protocol
上游未提供说明。
SensorGyro::JY901S API
- 符号
- 181
- 已记录
- 109
- 修订版本
0.1.0+cea60a9e62e2
72 / 181 个公开 API 符号没有说明。
命名空间
3类
1sensor::gyro::JY901S
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gyro/JY901S/JY901S.hpp:18结构体
4sensor::gyro::JY901S::BodyState
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gyro/JY901S/JY901S.hpp:21sensor::gyro::JY901S::Config
自己在上位机改 enum class Baud : uint8_t { B4800 = 0x01, B9600 = 0x02, B19200 = 0x03, B38400 = 0x04, B57600 = 0x05, B115200 = 0x06, B230400 = 0x07, B460800 = 0x08, B500000 = 0x09, };
gyro/JY901S/JY901S.hpp:97sensor::gyro::JY901S::Output
上游未提供说明。
gyro/JY901S/JY901S.hpp:37sensor::gyro::JY901S::Reg
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gyro/JY901S/JY901S.hpp:141函数
19sensor::gyro::JY901S::JY901S
sensor::gyro::JY901S::JY901S (UART_HandleTypeDef *huart, const math::Posef &pose_in_body)
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gyro/JY901S/JY901S.hpp:105sensor::gyro::JY901S::JY901S
sensor::gyro::JY901S::JY901S (UART_HandleTypeDef *huart, const math::Posef &pose_in_body, const Config &config)
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gyro/JY901S/JY901S.hpp:104sensor::gyro::JY901S::_send
void sensor::gyro::JY901S::_send (const std::array< uint8_t, 5 > &cmd) const
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gyro/JY901S/JY901S.hpp:281sensor::gyro::JY901S::body_state
const BodyState & sensor::gyro::JY901S::body_state () const
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gyro/JY901S/JY901S.hpp:111sensor::gyro::JY901S::calibrateAcc
void sensor::gyro::JY901S::calibrateAcc () const
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gyro/JY901S/JY901S.hpp:108sensor::gyro::JY901S::calibrateAngle
void sensor::gyro::JY901S::calibrateAngle () const
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gyro/JY901S/JY901S.hpp:109sensor::gyro::JY901S::decode
bool sensor::gyro::JY901S::decode (const uint8_t data[10]) override
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gyro/JY901S/JY901S.hpp:123sensor::gyro::JY901S::feedbackTransform
void sensor::gyro::JY901S::feedbackTransform ()
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gyro/JY901S/JY901S.hpp:285sensor::gyro::JY901S::header
const std::array< uint8_t, 1 > & sensor::gyro::JY901S::header () const override
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gyro/JY901S/JY901S.hpp:121sensor::gyro::JY901S::init
void sensor::gyro::JY901S::init ()
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gyro/JY901S/JY901S.hpp:107sensor::gyro::JY901S::registerTrigger
void sensor::gyro::JY901S::registerTrigger (const Trigger &trigger)
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gyro/JY901S/JY901S.hpp:113sensor::gyro::JY901S::resetRot
void sensor::gyro::JY901S::resetRot ()
