Constants.hpp

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#ifndef ADVANCED_NAVIGATION_ANPP_CONSTANTS_HPP
#define ADVANCED_NAVIGATION_ANPP_CONSTANTS_HPP

namespace imu_advanced_navigation_anpp
{
    enum SYSTEM_STATUS
    {
        SYSTEM_FAILURE                    = 0x0001,
        SYSTEM_ACCELEROMETER_FAILURE      = 0x0002,
        SYSTEM_GYROSCOPE_FAILURE          = 0x0004,
        SYSTEM_MAGNETOMETER_FAILURE       = 0x0008,
        SYSTEM_PRESSURE_SENSOR_FAILURE    = 0x0010,
        SYSTEM_GNSS_SENSOR_FAILURE        = 0x0020,
        SYSTEM_ACCELEROMETER_OVER_RANGE   = 0x0040,
        SYSTEM_GYROSCOPE_OVER_RANGE       = 0x0080,
        SYSTEM_MAGNETOMETER_OVER_RANGE    = 0x0100,
        SYSTEM_PRESSURE_SENSOR_OVER_RANGE = 0x0200,
        SYSTEM_MIN_TEMPERATURE_ALARM      = 0x0400,
        SYSTEM_MAX_TEMPERATURE_ALARM      = 0x0800,
        SYSTEM_LOW_VOLTAGE_ALARM          = 0x1000,
        SYSTEM_HIGH_VOLTAGE_ALARM         = 0x2000,
        SYSTEM_GNSS_ANTENNA_DISCONNECTED  = 0x4000,
        SYSTEM_DATA_OUTPUT_OVERFLOW_ALARM = 0x8000
    };

    enum GNSS_STATUS
    {
        GNSS_NO_FIX                     = 0x0000,
        GNSS_2D                         = 0x0001,
        GNSS_3D                         = 0x0002,
        GNSS_SBAS                       = 0x0003,
        GNSS_DGPS                       = 0x0004,
        GNSS_OMNISTAR                   = 0x0005,
        GNSS_RTK_FLOAT                  = 0x0006,
        GNSS_RTK_FIXED                  = 0x0007
    };

    enum GNSS_EXTRA_STATUS
    {
        GNSS_DOPPLER_VELOCITY_VALID     = 0x0008,
        GNSS_TIME_VALID                 = 0x0010,
        GNSS_USING_EXTERNAL             = 0x0020,
        GNSS_TILT_VALID                 = 0x0040,
        GNSS_HEADING_VALID              = 0x0080,
        GNSS_FLOATING_AMBIGUITY_HEADING = 0x0100
    };

    enum FILTER_STATUS
    {
        FILTER_ORIENTATION_INITIALIZED                  = 0x0001,
        FILTER_NAVIGATION_INITIALIZED                   = 0x0002,
        FILTER_HEADING_INITIALIZED                      = 0x0004,
        FILTER_UTC_INITIALIZED                          = 0x0008,

        FILTER_EVENT_1                                  = 0x0080,
        FILTER_EVENT_2                                  = 0x0100,
        FILTER_INTERNAL_GNSS_ENABLED                    = 0x0200,
        FILTER_MAGNETIC_OR_DUAL_ANTENNA_HEADING_ENABLED = 0x0400,
        FILTER_VELOCITY_HEADING_ENABLED                 = 0x0800,
        FILTER_ATMOSPHERIC_ALTITUDE_ENABLED             = 0x1000,
        FILTER_EXTERNAL_POSITION_ACTIVE                 = 0x2000,
        FILTER_EXTERNAL_VELOCITY_ACTIVE                 = 0x4000,
        FILTER_EXTERNAL_HEADING_ACTIVE                  = 0x8000,
    };

    enum VEHICLE_TYPES
    {
        VEHICLE_UNCONSTRAINED         = 0,
        VEHICLE_BICYCLE_OR_MOTORCYCLE = 1,
        VEHICLE_CAR                   = 2,
        VEHICLE_HOVERCRAFT            = 3,
        VEHICLE_SUBMARINE             = 4,
        VEHICLE_3D_UNDERWATER         = 5,
        VEHICLE_FIXED_WING_PLANE      = 6,
        VEHICLE_3D_AIRCRAFT           = 7,
        VEHICLE_HUMAN                 = 8,
        VEHICLE_BOAT                  = 9,
        VEHICLE_LARGE_SHIP            = 10,
        VEHICLE_STATIONARY            = 11,
        VEHICLE_STUNT_PLANE           = 12,
        VEHICLE_RACE_CAR              = 13
    };

    enum MAGNETIC_CALIBRATION_STATUS
    {
        MAGNETIC_CALIBRATION_NOT_COMPLETED,
        MAGNETIC_CALIBRATION_2D_COMPLETED,
        MAGNETIC_CALIBRATION_3D_COMPLETED,
        MAGNETIC_CALIBRATION_CUSTOM_COMPLETED,
        MAGNETIC_CALIBRATION_2D_IN_PROGRESS,
        MAGNETIC_CALIBRATION_3D_IN_PROGRESS,
        MAGNETIC_CALIBRATION_ERROR_2D_EXCESSIVE_ROLL,
        MAGNETIC_CALIBRATION_ERROR_2D_EXCESSIVE_PITCH,
        MAGNETIC_CALIBRATION_ERROR_SENSOR_OVER_RANGE,
        MAGNETIC_CALIBRATION_ERROR_SENSOR_TIME_OUT,
        MAGNETIC_CALIBRATION_ERROR_SENSOR_SYSTEM_ERROR,
        MAGNETIC_CALIBRATION_ERROR_SENSOR_INTERFERENCE_ERROR
    };

    enum NORTH_SEEKING_INITIALIZATION_FLAGS
    {
        NORTH_SEEKING_INITIALIZATION_COMPLETE    = 0x1,
        NORTH_SEEKING_STOPPED_POSITION_UNKNOWN   = 0x2,
        NORTH_SEEKING_STOPPED_EXCESSIVE_ROLLING  = 0x4,
        NORTH_SEEKING_STOPPED_EXCESSIVE_PITCHING = 0x8,
        NORTH_SEEKING_STOPPED_EXCESSIVE_MOVEMENT = 0xF
    };
}

#endif