MRU

This component reads data from Microstrain MRUs using the MIP API. It supports several Microstrain MRU types and is tested with:

• Microstrain 3DM GX3-15
• Microstrain 3DM GX3-45

This component currently only connects to the mru through a serial port. This component will eventually be replaced by the MRU MSCL component.

The component is confgured by an input file with the following format:

• Options:
  • PeriodMs: The update period in milliseconds.
• DdsSetup:
  • Partition: The partition to publish the MRU measurements to.
• MruSetup:
  • SerialPort: The name of the serial port
• Signals: An array of measurements to perform. The imlemented ones are:
  • MIP_AHRS_DATA_ACCEL_SCALED
  • MIP_AHRS_DATA_DELTA_VELOCITY
  • MIP_AHRS_DATA_EULER_ANGLES
  • MIP_AHRS_DATA_GYRO_SCALED

An example input file is shown below, as well as here.

Options:
  PeriodMs: 100
 
DdsSetup:
  Partition: MRU
 
MruSetup:
  SerialPort: /dev/ttyS4
 
Signals:
  - MIP_AHRS_DATA_ACCEL_SCALED
  - MIP_AHRS_DATA_DELTA_VELOCITY
  - MIP_AHRS_DATA_EULER_ANGLES
  - MIP_AHRS_DATA_GYRO_SCALED