#include <voyant_types_ffi.hpp>

Public Attributes
int16_t	encoder_azimuth_offset

float	doppler_calibration_mirror_bias

float	doppler_calibration_mirror_offset

float	chirp_bandwidth_hz

float	datum_delta_x_m

float	datum_delta_y_m

float	datum_delta_z_m

float	encoder_eccentricity_coeffs [6]

float	reflectance_poly_coeffs [4]

float	reflectance_channel_scales [7]

Detailed Description

Calibration data in physical units.

Member Data Documentation

◆ chirp_bandwidth_hz

float CalibrationState::chirp_bandwidth_hz

◆ datum_delta_x_m

float CalibrationState::datum_delta_x_m

◆ datum_delta_y_m

float CalibrationState::datum_delta_y_m

◆ datum_delta_z_m

float CalibrationState::datum_delta_z_m

◆ doppler_calibration_mirror_bias

float CalibrationState::doppler_calibration_mirror_bias

Additive velocity trim (m/s). Wire unit: µm/s (i16), scaled by 1e-6 in from_raw.

◆ doppler_calibration_mirror_offset

float CalibrationState::doppler_calibration_mirror_offset

Y-position of laser in mirror frame (m). Wire unit: µm (i16), scaled by 1e-6 in from_raw.

◆ encoder_azimuth_offset

int16_t CalibrationState::encoder_azimuth_offset

Encoder counts — unit defined by MIRROR_ENCODER_STEP_DEG_MECH / MIRROR_ENCODER_STEP_DEG_OPT

◆ encoder_eccentricity_coeffs

float CalibrationState::encoder_eccentricity_coeffs[6]

Encoder eccentricity polynomial coefficients. Wire format: i32 reinterpreted as IEEE-754 f32 bits (FPGA is pass-through storage). Units: mechanical degrees. p(x) where x = (N - N₀) · k_mech. Instance 0 = constant term (c₀), instance 5 = 5th-order term (c₅).

◆ reflectance_channel_scales

float CalibrationState::reflectance_channel_scales[7]

Reflectance scale factors for channels 1..=7, relative to channel 0 as the implicit reference channel. Wire unit: i16 at 1e-3 scale. TODO: Confirm scale factor.

◆ reflectance_poly_coeffs

float CalibrationState::reflectance_poly_coeffs[4]

Reflectance polynomial coefficients. Wire unit: i16 at 1e-3 scale. TODO: Confirm scale factor.

The documentation for this struct was generated from the following file:

/usr/include/voyant_api/cbindings/voyant_types_ffi.hpp

Public Attributes