The sensor will tune out the magnetometer and pause the current hard / soft iron calibration, if enabled. A true should be passed if a disturbance is present and a false passed if a disturbance is no longer present.

ErrorCode KnownAccelerationDisturbance(bool present) Notifies the VectorNav that an acceleration disturbance is present. The sensor will tune out the accelerometer. A true should be passed if a disturbance is present and a false passed if a disturbance is no longer present.

ErrorCode SetGyroBias() Commands the VectorNav to copy the current gyro bias estimates into volatile memory. These can then be saved in non-volatile memory using the WriteSettings command.

ErrorCode Tare() Commands the VectorNav to zero out its current orientation. Note: This command is only available on the VN-100.

ErrorCode SetFilterBias() Commands the VectorNav to copy the current filter bias estimates ino volatile memory. These can then be saved in non-volatile memory using the WriteSettings command. Note: This command is only available on the VN-200 and VN-300.

Vn100

This class wraps around the VectorNav class to provide convenience methods for the most common functionality using the VN-100 sensor.

Methods

Vn100() Default constructor, requires calling the Config method to setup the SPI bus and chip select pin.

Vn100(SPIClass *bus, const uint8_t cs) Constructs a Vn100 object given a pointer to the SPI bus object that it is communicating over and the chip select pin number.

bfs::Vn100 vn(&SPI, 2);

VectorNav::ErrorCode error_code() Most methods within the Vn100 class return a boolean indicating success or failure of the operation. The error code from the last operation is returned by this method, which can be useful in debugging if an operation fails.

if (!vn.Begin()) {
   Serial.println(vn.error_code());
}

void Config(SPIClass *bus, const uint8_t cs) Sets up the SPI bus and chip select pin. Required if using the default constructor.

bool Begin() Initializes communication with the VN-100 sensor. Returns true on successfully establishing communication and false on failure. The communication bus is not initialized within this library and must be initialized seperately; this enhances compatibility with other sensors that may on the same bus.

SPI.begin();
bool status = vn.Begin();

bool EnableDrdyInt(const DrdyMode mode, const uint16_t srd) Enables the data ready interrupt, which is a positive pulse with a width of 500 us. The mode enables setting what triggers the interrupt:

Enum	Description
IMU_START	Interrupt triggered at the start of IMU sampling
IMU_READY	Interrupt triggered when IMU data is ready
AHRS	Interrupt triggered when attitude solution is ready

The sample rate divider (SRD) sets how many data ready events are skipped before an interrupt is triggered.

/* Interrupt on attitude solution, 50 Hz rate */
bool status = vn.EnableDrdyInt(Vn100::AHRS, 7);

bool DisableDrdyInt() Disables the data ready interrupt.

bool ApplyRotation(const float (&C)[M][N]) Applies a rotation. This is useful if the sensor is mounted in a vehicle such that the sensor axes no longer align with the vehicle axes. Rotates the sensor and filter outputs. Outputs are defined as:

Xu = c * Xb

Where Xu is the output, c is the rotation matrix, and Xb are the measurements in the sensor reference frame.

/*
* c =   0 1 0
*       1 0 0
*       0 0 1
*/
float c[3][3];
c[0][1] = 1.0f;
c[1][0] = 1.0f;
c[2][2] = 1.0f;
bool status = vn.ApplyRotation(c);

Note: The VectorNav needs to write this rotation to non-volatile memory and perform a reset in order for it to be applied. These operations are performed within this method, so it takes a few seconds to complete.

bool GetRotation(float (&C)[M][N]) Retrieves the current rotation matrix from the VN-100.

float c[3][3];
bool status = vn.GetRotation(c);

Get / Set Filter The following methods enable setting and getting digital low pass filters for the VectorNav sensors. Each filter can be set to filter the uncompensated, compensated, or both sets of data using the FilterMode enum.