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gyro/JY901S/JY901S.hpp:115sensor::gyro::JY901S::resetRotBy
void sensor::gyro::JY901S::resetRotBy (const math::Quatf &rot)
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gyro/JY901S/JY901S.hpp:116sensor::gyro::JY901S::save
void sensor::gyro::JY901S::save () const
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gyro/JY901S/JY901S.hpp:283sensor::gyro::JY901S::sendCMD
void sensor::gyro::JY901S::sendCMD (uint8_t cmd, uint16_t data) const
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gyro/JY901S/JY901S.hpp:284sensor::gyro::JY901S::unlock
void sensor::gyro::JY901S::unlock () const
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gyro/JY901S/JY901S.hpp:282sensor::gyro::get_feedback_dt
static float sensor::gyro::get_feedback_dt (const JY901S::RRate rr)
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gyro/JY901S/JY901S.cpp:14sensor::gyro::mapIntoRange
static constexpr float sensor::gyro::mapIntoRange (const int16_t input, const float max)
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gyro/JY901S/JY901S.cpp:50sensor::gyro::read_int16
static int16_t sensor::gyro::read_int16 (const uint8_t data[2])
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gyro/JY901S/JY901S.cpp:45枚举
3sensor::gyro::JY901S::AccRange
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g16 = 0x03- 上游未提供说明。
g2 = 0x00- 上游未提供说明。
g4 = 0x01- 上游未提供说明。
g8 = 0x02- 上游未提供说明。
sensor::gyro::JY901S::Axis
上游未提供说明。
Axis6 = 0x01- 上游未提供说明。
Axis9 = 0x00- 上游未提供说明。
sensor::gyro::JY901S::RRate
上游未提供说明。
R0_2Hz = 0x01- 上游未提供说明。
R0_5Hz = 0x02- 上游未提供说明。
R100Hz = 0x09- 上游未提供说明。
R10Hz = 0x06- 上游未提供说明。
R1Hz = 0x03- 上游未提供说明。
R200Hz = 0x0B- 上游未提供说明。
R20Hz = 0x07- 上游未提供说明。
R2Hz = 0x04- 上游未提供说明。
R50Hz = 0x08- 上游未提供说明。
R5Hz = 0x05- 上游未提供说明。
RNone = 0x0D- 上游未提供说明。
ROnce = 0x0C- 上游未提供说明。
类型定义
2sensor::gyro::JY901S::OutputType
using sensor::gyro::JY901S::OutputType = uint16_t
https://wit-motion.yuque.com/wumwnr/ltst03/vl3tpy#S6al6 @document
gyro/JY901S/JY901S.hpp:36sensor::gyro::JY901S::Trigger
using sensor::gyro::JY901S::Trigger = std::function<void(const BodyState&)>
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gyro/JY901S/JY901S.hpp:31变量
147sensor::gyro::JY901S::BodyState::acc_w
math::Vec3f sensor::gyro::JY901S::BodyState::acc_w
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gyro/JY901S/JY901S.hpp:24sensor::gyro::JY901S::BodyState::angles_w
math::EulerDegf sensor::gyro::JY901S::BodyState::angles_w
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gyro/JY901S/JY901S.hpp:28sensor::gyro::JY901S::BodyState::gyro_b
math::Vec3f sensor::gyro::JY901S::BodyState::gyro_b
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gyro/JY901S/JY901S.hpp:26sensor::gyro::JY901S::BodyState::gyro_w
math::Vec3f sensor::gyro::JY901S::BodyState::gyro_w
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gyro/JY901S/JY901S.hpp:25sensor::gyro::JY901S::BodyState::quat_w
