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package nmea
const (
// TypePSONCMS is type of PSONCMS sentence for proprietary Xsens IMU/VRU/AHRS device
TypePSONCMS = "SONCMS"
)
// PSONCMS is proprietary Xsens IMU/VRU/AHRS device sentence for quaternion, acceleration, rate of turn,
// magnetic Field, sensor temperature.
// https://www.xsens.com/hubfs/Downloads/Manuals/MT_Low-Level_Documentation.pdf (page 37)
//
// Format: $PSONCMS,Q.QQQQ,P.PPPP,R.RRRR,S.SSSS,XX.XXXX,YY.YYYY,ZZ.ZZZZ,
// FF.FFFF,GG.GGGG,HH.HHHH,NN.NNNN,MM,MMMM,PP.PPPP,TT.T*hh<CR><LF>
// Example: $PSONCMS,0.0905,0.4217,0.9020,-0.0196,-1.7685,0.3861,-9.6648,-0.0116,0.0065,-0.0080,0.0581,0.3846,0.7421,33.1*76
type PSONCMS struct {
BaseSentence
Quaternion0 float64 // q0 from quaternions
Quaternion1 float64 // q1 from quaternions
Quaternion2 float64 // q2 from quaternions
Quaternion3 float64 // q3 from quaternions
AccelerationX float64 // acceleration X in m/s2
AccelerationY float64 // acceleration Y in m/s2
AccelerationZ float64 // acceleration Z in m/s2
RateOfTurnX float64 // rate of turn X in rad/s
RateOfTurnY float64 // rate of turn Y in rad/s
RateOfTurnZ float64 // rate of turn Z in rad/s
MagneticFieldX float64 // magnetic field X in a.u.
MagneticFieldY float64 // magnetic field Y in a.u.
MagneticFieldZ float64 // magnetic field Z in a.u.
SensorTemperature float64 // sensor temperature in degrees Celsius
}
// newPSONCMS constructor
func newPSONCMS(s BaseSentence) (Sentence, error) {
p := NewParser(s)
p.AssertType(TypePSONCMS)
m := PSONCMS{
BaseSentence: s,
Quaternion0: p.Float64(0, "q0 from quaternions"),
Quaternion1: p.Float64(1, "q1 from quaternions"),
Quaternion2: p.Float64(2, "q2 from quaternions"),
Quaternion3: p.Float64(3, "q3 from quaternions"),
AccelerationX: p.Float64(4, "acceleration X"),
AccelerationY: p.Float64(5, "acceleration Y"),
AccelerationZ: p.Float64(6, "acceleration Z"),
RateOfTurnX: p.Float64(7, "rate of turn X"),
RateOfTurnY: p.Float64(8, "rate of turn Y"),
RateOfTurnZ: p.Float64(9, "rate of turn Z"),
MagneticFieldX: p.Float64(10, "magnetic field X"),
MagneticFieldY: p.Float64(11, "magnetic field Y"),
MagneticFieldZ: p.Float64(12, "magnetic field Z"),
SensorTemperature: p.Float64(13, "sensor temperature"),
}
return m, p.Err()
}
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