API Documentation

Encoding and Decoding

naviguider_simpleserial.decode_event(ticks: int, fields: list[str]) → Event[source]

Decodes response fields to an Event.

Parameters:

ticks – The decoded ticks value.
fields – The fields to decode.

Returns:

The decoded Event.

naviguider_simpleserial.decode_line(line: str) → Event[source]

Decodes a response string to an event.

Parameters:: line – The response string to decode.
Returns:: A decoded event.

naviguider_simpleserial.decode_meta_event(ticks: int, fields: list[str]) → MetaEvent[source]

Decodes response fields to a MetaEvent.

Parameters:

ticks – The decoded ticks value.
fields – The fields to decode.

Returns:

The decoded MetaEvent.

naviguider_simpleserial.decode_meta_event_type(meta_event_type: str) → MetaEventType[source]

Decodes a meta event type name or id string to a MetaEventType enum value.

Parameters:: meta_event_string – The meta event tu[e name or id string to decode.
Returns:: The decoded MetaEvent enum value.

naviguider_simpleserial.decode_sensor_event(ticks: int, fields: list[str]) → SensorEvent[source]

Decodes response fields to a SensorEvent.

Parameters:

ticks – The decoded ticks value.
fields – The fields to decode.

Returns:

The decoded SensorEvent.

naviguider_simpleserial.decode_test_result_value(test_result_value: str) → TestResult[source]

Decodes a test result name or id string to a TestResult enum value.

Parameters:: test_result_string – The test result name or id string to decode.
Returns:: The decoded TestResult enum value.

naviguider_simpleserial.decode_wakeup_event(ticks: int, fields: list[str]) → WakeupEvent[source]

Decodes response fields to a WakeupEvent.

Parameters:

ticks – The decoded ticks value.
fields – The fields to decode.

Returns:

The decoded WakeupEvent.

naviguider_simpleserial.encode_autocal_start() → str[source]

Encodes the autocal start command to a string.

Returns:: The encoded command string.

naviguider_simpleserial.encode_autocal_stop() → str[source]

Encodes the autocal stop command to a string.

Returns:: The encoded command string.

naviguider_simpleserial.encode_power_down() → str[source]

Encodes the power down command to a string.

Returns:: The encoded command string.

naviguider_simpleserial.encode_save() → str[source]

Encodes the save calibration parameters command to a string.

Returns:: The encoded command string.

naviguider_simpleserial.encode_self_test() → str[source]

Encodes the self-test command to a string.

Returns:: The encoded command string.

naviguider_simpleserial.encode_set_accelerometer_sensor_rate(rate: float) → str[source]

Encodes the set accelerometer sensor command to a string.

Parameters:: rate – The desired output data rate in Hz.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_application_mode(application_mode: ApplicationMode) → str[source]

Encodes the set application mode command to a string.

Parameters:: application_mode – The application mode to set.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_coordinate_system(coordinate_system: CoordinateSystem) → str[source]

Encodes the set coordinate system command to a string.

Parameters:: coordinate_system – The coordinate system to set.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_custom_application_mode(overall_merge: float, mag_merge: float, accel_merge: float, dynamic_accel: int, still_delay: int) → str[source]

Encodes the set custom application mode command to a string.

Parameters:

overall_merge – The overall merge rate to use.
mag_merge – The mag merge rate to use.
accel_merge – The accel merge rate to use.

Dynamic accel:

The dynamic accel value to use.

Still_delay:

The still delay value to use.

Returns:

The encoded command string.

naviguider_simpleserial.encode_set_game_rotation_vector_sensor_rate(rate: float) → str[source]

Encodes the set game rotation vector sensor command to a string.

Parameters:: rate – The desired output data rate in Hz.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_geomag_rotation_vector_sensor_rate(rate: float) → str[source]

Encodes the set geo-magnetic rotation vector sensor command to a string.

Parameters:: rate – The desired output data rate in Hz.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_gravity_sensor_rate(rate: float) → str[source]

Encodes the set gravity sensor command to a string.

