Frame Configuration (0x13,0x01)
| Description |
Defines an aiding frame associated with a specific sensor frame ID. |
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| Notes |
The frame ID used in this command should mirror the frame ID used in the aiding command (if that aiding measurement is measured in this reference frame). This transform satisfies the following relationship:
Where: Rotation can be defined using Euler angles OR quaternions. If Format selector is set to Euler Angles, the fourth element in the rotation vector is ignored and should be set to 0. When the tracking_enabled flag is 1, the Kalman filter will track errors in the provided frame definition; when 0, no errors are tracked. Example: GNSS antenna lever arm Frame ID: 1 Format: 1 (Euler) Translation: [0,1,] (GNSS with a 1 meter Y offset in the vehicle frame) Rotation: [0,0,0,0] (Rotational component is not relevant for GNSS measurements, set to zero) |
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| Parameter Name | Data Type | Description | |||||||||
| Field Length | u8 | 6 | |||||||||
| Descriptor | u8 | 0x01 | |||||||||
| Function Selector | u8 |
This command supports the following MIP function selectors:Write Read Save Load Default
[WRSLD]
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Frame Id
[WRSLD]
|
u8 | Reference frame number. Limit 4. | |||||||||
Format
[WR]
|
u8 enum |
Format of the transformation.
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Tracking Enabled
[W]
|
bool | If enabled, the Kalman filter will track errors. | |||||||||
Translation
[W]
|
vector3f | Translation X, Y, and Z. | |||||||||
Rotation
[W]
|
Rotation | Rotation as specified by format. | |||||||||
| Response Data | Data Type | Description | |||||||||
| Response Length | u8 | 5 | |||||||||
| Response Descriptor | u8 | 0x81 | |||||||||
| Frame Id | u8 | Reference frame number. Limit 4. | |||||||||
| Format | u8 enum |
Format of the transformation.
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| Tracking Enabled | bool | If enabled, the Kalman filter will track errors. | |||||||||
| Translation | vector3f | Translation X, Y, and Z. | |||||||||
| Rotation | Rotation | Rotation as specified by format. | |||||||||
is rotation matrix defined by the rotation component and 
is the translation vector
is a 3-element position vector expressed in the external sensor frame
is a 3-element position vector expressed in the vehicle frame