math::Quatf sensor::gyro::JY901S::BodyState::quat_w
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gyro/JY901S/JY901S.hpp:27sensor::gyro::JY901S::BodyState::tick
uint32_t sensor::gyro::JY901S::BodyState::tick
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gyro/JY901S/JY901S.hpp:23sensor::gyro::JY901S::Config::axis
Axis sensor::gyro::JY901S::Config::axis
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gyro/JY901S/JY901S.hpp:101sensor::gyro::JY901S::Config::output
OutputType sensor::gyro::JY901S::Config::output
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gyro/JY901S/JY901S.hpp:99sensor::gyro::JY901S::Config::rrate
RRate sensor::gyro::JY901S::Config::rrate
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gyro/JY901S/JY901S.hpp:100sensor::gyro::JY901S::DefaultOutputType
OutputType sensor::gyro::JY901S::DefaultOutputType
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gyro/JY901S/JY901S.hpp:52sensor::gyro::JY901S::HEADER
std::array<uint8_t, 1> sensor::gyro::JY901S::HEADER
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gyro/JY901S/JY901S.hpp:119sensor::gyro::JY901S::MaxAccel
float sensor::gyro::JY901S::MaxAccel
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gyro/JY901S/JY901S.hpp:134sensor::gyro::JY901S::MaxAngle
float sensor::gyro::JY901S::MaxAngle
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gyro/JY901S/JY901S.hpp:136sensor::gyro::JY901S::MaxGyro
float sensor::gyro::JY901S::MaxGyro
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gyro/JY901S/JY901S.hpp:135sensor::gyro::JY901S::MaxQuat
float sensor::gyro::JY901S::MaxQuat
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gyro/JY901S/JY901S.hpp:137sensor::gyro::JY901S::Output::Acc
OutputType sensor::gyro::JY901S::Output::Acc
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gyro/JY901S/JY901S.hpp:41sensor::gyro::JY901S::Output::Angle
OutputType sensor::gyro::JY901S::Output::Angle
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gyro/JY901S/JY901S.hpp:43sensor::gyro::JY901S::Output::GSA
OutputType sensor::gyro::JY901S::Output::GSA
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gyro/JY901S/JY901S.hpp:50sensor::gyro::JY901S::Output::Gps
OutputType sensor::gyro::JY901S::Output::Gps
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gyro/JY901S/JY901S.hpp:47sensor::gyro::JY901S::Output::Gyro
OutputType sensor::gyro::JY901S::Output::Gyro
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gyro/JY901S/JY901S.hpp:42sensor::gyro::JY901S::Output::Mag
OutputType sensor::gyro::JY901S::Output::Mag
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gyro/JY901S/JY901S.hpp:44sensor::gyro::JY901S::Output::None
OutputType sensor::gyro::JY901S::Output::None
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gyro/JY901S/JY901S.hpp:39sensor::gyro::JY901S::Output::Port
