InertialSense uAHRS, Руководство пользователя

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User Manual
© 2017 Inertial Sense, LLC 6 11/30/2017
2.5 System LED and Solution Status
Each unit is equipped with an RGB LED on the top face. This LED indicates the unit’s system and solution status and
can pulse various combinations of the behaviors listed below.
LED Behavior Status Description
White 1 Solution Aligning The solution is aligning on startup.
Cyan 2 Solution Alignment
Complete
The solution has aligned but insufficient dynamics have
been completed for the variance to reach nominal
conditions.
Green 3 Solution Good – NAV The solution is in Navigation mode and state estimate is
good.
Blue 5 Solution Good – AHRS The solution is in AHRS mode and state estimate is good.
There is no valid position or velocity data from GPS or
other aiding sensor. Only the attitude states are
estimated.
Orange 4
6 Solution High Variance The solution is in Navigation or AHRS mode but variance
(uncertainty) is high.
This may be caused by excessive
sensor noise such as vibration, magnetic interference, or
poor GPS visibility or multipath errors. See
DID_INL2_VARIANCE.
Purple Magnetometer
Recalibration
The system is collecting new magnetometer calibration
data and requires rotation.
Purple fast blink Firmware Upload The bootloader is uploading the embedded firmware.
Orange fast blink Firmware Verification The bootloader is verifying the embedded firmware.
Red Bootloader Failure The bootloader has experienced a failure on startup.
Can combine with behaviors above
Red/purple pulse every 1s
RTK Base Data Received The system is receiving RTK base station data.
Purple pulse every 1s RTK Fix Status The GPS has valid RTK fix and high precision positioning.
Red pulse every 1s GPS PPS Sync The system has received and synchronized local time to
UTC time using the GPS PPS signal.
2.6 Inertial Sense CLTool
The Inertial Sense CLTool is a command line utility that can be used to read and display data, update firmware, and
log data from Inertial Sense products. Additionally, CLTool serves as example source code that demonstrates
integration of the Inertial Sense SDK into your own source code. The CLTool can be compiled in Linux, Mac,
Windows and embedded platforms.
2.6.1 Compiling in Linux/Mac
1. Create build directory.
$ cd InertialSenseCLTool
$ mkdir build
2. Run cmake from within build directory.
$ cd build