Parameters:: rate – The desired output data rate in Hz.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_gyroscope_sensor_rate(rate: float) → str[source]

Encodes the set gyroscope sensor command to a string.

Parameters:: rate – The desired output data rate in Hz.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_gyroscope_uncalibrated_sensor_rate(rate: float) → str[source]

Encodes the set gyroscope uncalibrated sensor command to a string.

Parameters:: rate – The desired output data rate in Hz.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_linear_acceleration_sensor_rate(rate: float) → str[source]

Encodes the set linear acceleration sensor command to a string.

Parameters:: rate – The desired output data rate in Hz.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_magnetometer_sensor_rate(rate: float) → str[source]

Encodes the set magnetometer sensor command to a string.

Parameters:: rate – The desired output data rate in Hz.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_magnetometer_uncalibrated_sensor_rate(rate: float) → str[source]

Encodes the set magnetometer uncalibrated sensor command to a string.

Parameters:: rate – The desired output data rate in Hz.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_meta_event_reporting_off() → str[source]

Encodes the set meta event reporting off command to a string.

Returns:: The encoded command string.

naviguider_simpleserial.encode_set_meta_event_reporting_on() → str[source]

Encodes the set meta event reporting on command to a string.

Returns:: The encoded command string.

naviguider_simpleserial.encode_set_mounting_option(mounting_option: MountingOption) → str[source]

Encodes the set mounting option command to a string.

Parameters:: mounting_option – The mounting option to set.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_orientation_sensor_rate(rate: float) → str[source]

Encodes the set orientation sensor command to a string.

Parameters:: rate – The desired output data rate in Hz.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_pressure_sensor_rate(rate: float) → str[source]

Encodes the set pressure sensor command to a string.

Parameters:: rate – The desired output data rate in Hz.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_rotation_vector_sensor_rate(rate: float) → str[source]

Encodes the set rotation vector sensor command to a string.

Parameters:: rate – The desired output data rate in Hz.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_sensor_event_reporting_off() → str[source]

Encodes the set sensor event reporting off command to a string.

Returns:: The encoded command string.

naviguider_simpleserial.encode_set_sensor_event_reporting_on() → str[source]

Encodes the set sensor event reporting on command to a string.

Returns:: The encoded command string.

naviguider_simpleserial.encode_set_temperature_sensor_rate(rate: float) → str[source]

Encodes the set temperature sensor command to a string.

Parameters:: rate – The desired output data rate in Hz.
Returns:: The encoded command string.

naviguider_simpleserial.encode_set_verbose_mode_off() → str[source]

Encodes the set verbose mode off command to a string.

Returns:: The encoded command string.

naviguider_simpleserial.encode_set_verbose_mode_on() → str[source]

Encodes the set verbose mode on command to a string.

Returns:: The encoded command string.

naviguider_simpleserial.encode_system_restart() → str[source]

Encodes the system restart command to a string.

Returns:: The encoded command string.

naviguider_simpleserial.encode_trigger_oneshot_orientation() → str[source]

Encodes the orientation one-shot command to a string.

Returns:: The encoded command string.

Events

class naviguider_simpleserial.event.Event(ticks: int)[source]

Base class for events.

ticks: int: Number of clock ticks since boot.

class naviguider_simpleserial.wakeup_event.WakeupEvent(ticks: int)[source]: Event reported when device powers up or wakes from sleep.

Meta Events

class naviguider_simpleserial.meta_event.MetaEvent(ticks: int)[source]: Base class for meta events.

class naviguider_simpleserial.meta_event.CalStatusChangedMetaEvent(ticks: int, cal_status: int, transient: int)[source]: Event reported when calibration status has changed.

class naviguider_simpleserial.meta_event.CalibrationStableMetaEvent(ticks: int, is_stable: bool)[source]: Event reported when calibration is stable.

class naviguider_simpleserial.meta_event.DynamicRangeChangedMetaEvent(ticks: int, sensor_type: SensorType)[source]: Event reported when the dynamic range for a sensor has changed.

class naviguider_simpleserial.meta_event.ErrorMetaEvent(ticks: int, error_register: int, debug_state: int)[source]: Event reported when a general error has occurred.