OutputType sensor::gyro::JY901S::Output::Port
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gyro/JY901S/JY901S.hpp:45sensor::gyro::JY901S::Output::Press
OutputType sensor::gyro::JY901S::Output::Press
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gyro/JY901S/JY901S.hpp:46sensor::gyro::JY901S::Output::Quat
OutputType sensor::gyro::JY901S::Output::Quat
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gyro/JY901S/JY901S.hpp:49sensor::gyro::JY901S::Output::Time
OutputType sensor::gyro::JY901S::Output::Time
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gyro/JY901S/JY901S.hpp:40sensor::gyro::JY901S::Output::Velocity
OutputType sensor::gyro::JY901S::Output::Velocity
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gyro/JY901S/JY901S.hpp:48sensor::gyro::JY901S::Reg::AccFilt
uint8_t sensor::gyro::JY901S::Reg::AccFilt
加速度滤波
gyro/JY901S/JY901S.hpp:175sensor::gyro::JY901S::Reg::AccRange
uint8_t sensor::gyro::JY901S::Reg::AccRange
加速度量程
gyro/JY901S/JY901S.hpp:168sensor::gyro::JY901S::Reg::AlarmLevel
uint8_t sensor::gyro::JY901S::Reg::AlarmLevel
角度报警电平
gyro/JY901S/JY901S.hpp:227sensor::gyro::JY901S::Reg::AlarmPin
uint8_t sensor::gyro::JY901S::Reg::AlarmPin
报警引脚映射
gyro/JY901S/JY901S.hpp:223sensor::gyro::JY901S::Reg::Ax
uint8_t sensor::gyro::JY901S::Reg::Ax
加速度X
gyro/JY901S/JY901S.hpp:182sensor::gyro::JY901S::Reg::AxOffset
uint8_t sensor::gyro::JY901S::Reg::AxOffset
加速度X零偏
gyro/JY901S/JY901S.hpp:148sensor::gyro::JY901S::Reg::Axis6
uint8_t sensor::gyro::JY901S::Reg::Axis6
算法
gyro/JY901S/JY901S.hpp:171sensor::gyro::JY901S::Reg::Ay
uint8_t sensor::gyro::JY901S::Reg::Ay
加速度Y
gyro/JY901S/JY901S.hpp:183sensor::gyro::JY901S::Reg::AyOffset
uint8_t sensor::gyro::JY901S::Reg::AyOffset
加速度Y零偏
gyro/JY901S/JY901S.hpp:149sensor::gyro::JY901S::Reg::Az
uint8_t sensor::gyro::JY901S::Reg::Az
加速度Z
gyro/JY901S/JY901S.hpp:184sensor::gyro::JY901S::Reg::AzOffset
uint8_t sensor::gyro::JY901S::Reg::AzOffset
加速度Z零偏
gyro/JY901S/JY901S.hpp:150sensor::gyro::JY901S::Reg::Bandwidth
uint8_t sensor::gyro::JY901S::Reg::Bandwidth
带宽
gyro/JY901S/JY901S.hpp:166sensor::gyro::JY901S::Reg::BatVal
uint8_t sensor::gyro::JY901S::Reg::BatVal
供电电压
gyro/JY901S/JY901S.hpp:222sensor::gyro::JY901S::Reg::Baud
uint8_t sensor::gyro::JY901S::Reg::Baud
串口波特率
gyro/JY901S/JY901S.hpp:147sensor::gyro::JY901S::Reg::CalSw
uint8_t sensor::gyro::JY901S::Reg::CalSw
校准模式
gyro/JY901S/JY901S.hpp:144sensor::gyro::JY901S::Reg::D0Mode
uint8_t sensor::gyro::JY901S::Reg::D0Mode
D0引脚模式
gyro/JY901S/JY901S.hpp:157sensor::gyro::JY901S::Reg::D0Status
uint8_t sensor::gyro::JY901S::Reg::D0Status
D0引脚状态
gyro/JY901S/JY901S.hpp:195sensor::gyro::JY901S::Reg::D1Mode
uint8_t sensor::gyro::JY901S::Reg::D1Mode
D1引脚模式
gyro/JY901S/JY901S.hpp:158sensor::gyro::JY901S::Reg::D1Status
uint8_t sensor::gyro::JY901S::Reg::D1Status
