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dawonn / vectornav

ROS Interface for the VectorNav IMU/GPS
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Fix INS status message encoding #134

Closed KarlLaczko closed 1 year ago

KarlLaczko commented 1 year ago

This PR fixes an error with the INS status message encoding. The bit masks now match the bit offsets specified in the manual.

INS Status

I've tested this on our VN-300 and the gps_compass and gps_heading_ins fields are now reporting correctly.

Note, I don't know what the time_error field is. It is not specified in the manual. The bit offset at this value is Reserved