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Add RESET_GNSS_TIME and POSE_RESET enums for reset requests #338

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merged 7 commits into from
Sep 26, 2024
Merged

Add RESET_GNSS_TIME and POSE_RESET enums for reset requests #338

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3397dbe
Add RESET_TIME bitmask
wbrannon Sep 25, 2024
b48addf
PVT_RESET -> POSE_RESET: remove reset of time from description
wbrannon Sep 25, 2024
d3d0e17
Changes for review
wbrannon Sep 26, 2024
f23c170
RESET_TIME -> RESET_GNSS_TIME
wbrannon Sep 26, 2024
464c26b
Fix POSE_RESET bitmask
wbrannon Sep 26, 2024
214d3e3
Add GNSS times to list of things to be reset/not reset
wbrannon Sep 26, 2024
b505171
Clang formatting
wbrannon Sep 26, 2024
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16 changes: 11 additions & 5 deletions python/fusion_engine_client/messages/control.py
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Original file line number Diff line number Diff line change
Expand Up @@ -131,6 +131,8 @@ class ResetRequest(MessagePayload):
RESTART_NAVIGATION_ENGINE = 0x00000001
## Delete all GNSS corrections information.
RESET_GNSS_CORRECTIONS = 0x00000002
## Delete all GNSS time information. */
RESET_GNSS_TIME = 0x00000004
## @}

##
Expand Down Expand Up @@ -221,6 +223,7 @@ class ResetRequest(MessagePayload):
#
# Not reset/performed:
# - All runtime data (GNSS corrections (@ref RESET_GNSS_CORRECTIONS), etc.)
# - GNSS times (@ref RESET_GNSS_TIME)
# - Position, velocity, orientation (@ref RESET_POSITION_DATA)
# - GNSS ephemeris data (@ref RESET_EPHEMERIS)
# - Fast IMU corrections (@ref RESET_FAST_IMU_CORRECTIONS)
Expand All @@ -247,6 +250,7 @@ class ResetRequest(MessagePayload):
#
# Not reset/performed:
# - All runtime data (GNSS corrections (@ref RESET_GNSS_CORRECTIONS), etc.)
# - GNSS times (@ref RESET_GNSS_TIME)
# - Position, velocity, orientation (@ref RESET_POSITION_DATA)
# - Fast IMU corrections (@ref RESET_FAST_IMU_CORRECTIONS)
# - Training parameters (slowly estimated IMU corrections, temperature
Expand All @@ -258,10 +262,10 @@ class ResetRequest(MessagePayload):
WARM_START = 0x00000201

##
# Perform a PVT reset: reset all position, velocity, orientation, and time
# Perform a pose reset: reset all position, velocity, and orientation
# information (i.e., the navigation engine's kinematic state).
#
# A PVT reset is typically used to reset the kinematic portion of the
# A pose reset is typically used to reset the kinematic portion of the
# navigation engine's state if you are experiencing errors on startup or
# after a @ref HOT_START.
#
Expand All @@ -271,6 +275,7 @@ class ResetRequest(MessagePayload):
# - Position, velocity, orientation (@ref RESET_POSITION_DATA)
#
# Not reset/performed:
# - GNSS times (@ref RESET_GNSS_TIME)
# - GNSS ephemeris data (@ref RESET_EPHEMERIS)
# - Fast IMU corrections (@ref RESET_FAST_IMU_CORRECTIONS)
# - Training parameters (slowly estimated IMU corrections, temperature
Expand All @@ -279,7 +284,7 @@ class ResetRequest(MessagePayload):
# - User configuration settings (@ref RESET_CONFIG)
# - Reboot GNSS measurement engine (@ref REBOOT_GNSS_MEASUREMENT_ENGINE)
# - Reboot navigation processor (@ref REBOOT_NAVIGATION_PROCESSOR)
PVT_RESET = 0x000001FF
POSE_RESET = 0x000001FB

##
# Perform a device cold start.
Expand All @@ -290,6 +295,7 @@ class ResetRequest(MessagePayload):
# To be reset:
# - The navigation engine (@ref RESTART_NAVIGATION_ENGINE)
# - All runtime data (GNSS corrections (@ref RESET_GNSS_CORRECTIONS), etc.)
# - GNSS times (@ref RESET_GNSS_TIME)
# - Position, velocity, orientation (@ref RESET_POSITION_DATA)
# - GNSS ephemeris data (@ref RESET_EPHEMERIS)
# - Fast IMU corrections (@ref RESET_FAST_IMU_CORRECTIONS)
Expand Down Expand Up @@ -365,8 +371,8 @@ def _get_known_mask_name(cls, mask) -> str:
return 'HOT_START'
elif mask == cls.WARM_START:
return 'WARM_START'
elif mask == cls.PVT_RESET:
return 'PVT_RESET'
elif mask == cls.POSE_RESET:
return 'POSE_RESET'
elif mask == cls.COLD_START:
return 'COLD_START'
elif mask == cls.FACTORY_RESET:
Expand Down
16 changes: 11 additions & 5 deletions src/point_one/fusion_engine/messages/control.h
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Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,8 @@ struct P1_ALIGNAS(4) ResetRequest : public MessagePayload {
static constexpr uint32_t RESTART_NAVIGATION_ENGINE = 0x00000001;
/** Delete all GNSS corrections information. */
static constexpr uint32_t RESET_GNSS_CORRECTIONS = 0x00000002;
/** Delete all GNSS time information. */
static constexpr uint32_t RESET_GNSS_TIME = 0x00000004;
/** @} */