D1引脚状态
gyro/JY901S/JY901S.hpp:196sensor::gyro::JY901S::Reg::D2Mode
uint8_t sensor::gyro::JY901S::Reg::D2Mode
D2引脚模式
gyro/JY901S/JY901S.hpp:159sensor::gyro::JY901S::Reg::D2Status
uint8_t sensor::gyro::JY901S::Reg::D2Status
D2引脚状态
gyro/JY901S/JY901S.hpp:197sensor::gyro::JY901S::Reg::D3Mode
uint8_t sensor::gyro::JY901S::Reg::D3Mode
D3引脚模式
gyro/JY901S/JY901S.hpp:160sensor::gyro::JY901S::Reg::D3Status
uint8_t sensor::gyro::JY901S::Reg::D3Status
D3引脚状态
gyro/JY901S/JY901S.hpp:198sensor::gyro::JY901S::Reg::DdHh
uint8_t sensor::gyro::JY901S::Reg::DdHh
时日
gyro/JY901S/JY901S.hpp:179sensor::gyro::JY901S::Reg::DelayT
uint8_t sensor::gyro::JY901S::Reg::DelayT
报警信号延迟
gyro/JY901S/JY901S.hpp:219sensor::gyro::JY901S::Reg::FiltK
uint8_t sensor::gyro::JY901S::Reg::FiltK
动态滤波
gyro/JY901S/JY901S.hpp:172sensor::gyro::JY901S::Reg::GpsBaud
uint8_t sensor::gyro::JY901S::Reg::GpsBaud
GPS波特率
gyro/JY901S/JY901S.hpp:173sensor::gyro::JY901S::Reg::GpsHeight
uint8_t sensor::gyro::JY901S::Reg::GpsHeight
GPS海拔
gyro/JY901S/JY901S.hpp:207sensor::gyro::JY901S::Reg::GpsVH
uint8_t sensor::gyro::JY901S::Reg::GpsVH
GPS地速高16位
gyro/JY901S/JY901S.hpp:210sensor::gyro::JY901S::Reg::GpsVL
uint8_t sensor::gyro::JY901S::Reg::GpsVL
GPS地速低16位
gyro/JY901S/JY901S.hpp:209sensor::gyro::JY901S::Reg::GpsYaw
uint8_t sensor::gyro::JY901S::Reg::GpsYaw
GPS航向角
gyro/JY901S/JY901S.hpp:208sensor::gyro::JY901S::Reg::Gx
uint8_t sensor::gyro::JY901S::Reg::Gx
角速度X
gyro/JY901S/JY901S.hpp:185sensor::gyro::JY901S::Reg::GxOffset
uint8_t sensor::gyro::JY901S::Reg::GxOffset
角速度X零偏
gyro/JY901S/JY901S.hpp:151sensor::gyro::JY901S::Reg::Gy
uint8_t sensor::gyro::JY901S::Reg::Gy
角速度Y
gyro/JY901S/JY901S.hpp:186sensor::gyro::JY901S::Reg::GyOffset
uint8_t sensor::gyro::JY901S::Reg::GyOffset
角速度Y零偏
gyro/JY901S/JY901S.hpp:152sensor::gyro::JY901S::Reg::GyroCaliThr
uint8_t sensor::gyro::JY901S::Reg::GyroCaliThr
陀螺仪静止阈值
gyro/JY901S/JY901S.hpp:226sensor::gyro::JY901S::Reg::GyroCaliTime
uint8_t sensor::gyro::JY901S::Reg::GyroCaliTime
陀螺仪自动校准时间
gyro/JY901S/JY901S.hpp:228sensor::gyro::JY901S::Reg::GyroRange
uint8_t sensor::gyro::JY901S::Reg::GyroRange
陀螺仪量程
gyro/JY901S/JY901S.hpp:167sensor::gyro::JY901S::Reg::Gz
uint8_t sensor::gyro::JY901S::Reg::Gz
角速度Z
gyro/JY901S/JY901S.hpp:187sensor::gyro::JY901S::Reg::GzOffset
uint8_t sensor::gyro::JY901S::Reg::GzOffset
角速度Z零偏
gyro/JY901S/JY901S.hpp:153sensor::gyro::JY901S::Reg::Hdop
uint8_t sensor::gyro::JY901S::Reg::Hdop
水平精度
gyro/JY901S/JY901S.hpp:217sensor::gyro::JY901S::Reg::HeightH
uint8_t sensor::gyro::JY901S::Reg::HeightH
高度高16位
gyro/JY901S/JY901S.hpp:202sensor::gyro::JY901S::Reg::HeightL
uint8_t sensor::gyro::JY901S::Reg::HeightL
高度低16位
gyro/JY901S/JY901S.hpp:201sensor::gyro::JY901S::Reg::Hx
uint8_t sensor::gyro::JY901S::Reg::Hx
磁场X
gyro/JY901S/JY901S.hpp:188sensor::gyro::JY901S::Reg::HxOffset