Enum	Description
FILTER_NONE	No filtering is applied
FILTER_UNCOMP_ONLY	Filtering is applied to the uncompensated data only
FILTER_COMP_ONLY	Filtering is applied to the compensated data only
FILTER_BOTH	Filtering is applied to both the uncompensated and compensated data

The filter is tuned by setting a window length for the first order FIR, boxcar filter.

bool SetMagFilter(const FilterMode mode, const uint16_t window) Sets the magnetometer filter.

bool GetMagFilter(FilterMode *mode, uint16_t *window) Gets the magnetometer filter current settings.

bool SetAccelFilter(const FilterMode mode, const uint16_t window) Sets the accelerometer filter.

bool GetAccelFilter(FilterMode *mode, uint16_t *window) Gets the accelerometer filter current settings.

bool SetGyroFilter(const FilterMode mode, const uint16_t window) Sets the gyro filter.

bool GetGyroFilter(FilterMode *mode, uint16_t *window) Gets the gyro filter current settings.

bool SetTemperatureFilter(const FilterMode mode, const uint16_t window) Sets the temperature filter.

bool GetTemperatureFilter(FilterMode *mode, uint16_t *window) Gets the temperature filter current settings.

bool SetPressureFilter(const FilterMode mode, const uint16_t window) Sets the pressure filter.

bool GetPressureFilter(FilterMode *mode, uint16_t *window) Gets the pressure filter current settings.

bool DrdyCallback(const uint8_t int_pin, void (*function)()) Enables setting a callback function to be executed on the data ready interrupt, given the pin number of the microcontroller connected to the data ready interrupt pin.

bool VelocityCompensation(const float speed_mps) Compensates the VN-100 accelerometer for turning flight by passing the sensor the current airspeed in m/s.

bool Read() Retrieves the current data from the VN-100 sensor and, on success, stores the updated values in the Vn100 object.

if (vn.Read()) {
  Serial.print(vn.yaw_rad());
  Serial.print("\t");
  Serial.print(vn.pitch_rad());
  Serial.print("\t");
  Serial.print(vn.roll_rad());
  Serial.print("\n");
}

float yaw_rad() Returns the yaw angle, rad.

float pitch_rad() Returns the pitch angle, rad.

float roll_rad() Returns the roll angle, rad.

float accel_x_mps2() Returns the compensated x accelerometer, m/s/s.

float accel_y_mps2() Returns the compensated y accelerometer, m/s/s.

float accel_z_mps2() Returns the compensated z accelerometer, m/s/s.

float gyro_x_radps() Returns the compensated x gyro, rad/s.

float gyro_y_radps() Returns the compensated y gyro, rad/s.

float gyro_z_radps() Returns the compensated z gyro, rad/s.

float mag_x_ut() Returns the compensated x magnetometer, uT.

float mag_y_ut() Returns the compensated y magnetometer, uT.

float mag_z_ut() Returns the compensated z magnetometer, uT.

float uncomp_accel_x_mps2() Returns the uncompensated x accelerometer, m/s/s.

float uncomp_accel_y_mps2() Returns the uncompensated y accelerometer, m/s/s.

float uncomp_accel_z_mps2() Returns the uncompensated z accelerometer, m/s/s.

float uncomp_gyro_x_radps() Returns the uncompensated x gyro, rad/s.

float uncomp_gyro_y_radps() Returns the uncompensated y gyro, rad/s.

float uncomp_gyro_z_radps() Returns the uncompensated z gyro, rad/s.

float uncomp_mag_x_ut() Returns the uncompensated x magnetometer, uT.

float uncomp_mag_y_ut() Returns the uncompensated y magnetometer, uT.

float uncomp_mag_z_ut() Returns the uncompensated z magnetometer, uT.

float die_temp_c() Returns the sensor die temperature, C.

float pres_pa() Returns the measured static pressure, Pa.

bool WriteSettings() Writes the current settings to the VectorNav non-volatile memory.

void RestoreFactorySettings() Restores the VectorNav to factory default settings.

void Reset() Resets the VectorNav.

bool KnownMagneticDisturbance(bool present) Notifies the VectorNav that a magnetic disturbance is present. The sensor will tune out the magnetometer and pause the current hard / soft iron calibration, if enabled. A true should be passed if a disturbance is present and a false passed if a disturbance is no longer present.

bool KnownAccelerationDisturbance(bool present) Notifies the VectorNav that an acceleration disturbance is present. The sensor will tune out the accelerometer. A true should be passed if a disturbance is present and a false passed if a disturbance is no longer present.

bool SetGyroBias() Commands the VectorNav to copy the current gyro bias estimates into volatile memory. These can then be saved in non-volatile memory using the WriteSettings command.

bool Tare() Commands the VectorNav to zero out its current orientation.