class naviguider_simpleserial.meta_event.FifoOverflowMetaEvent(ticks: int, loss_count: int)[source]: Event reported when the event FIFO has overflowed.

class naviguider_simpleserial.meta_event.FifoWatermarkMetaEvent(ticks: int, bytes_remaining: int)[source]: Event reported when the event FIFO is about to overflow.

class naviguider_simpleserial.meta_event.InitializedMetaEvent(ticks: int, ram_version: int)[source]: Event reported when the device has completed initialization.

class naviguider_simpleserial.meta_event.MagTransientMetaEvent(ticks: int, transient_detected: bool)[source]: Event reported when magnetic transient has been detected.

class naviguider_simpleserial.meta_event.PowerModeChangedMetaEvent(ticks: int, sensor_type: SensorType)[source]: Event reported when the power mode for a sensor has changed.

class naviguider_simpleserial.meta_event.SampleRateChangedMetaEvent(ticks: int, sensor_type: SensorType)[source]: Event reported when the sample rate for a sensor has changed.

class naviguider_simpleserial.meta_event.SelfTestResultMetaEvent(ticks: int, sensor_type: SensorType, test_result: TestResult)[source]: Event reported when a self-test result is available.

class naviguider_simpleserial.meta_event.SensorErrorMetaEvent(ticks: int, sensor_type: SensorType, status: int)[source]: Event reported when a sensor error has occurred.

class naviguider_simpleserial.meta_event.StillnessChangedMetaEvent(ticks: int, is_still: bool)[source]: Event reported when stillness has changed.

class naviguider_simpleserial.meta_event.TransferCauseMetaEvent(ticks: int)[source]: Event reported when a sensor hardware bus error has occurred.

Sensor Events

class naviguider_simpleserial.sensor_event.SensorEvent(ticks: int)[source]

Base class for sensor events.

ticks: int: Number of clock ticks since boot.

class naviguider_simpleserial.sensor_event.AccelerometerSensorEvent(ticks: int)[source]

Event reported when accelerometer sensor data is available.

x: float: Acceleration force along the x axis (including gravity). in m/s².

y: float: Acceleration force along the y axis (including gravity). in m/s².

z: float: Acceleration force along the z axis (including gravity). in m/s².

ticks: int: Number of clock ticks since boot.

class naviguider_simpleserial.sensor_event.GameRotationVectorSensorEvent(ticks: int)[source]

Event reported when game rotation vector sensor data is available.

qx: float: Rotation vector component along the x axis (x * sin(θ/2)).

qy: float: Rotation vector component along the y axis (y * sin(θ/2)).

qz: float: Rotation vector component along the z axis (z * sin(θ/2)).

qw: float: Scalar component of the rotation vector ((cos(θ/2)).

ticks: int: Number of clock ticks since boot.

class naviguider_simpleserial.sensor_event.GeomagRotationVectorSensorEvent(ticks: int)[source]

Event reported when geo-magnetic rotation vector sensor data is available.

qx: float: Rotation vector component along the x axis (x * sin(θ/2)).

qy: float: Rotation vector component along the y axis (y * sin(θ/2)).

qz: float: Rotation vector component along the z axis (z * sin(θ/2)).

qw: float: Scalar component of the rotation vector ((cos(θ/2)).

ticks: int: Number of clock ticks since boot.

class naviguider_simpleserial.sensor_event.GravitySensorEvent(ticks: int)[source]

Event reported when gravity sensor data is available.

x: float: Force of gravity along the x axis in m/s².

y: float: Force of gravity along the y axis in m/s².

z: float: Force of gravity along the z axis in m/s².

ticks: int: Number of clock ticks since boot.

class naviguider_simpleserial.sensor_event.GyroscopeUncalibratedSensorEvent(ticks: int)[source]

Event reported when uncalibrated gyroscope sensor data is available.

