Merge pull request #1 from NortekSupport/add_status_output_to_imu_dat…

…aset added status.hasChecksumError to imu output
NortekSupport · Jan 31, 2024 · b66ad17 · b66ad17
2 parents 6f5957a + 0a7bb42
commit b66ad17
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/nucleus_driver/src/nucleus_driver/_logger.py b/nucleus_driver/src/nucleus_driver/_logger.py
@@ -63,7 +63,7 @@ def _get_field_names_packet(self):
                       'speedOverGround', 'turnRateX', 'turnRateY', 'turnRateZ']
 
         imu_fields = ['status.isValid',
-                      'status.hasDataPathOverrun', 'status.hasFlashUpdateFailure', 'status.hasSpiComError',
+                      'status.hasChecksumError', 'status.hasDataPathOverrun', 'status.hasFlashUpdateFailure', 'status.hasSpiComError',
                       'status.hasLowVoltage', 'status.hasSensorFailure', 'status.hasMemoryFailure',
                       'status.hasGyro1Failure', 'status.hasGyro2Failure', 'status.hasAccelerometerFailure',
                       'accelerometer.x', 'accelerometer.y', 'accelerometer.z',

diff --git a/nucleus_driver/src/nucleus_driver/_parser.py b/nucleus_driver/src/nucleus_driver/_parser.py
@@ -450,6 +450,7 @@ def get_sensor_data():
                         imu_status = unpack('<I', data[12:16])[0]
 
                         sensor = {'status.isValid': _get_status(status_bits=imu_status, bit=0),
+                                  'status.hasChecksumError': _get_status(status_bits=imu_status, bit=15),
                                   'status.hasDataPathOverrun': _get_status(status_bits=imu_status, bit=17),
                                   'status.hasFlashUpdateFailure': _get_status(status_bits=imu_status, bit=18),
                                   'status.hasSpiComError': _get_status(status_bits=imu_status, bit=19),