uint8_t sensor::gyro::JY901S::Reg::HxOffset
磁场X零偏
gyro/JY901S/JY901S.hpp:154sensor::gyro::JY901S::Reg::Hy
uint8_t sensor::gyro::JY901S::Reg::Hy
磁场Y
gyro/JY901S/JY901S.hpp:189sensor::gyro::JY901S::Reg::HyOffset
uint8_t sensor::gyro::JY901S::Reg::HyOffset
磁场Y零偏
gyro/JY901S/JY901S.hpp:155sensor::gyro::JY901S::Reg::Hz
uint8_t sensor::gyro::JY901S::Reg::Hz
磁场Z
gyro/JY901S/JY901S.hpp:190sensor::gyro::JY901S::Reg::HzOffset
uint8_t sensor::gyro::JY901S::Reg::HzOffset
磁场Z零偏
gyro/JY901S/JY901S.hpp:156sensor::gyro::JY901S::Reg::IicAddr
uint8_t sensor::gyro::JY901S::Reg::IicAddr
IIC设备地址
gyro/JY901S/JY901S.hpp:161sensor::gyro::JY901S::Reg::Key
uint8_t sensor::gyro::JY901S::Reg::Key
解锁
gyro/JY901S/JY901S.hpp:230sensor::gyro::JY901S::Reg::LatH
uint8_t sensor::gyro::JY901S::Reg::LatH
纬度高16位
gyro/JY901S/JY901S.hpp:206sensor::gyro::JY901S::Reg::LatL
uint8_t sensor::gyro::JY901S::Reg::LatL
纬度低16位
gyro/JY901S/JY901S.hpp:205sensor::gyro::JY901S::Reg::LedOff
uint8_t sensor::gyro::JY901S::Reg::LedOff
关闭LED灯
gyro/JY901S/JY901S.hpp:162sensor::gyro::JY901S::Reg::LonH
uint8_t sensor::gyro::JY901S::Reg::LonH
经度高16位
gyro/JY901S/JY901S.hpp:204sensor::gyro::JY901S::Reg::LonL
uint8_t sensor::gyro::JY901S::Reg::LonL
经度低16位
gyro/JY901S/JY901S.hpp:203sensor::gyro::JY901S::Reg::MagRangeX
uint8_t sensor::gyro::JY901S::Reg::MagRangeX
磁场X校准范围
gyro/JY901S/JY901S.hpp:163sensor::gyro::JY901S::Reg::MagRangeY
uint8_t sensor::gyro::JY901S::Reg::MagRangeY
磁场Y校准范围
gyro/JY901S/JY901S.hpp:164sensor::gyro::JY901S::Reg::MagRangeZ
uint8_t sensor::gyro::JY901S::Reg::MagRangeZ
磁场Z校准范围
gyro/JY901S/JY901S.hpp:165sensor::gyro::JY901S::Reg::MmSs
uint8_t sensor::gyro::JY901S::Reg::MmSs
分秒
gyro/JY901S/JY901S.hpp:180sensor::gyro::JY901S::Reg::ModDelay
uint8_t sensor::gyro::JY901S::Reg::ModDelay
485数据应答延时
gyro/JY901S/JY901S.hpp:235sensor::gyro::JY901S::Reg::MsL
uint8_t sensor::gyro::JY901S::Reg::MsL
毫秒
gyro/JY901S/JY901S.hpp:181sensor::gyro::JY901S::Reg::NumberId1
uint8_t sensor::gyro::JY901S::Reg::NumberId1
设备编号1-2
gyro/JY901S/JY901S.hpp:238sensor::gyro::JY901S::Reg::NumberId2
uint8_t sensor::gyro::JY901S::Reg::NumberId2
设备编号3-4
gyro/JY901S/JY901S.hpp:239sensor::gyro::JY901S::Reg::NumberId3
uint8_t sensor::gyro::JY901S::Reg::NumberId3
设备编号5-6
gyro/JY901S/JY901S.hpp:240sensor::gyro::JY901S::Reg::NumberId4
uint8_t sensor::gyro::JY901S::Reg::NumberId4
设备编号7-8
gyro/JY901S/JY901S.hpp:241sensor::gyro::JY901S::Reg::NumberId5
uint8_t sensor::gyro::JY901S::Reg::NumberId5
设备编号9-10
gyro/JY901S/JY901S.hpp:242sensor::gyro::JY901S::Reg::NumberId6
uint8_t sensor::gyro::JY901S::Reg::NumberId6
设备编号11-12
gyro/JY901S/JY901S.hpp:243sensor::gyro::JY901S::Reg::Orient
uint8_t sensor::gyro::JY901S::Reg::Orient
安装方向
gyro/JY901S/JY901S.hpp:170sensor::gyro::JY901S::Reg::Pdop
uint8_t sensor::gyro::JY901S::Reg::Pdop
位置精度
gyro/JY901S/JY901S.hpp:216sensor::gyro::JY901S::Reg::Pitch
