IMU.cpp - VectorNav VN-100 library for Arduino Code by Luke Nyhof
This code has been tested using boards based on ATMega168/328 and ATMega1280 (Serial port n)
This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version.
IMU configuration : Vectornav Protocol Baud rate : 57600 VN-100 Sentences : $VNYPR : Yaw, Roll, Pitch System Fix Data
Methods: Init() : VN-100 Initialization Read() : Call this funcion as often as you want to ensure you read the incomming IMU data
Send the request via the serial port to the VN-100(t), the parsing code will capture the response and store it in one of the assiciated variables listed in the header file
Variables:
Yaw, Pitch, Roll - Yaw, Pitch and Roll
Q[0,1,2,3] - Quarternion measurements
Magnetic[0,1,2] - Magnetic [X,Y,Z] measurements
Acceleration[0,1,2] - Acceleration [X,Y,Z] measurements
Angular[0,1,2] - Acceleration [X,Y,Z] measurements
DCM[0,1,2,3,4,5,6,7,8] - Directional Cosine Orientation Matrix
= |0 1 2|
|3 4 5|
|6 7 8|