Vn200

This class wraps around the VectorNav class to provide convenience methods for the most common functionality using the VN-200 sensor.

Methods

Vn200() Default constructor, requires calling the Config method to setup the SPI bus and chip select pin.

Vn200(SPIClass *bus, const uint8_t cs) Constructs a Vn200 object given a pointer to the SPI bus object that is is communicating over and the chip select pin number.

bfs::Vn200 vn(&SPI, 2);

VectorNav::ErrorCode error_code() Most methods within the Vn200 class return a boolean indicating success or failure of the operation. The error code from the last operation is returned by this method, which can be useful in debugging if an operation fails.

if (!vn.Begin()) {
   Serial.println(vn.error_code());
}

void Config(SPIClass *bus, const uint8_t cs) Sets up the SPI bus and chip select pin. Required if using the default constructor.

bool Begin() Initializes communication with the VN-200 sensor. Returns true on successfully establishing communication and false on failure. The communication bus is not initialized within this library and must be initialized seperately; this enhances compatibility with other sensors that may on the same bus.

SPI.begin();
bool status = vn.Begin();

Enum	Description
IMU_START	Interrupt triggered at the start of IMU sampling
IMU_READY	Interrupt triggered when IMU data is ready
INS	Interrupt triggered when the INS solution is ready
GNSS_PPS	Interrupt triggered by the GNSS Pulse-Per-Second (PPS)

The sample rate divider (SRD) sets how many data ready events are skipped before an interrupt is triggered.

/* Interrupt on INS solution, 50 Hz rate */
bool status = vn.EnableDrdyInt(Vn200::INS, 7);

bool DisableDrdyInt() Disables the data ready interrupt.

bool EnableExternalGnss(const PpsSource pps) Enables using an external GNSS receiver, rather than the VN-200 internal receiver. The external receiver must send GNSS to the VN-200 at a rate of 5 Hz using the SendExternalGnssData method. Additionally, a Pulse-Per-Second (PPS) output from the external receiver must be connected to the VN-200. This method takes an enum parameter specifying the PPS input pin and polarity.

Enum	Description
PPS_RISING	External PPS is connected to the VN-200 PPS pin, triggered on a rising edge
PPS_FALLING	External PPS is connected to the VN-200 PPS pin, triggered on a falling edge
SYNC_IN_RISING	External PPS is connected to the VN-200 sync in pin, triggered on a rising edge
SYNC_IN_FALLING	External PPS is connected to the VN-200 sync in pin, triggered on a falling edge

bool DisableExternalGnss() Disables the external GNSS receiver.

Xu = c * Xb

Where Xu is the output, c is the rotation matrix, and Xb are the measurements in the sensor reference frame.

/*
* c =   0 1 0
*       1 0 0
*       0 0 1
*/
float c[3][3];
c[0][1] = 1.0f;
c[1][0] = 1.0f;
c[2][2] = 1.0f;
bool status = vn.ApplyRotation(c);

bool GetRotation(float (&C)[M][N]) Retrieves the current rotation matrix from the VN-100.

float c[3][3];
bool status = vn.GetRotation(c);

bool SetAntennaOffset(const float (&b)[M]) Sets the offset from the VN-200 to the antenna. Units are in meters and given in the VN-200 reference frame.

/* Antenna 2 meters in front on and above the VN-200 */
float b[3] = {2.0, 0, -2.0};
bool status = vn.SetAntennaOffset(b);

bool GetAntennaOffset(float (&b)[M]) Retrieves the current antenna offset from the VN-200.

float b[3];
bool status = vn.GetAntennaOffset(b);

Enum	Description
FILTER_NONE	No filtering is applied
FILTER_UNCOMP_ONLY	Filtering is applied to the uncompensated data only
FILTER_COMP_ONLY	Filtering is applied to the compensated data only
FILTER_BOTH	Filtering is applied to both the uncompensated and compensated data