uint8_t sensor::gyro::JY901S::Reg::Pitch
俯仰
gyro/JY901S/JY901S.hpp:192sensor::gyro::JY901S::Reg::PowerOnSend
uint8_t sensor::gyro::JY901S::Reg::PowerOnSend
指令启动
gyro/JY901S/JY901S.hpp:176sensor::gyro::JY901S::Reg::PressureH
uint8_t sensor::gyro::JY901S::Reg::PressureH
气压高16位
gyro/JY901S/JY901S.hpp:200sensor::gyro::JY901S::Reg::PressureL
uint8_t sensor::gyro::JY901S::Reg::PressureL
气压低16位
gyro/JY901S/JY901S.hpp:199sensor::gyro::JY901S::Reg::Q0
uint8_t sensor::gyro::JY901S::Reg::Q0
四元数0
gyro/JY901S/JY901S.hpp:211sensor::gyro::JY901S::Reg::Q1
uint8_t sensor::gyro::JY901S::Reg::Q1
四元数1
gyro/JY901S/JY901S.hpp:212sensor::gyro::JY901S::Reg::Q2
uint8_t sensor::gyro::JY901S::Reg::Q2
四元数2
gyro/JY901S/JY901S.hpp:213sensor::gyro::JY901S::Reg::Q3
uint8_t sensor::gyro::JY901S::Reg::Q3
四元数3
gyro/JY901S/JY901S.hpp:214sensor::gyro::JY901S::Reg::RRate
uint8_t sensor::gyro::JY901S::Reg::RRate
输出速率
gyro/JY901S/JY901S.hpp:146sensor::gyro::JY901S::Reg::RSW
uint8_t sensor::gyro::JY901S::Reg::RSW
输出内容
gyro/JY901S/JY901S.hpp:145sensor::gyro::JY901S::Reg::ReadAddr
uint8_t sensor::gyro::JY901S::Reg::ReadAddr
读取寄存器
gyro/JY901S/JY901S.hpp:174sensor::gyro::JY901S::Reg::Roll
uint8_t sensor::gyro::JY901S::Reg::Roll
横滚角
gyro/JY901S/JY901S.hpp:191sensor::gyro::JY901S::Reg::Save
uint8_t sensor::gyro::JY901S::Reg::Save
保存/重启/恢复出厂
gyro/JY901S/JY901S.hpp:143sensor::gyro::JY901S::Reg::Sleep
uint8_t sensor::gyro::JY901S::Reg::Sleep
休眠
gyro/JY901S/JY901S.hpp:169sensor::gyro::JY901S::Reg::SvNum
uint8_t sensor::gyro::JY901S::Reg::SvNum
卫星数
gyro/JY901S/JY901S.hpp:215sensor::gyro::JY901S::Reg::Temp
uint8_t sensor::gyro::JY901S::Reg::Temp
温度
gyro/JY901S/JY901S.hpp:194sensor::gyro::JY901S::Reg::TimeZone
uint8_t sensor::gyro::JY901S::Reg::TimeZone
GPS时区
gyro/JY901S/JY901S.hpp:232sensor::gyro::JY901S::Reg::TrigTime
uint8_t sensor::gyro::JY901S::Reg::TrigTime
报警连续触发时间
gyro/JY901S/JY901S.hpp:229sensor::gyro::JY901S::Reg::Vdop
uint8_t sensor::gyro::JY901S::Reg::Vdop
垂直精度
gyro/JY901S/JY901S.hpp:218sensor::gyro::JY901S::Reg::Version
uint8_t sensor::gyro::JY901S::Reg::Version
版本号
gyro/JY901S/JY901S.hpp:177sensor::gyro::JY901S::Reg::WError
uint8_t sensor::gyro::JY901S::Reg::WError
陀螺仪变化值
gyro/JY901S/JY901S.hpp:231sensor::gyro::JY901S::Reg::WzStatic
uint8_t sensor::gyro::JY901S::Reg::WzStatic
角速度积分阈值
gyro/JY901S/JY901S.hpp:234sensor::gyro::JY901S::Reg::WzTime
uint8_t sensor::gyro::JY901S::Reg::WzTime
角速度连续静止时间
gyro/JY901S/JY901S.hpp:233sensor::gyro::JY901S::Reg::XMax
uint8_t sensor::gyro::JY901S::Reg::XMax
X轴角度报警最大值
gyro/JY901S/JY901S.hpp:221sensor::gyro::JY901S::Reg::XMin
uint8_t sensor::gyro::JY901S::Reg::XMin
X轴角度报警最小值
gyro/JY901S/JY901S.hpp:220sensor::gyro::JY901S::Reg::XRefRoll
uint8_t sensor::gyro::JY901S::Reg::XRefRoll
横滚角零位参考值
gyro/JY901S/JY901S.hpp:236sensor::gyro::JY901S::Reg::YMax
uint8_t sensor::gyro::JY901S::Reg::YMax