x: float: Rate of rotation (without drift compensation) around the x axis in rad/s

y: float: Rate of rotation (without drift compensation) around the y axis in rad/s

z: float: Rate of rotation (without drift compensation) around the z axis in rad/s

bias_x: float: Estimated drift around the x axis in rad/s

bias_y: float: Estimated drift around the y axis in rad/s

bias_z: float: Estimated drift around the z axis in rad/s

ticks: int: Number of clock ticks since boot.

class naviguider_simpleserial.sensor_event.GyroscopeSensorEvent(ticks: int)[source]

Event reported when uncalibrated gyroscope sensor data is available.

x: float: Rate of rotation around the x axis in rad/s

y: float: Rate of rotation around the y axis in rad/s

z: float: Rate of rotation around the z axis in rad/s

ticks: int: Number of clock ticks since boot.

class naviguider_simpleserial.sensor_event.LinearAccelerationSensorEvent(ticks: int)[source]

Event reported when linear acceleration sensor data is available.

x: float: Acceleration force along the x axis (excluding gravity) in m/s².

y: float: Acceleration force along the y axis (excluding gravity) in m/s².

z: float: Acceleration force along the z axis (excluding gravity) in m/s².

ticks: int: Number of clock ticks since boot.

class naviguider_simpleserial.sensor_event.MagnetometerUncalibratedSensorEvent(ticks: int)[source]

x: float: Geomagnetic field strength (without hard iron calibration) along the x axis in micro-Tesla (µT).

ticks: int: Number of clock ticks since boot.

y: float: Geomagnetic field strength (without hard iron calibration) along the y axis in micro-Tesla (µT).

z: float: Geomagnetic field strength (without hard iron calibration) along the z axis in micro-Tesla (µT).

offset_x: float: Iron bias estimation along the x axis in micro-Tesla (µT).

offset_y: float: Iron bias estimation along the y axis in micro-Tesla (µT).

offset_z: float: Iron bias estimation along the z axis in micro-Tesla (µT).

class naviguider_simpleserial.sensor_event.MagnetometerSensorEvent(ticks: int)[source]

Event reported when magnetometer data is available.

ticks: int: Number of clock ticks since boot.

x: float: Geomagnetic field strength along the x axis in micro-Tesla (µT).

y: float: Geomagnetic field strength along the y axis in micro-Tesla (µT).

z: float: Geomagnetic field strength along the z axis in micro-Tesla (µT).

class naviguider_simpleserial.sensor_event.OrientationSensorEvent(ticks: int)[source]

Event reported when orientation sensor data is available.

ticks: int: Number of clock ticks since boot.

azimuth: float: Azimuth (angle around the z-axis) in degrees.

pitch: float: Pitch (angle around the x-axis) in degrees.

roll: float: Roll (angle around the y-axis) in degrees.

accuracy: float: Accuracy value

class naviguider_simpleserial.sensor_event.PressureSensorEvent(ticks: int)[source]

Event reported when pressure sensor data is available.

ticks: int: Number of clock ticks since boot.

hpa: float: Ambient air pressure in hPa.

class naviguider_simpleserial.sensor_event.RotationVectorSensorEvent(ticks: int)[source]

Event reported when rotation vector sensor data is available.

ticks: int: Number of clock ticks since boot.

qx: float: Rotation vector component along the x axis (x * sin(θ/2)).

qy: float: Rotation vector component along the y axis (y * sin(θ/2)).

qz: float: Rotation vector component along the z axis (z * sin(θ/2)).

qw: float: Scalar component of the rotation vector ((cos(θ/2)).

class naviguider_simpleserial.sensor_event.TemperatureSensorEvent(ticks: int)[source]

Event reported when temperature sensor data is available.

ticks: int: Number of clock ticks since boot.

degrees_celsius: float: Device temperature in degrees Celsius (°C).

Types

class naviguider_simpleserial.application_mode.ApplicationMode(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)[source]

Enum class representing possible application mode values.

DRONE = 1: Slow merging.

SLOW_TARGETING = 2: Slow-Medium merging.

TARGETING = 3: Medium merging.

RIFLE = 4: Medium-Fast merging.

GAMING = 5: Fast merging.

class naviguider_simpleserial.coordinate_system.CoordinateSystem(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)[source]

Enum class representing possible coordinate system values.