/**
Expand Down Expand Up @@ -190,8 +192,8 @@ struct P1_ALIGNAS(4) ResetRequest : public MessagePayload {
* - Flush internal data buffers on the device
*
* Note that this does _not_ reset the navigation engine's position data,
* training parameters, or calibration. If the navigation engine has existing
* position information, it will be used.
* GNSS times, training parameters, or calibration. If the navigation engine
* has existing position information, it will be used.
*
* This reset may be combined with other resets as needed to clear additional
* information.
Expand All @@ -215,6 +217,7 @@ struct P1_ALIGNAS(4) ResetRequest : public MessagePayload {
*
* Not reset/performed:
* - All runtime data (GNSS corrections (@ref RESET_GNSS_CORRECTIONS), etc.)
* - GNSS times (@ref RESET_GNSS_TIME)
* - Position, velocity, orientation (@ref RESET_POSITION_DATA)
* - GNSS ephemeris data (@ref RESET_EPHEMERIS)
* - Fast IMU corrections (@ref RESET_FAST_IMU_CORRECTIONS)
Expand Down Expand Up @@ -242,6 +245,7 @@ struct P1_ALIGNAS(4) ResetRequest : public MessagePayload {
*
* Not reset/performed:
* - All runtime data (GNSS corrections (@ref RESET_GNSS_CORRECTIONS), etc.)
* - GNSS times (@ref RESET_GNSS_TIME)
* - Position, velocity, orientation (@ref RESET_POSITION_DATA)
* - Fast IMU corrections (@ref RESET_FAST_IMU_CORRECTIONS)
* - Training parameters (slowly estimated IMU corrections, temperature
Expand All @@ -254,10 +258,10 @@ struct P1_ALIGNAS(4) ResetRequest : public MessagePayload {
static constexpr uint32_t WARM_START = 0x00000201;

/**
* Perform a PVT reset: reset all position, velocity, orientation, and time
* Perform a pose reset: reset all position, velocity, and orientation
* information (i.e., the navigation engine's kinematic state).
*
* A PVT reset is typically used to reset the kinematic portion of the
* A pose reset is typically used to reset the kinematic portion of the
* navigation engine's state if you are experiencing errors on startup or
* after a @ref HOT_START.
*
Expand All @@ -267,6 +271,7 @@ struct P1_ALIGNAS(4) ResetRequest : public MessagePayload {
* - Position, velocity, orientation (@ref RESET_POSITION_DATA)
*
* Not reset/performed:
* - GNSS times (@ref RESET_GNSS_TIME)
* - GNSS ephemeris data (@ref RESET_EPHEMERIS)
* - Fast IMU corrections (@ref RESET_FAST_IMU_CORRECTIONS)
* - Training parameters (slowly estimated IMU corrections, temperature
Expand All @@ -276,7 +281,7 @@ struct P1_ALIGNAS(4) ResetRequest : public MessagePayload {
* - Reboot GNSS measurement engine (@ref REBOOT_GNSS_MEASUREMENT_ENGINE)
* - Reboot navigation processor (@ref REBOOT_NAVIGATION_PROCESSOR)
*/
static constexpr uint32_t PVT_RESET = 0x000001FF;
static constexpr uint32_t POSE_RESET = 0x000001FB;

/**
* Perform a device cold start.
Expand All @@ -287,6 +292,7 @@ struct P1_ALIGNAS(4) ResetRequest : public MessagePayload {
* To be reset:
* - The navigation engine (@ref RESTART_NAVIGATION_ENGINE)
* - All runtime data (GNSS corrections (@ref RESET_GNSS_CORRECTIONS), etc.)
* - GNSS times (@ref RESET_GNSS_TIME)
* - Position, velocity, orientation (@ref RESET_POSITION_DATA)
* - GNSS ephemeris data (@ref RESET_EPHEMERIS)
* - Fast IMU corrections (@ref RESET_FAST_IMU_CORRECTIONS)
Expand Down
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