Y轴角度报警最大值
gyro/JY901S/JY901S.hpp:225sensor::gyro::JY901S::Reg::YMin
uint8_t sensor::gyro::JY901S::Reg::YMin
Y轴角度报警最小值
gyro/JY901S/JY901S.hpp:224sensor::gyro::JY901S::Reg::YRefRoll
uint8_t sensor::gyro::JY901S::Reg::YRefRoll
俯仰角零位参考值
gyro/JY901S/JY901S.hpp:237sensor::gyro::JY901S::Reg::Yaw
uint8_t sensor::gyro::JY901S::Reg::Yaw
航向角
gyro/JY901S/JY901S.hpp:193sensor::gyro::JY901S::Reg::YyMm
uint8_t sensor::gyro::JY901S::Reg::YyMm
年月
gyro/JY901S/JY901S.hpp:178sensor::gyro::JY901S::acc
bool sensor::gyro::JY901S::acc
上游未提供说明。
gyro/JY901S/JY901S.hpp:271sensor::gyro::JY901S::acc_raw_
math::Vec3f sensor::gyro::JY901S::acc_raw_
上游未提供说明。
gyro/JY901S/JY901S.hpp:264sensor::gyro::JY901S::acc_w_
math::Vec3f sensor::gyro::JY901S::acc_w_
上游未提供说明。
gyro/JY901S/JY901S.hpp:265sensor::gyro::JY901S::angles_w_
math::EulerDegf sensor::gyro::JY901S::angles_w_
上游未提供说明。
gyro/JY901S/JY901S.hpp:267sensor::gyro::JY901S::cfg_
Config sensor::gyro::JY901S::cfg_
上游未提供说明。
gyro/JY901S/JY901S.hpp:246sensor::gyro::JY901S::feedback_dt_
float sensor::gyro::JY901S::feedback_dt_
上游未提供说明。
gyro/JY901S/JY901S.hpp:258sensor::gyro::JY901S::feedback_ok_
struct sensor::gyro::JY901S::@324170215114001206232043154176064345127023017375 sensor::gyro::JY901S::feedback_ok_
上游未提供说明。
gyro/JY901S/JY901S.hpp:272sensor::gyro::JY901S::g
float sensor::gyro::JY901S::g
解释一下单位： 加速度单位 m/s^2，陀螺仪传输单位为 g 角速度单位 rad/s，方便计算 四元数为单位四元数 欧拉角为角度，仅用于显示，不用于计算。故采用易读取的方式
gyro/JY901S/JY901S.hpp:133sensor::gyro::JY901S::gyro
bool sensor::gyro::JY901S::gyro
上游未提供说明。
gyro/JY901S/JY901S.hpp:271sensor::gyro::JY901S::gyro_s_
math::Vec3f sensor::gyro::JY901S::gyro_s_
上游未提供说明。
gyro/JY901S/JY901S.hpp:266sensor::gyro::JY901S::pose_in_body_
math::Posef sensor::gyro::JY901S::pose_in_body_
上游未提供说明。
gyro/JY901S/JY901S.hpp:255sensor::gyro::JY901S::quat
bool sensor::gyro::JY901S::quat
上游未提供说明。
gyro/JY901S/JY901S.hpp:271sensor::gyro::JY901S::quat_w_
math::Quatf sensor::gyro::JY901S::quat_w_
陀螺仪相对于自身的加速度，角速度和在世界中的姿态
gyro/JY901S/JY901S.hpp:263sensor::gyro::JY901S::state_body_
BodyState sensor::gyro::JY901S::state_body_
body 在世界中的加速度，角速度，姿态
gyro/JY901S/JY901S.hpp:277sensor::gyro::JY901S::temperature_
float sensor::gyro::JY901S::temperature_
上游未提供说明。
gyro/JY901S/JY901S.hpp:279sensor::gyro::JY901S::time_ms_
uint32_t sensor::gyro::JY901S::time_ms_
上游未提供说明。
gyro/JY901S/JY901S.hpp:257sensor::gyro::JY901S::trig_
Trigger sensor::gyro::JY901S::trig_
上游未提供说明。
gyro/JY901S/JY901S.hpp:248sensor::gyro::JY901S::true_world_rot_
math::Quatf sensor::gyro::JY901S::true_world_rot_
陀螺仪有地磁修正，所以其真实世界系的方向是固定的 该量表示真实世界系在世界系中的姿态
gyro/JY901S/JY901S.hpp:254sensor::gyro::JY901S::vec_g
math::Vec3f sensor::gyro::JY901S::vec_g
上游未提供说明。
gyro/JY901S/JY901S.hpp:139文件
2gyro/JY901S/JY901S.cpp
yli584364 2026-03-09
gyro/JY901S/JY901S.cppgyro/JY901S/JY901S.hpp
yli584364 2026-03-09
gyro/JY901S/JY901S.hpp