ENU = 1: East, north, up (ENU) coordinate system.

NED = 2: North, east, down (NED) coordinate system.

class naviguider_simpleserial.meta_event_type.MetaEventType(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)[source]

Enum class representing possible meta event types.

FLUSH_COMPLETE = 1: The event FIFO has been flushed.

SAMPLE_RATE_CHANGED = 2: A sensor’s sample rate has changed.

POWER_MODE_CHANGED = 3: A sensor’s power mode has changed.

ERROR = 4: A general error has occurred.

MAGNETIC_TRANSIENT = 5: Magnetic transient has been detected.

CAL_STATUS_CHANGED = 6: Calibration status has changed.

STILLNESS_CHANGED = 7: Stillness has changed.

CALIBRATION_STABLE = 9: Calibration is stable.

SENSOR_ERROR = 11: A sensor error has occurred.

FIFO_OVERFLOW = 12: The event FIFO has overflowed.

DYNAMIC_RANGE_CHANGED = 13: A sensor’s dynamic range has changed.

FIFO_WATERMARK = 14: The event FIFO is about to overflow.

SELF_TEST_RESULT = 15: Self-test result is available.

INITIALIZED = 16: Device initialization has completed.

TRANSFER_CAUSE = 17: A sensor hardware bus error has occurred.

class naviguider_simpleserial.mounting_option.MountingOption(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)[source]

Enum class representing possible mounting option values.

STD_000 = 1: Standard mounting.

STD_090 = 4: -90° heading offset.

STD_180 = 5: -180° heading offset.

STD_270 = 6: -270° heading offset.

X_UP_000 = 2: -90° pitch, 0° heading offset.

X_UP_090 = 8: -90° pitch, -90° heading offset.

X_UP_180 = 9: -90° pitch, -180° heading offset.

X_UP_270 = 10: -90° pitch, -270° heading offset.

Y_UP_000 = 3: +90° roll, 0° heading offset.

Y_UP_090 = 11: +90° roll, -90° heading offset.

Y_UP_180 = 12: +90° roll, -180° heading offset.

Y_UP_270 = 13: +90° roll, -270° heading offset.

Z_DOWN_000 = 7: +180° roll, 0° heading offset.

Z_DOWN_090 = 14: +180° roll, -90° heading offset.

Z_DOWN_180 = 15: +180° roll, -180° heading offset.

Z_DOWN_270 = 16: +180° roll, -270° heading offset.

class naviguider_simpleserial.sensor_type.SensorType(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)[source]

Enum class representing possible sensor types.

ACCELEROMETER = 1: Accelerometer sensor.

MAGNETOMETER = 2: Magnetometer sensor.

ORIENTATION = 3: Orientation sensor.

GYROSCOPE = 4: Gyroscope sensor.

PRESSURE = 6: Pressure sensor.

TEMPERATURE = 7: Temperature sensor.

GRAVITY = 9: Gravity sensor.

LINEAR_ACCELERATION = 10: Linear acceleration sensor.

ROTATION_VECTOR = 11: Rotation vector sensor.

MAGNETOMETER_UNCALIBRATED = 14: Uncalibrated magnetometer sensor.

GAME_ROTATION_VECTOR = 15: Game rotation vector sensor.

GYROSCOPE_UNCALIBRATED = 16: Uncalibrated gyroscope sensor.

SIGNIFICANT_MOTION = 17: Significant motion sensor.

GEOMAG_ROTATION_VECTOR = 20: Geo-magnetic rotation vector sensor.

class naviguider_simpleserial.test_result.TestResult(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)[source]

Enum class representing possible test result values.

PASSED = 0: All axes passed.

X_FAILED = 1: X axis failed.

Y_FAILED = 2: Y axis failed.

XY_FAILED = 3: X and Y axes failed.

Z_FAILED = 4: Z axis failed.

XZ_FAILED = 5: X and Z axes failed.

YZ_FAILED = 6: Y and Z axes failed.

XYZ_FAILED = 7: All axes failed.