Update for release 1.6.4. See release notese for details.

inertialsense · Aug 25, 2018 · fe4c2d9 · fe4c2d9
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diff --git a/CLTool/README.md b/CLTool/README.md
@@ -1,13 +1,13 @@
-# C++ API - Inertial Sense Class and Cltool Example Project
+# C++ API - Inertial Sense Class and CLTool Example Project
 
-The <span style="color:blue">InertialSense C++ class</span>, defined in InertialSense.h/.cpp, provides all SDK capabilities including serial communications, data logging to file, and embedded firmware update for <a href="https://inertialsense.com">InertialSense</a> products.
+The <a href="https://github.com/inertialsense/InertialSenseSDK/blob/master/src/InertialSense.cpp">InertialSense C++ class</a>, defined in InertialSense.h/.cpp, provides all SDK capabilities including serial communications, data logging to file, and embedded firmware update for <a href="https://inertialsense.com">InertialSense</a> products.
 
-## Cltool Example
+## CLTool Example
 
-The <span style="color:blue">Command Line Tool (cltool)</span> is a light weight open source project designed to illustrate InertialSense class implementation.  The cltool project can be compiled on most operating systems using cmake and gcc.  A Visual Studio project for Windows is also included.  See [Using CLTool](../App_Usage/cltool.md) section for details on compiling and runing the cltool.
+The <a href="https://github.com/inertialsense/InertialSenseSDK/tree/master/CLTool">Command Line Tool (CLTool)</a> is an open source project designed to illustrate InertialSense C++ class implementation.  The CLTool project can be compiled on most operating systems using cmake and gcc and can be used to communicate, log data, and update firmware for Inertial Sense products.  A Visual Studio project for Windows is also included.  See [Using CLTool](../App_Usage/cltool.md) for details on compiling and running the CLTool.
 
 ### Implementation Keywords
-The following keywords are found in the cltool soure code identify the steps for InertialSense class implementation.
+The following keywords are found in the CLTool soure code identify the steps for InertialSense class implementation.
 
 ```C++
 /* SDK Implementation Keywords:
@@ -31,9 +31,9 @@ Include the InertialSense header file. Create InertialSense object.
 InertialSense inertialSenseInterface(cltool_dataCallback);
 ```
 
-### Step 2: Open serial port 
+### Step 2: Open serial port
 
-Open the serial by specifying the com port number, buadrate, and  and The serial port used for communications 
+Open the serial by specifying the com port number, buadrate, and  and The serial port used for communications
 
 ```C++
 if (!inertialSenseInterface.Open(g_commandLineOptions.comPort.c_str(),
@@ -130,10 +130,22 @@ if (!cltool_setupLogger(inertialSenseInterface))
 }
 ```
 
+### Run ()
+
+```c
+// [LOGGER INSTRUCTION] Setup and start data logger
+if (!cltool_setupLogger(inertialSenseInterface))
+{
+	cout << "Failed to setup logger!" << endl;
+	return -1;
+}
+```
+
 ## Compile & Run (Linux/Mac)
+
 1. Create build directory
 ``` bash
-$ cd InertialSenseCLTool
+$ cd CLTool
 $ mkdir build
 ```
 2. Run cmake from within build directory
@@ -157,14 +169,15 @@ $ ./bin/cltool
 ```
 
 ## Compile & Run (Windows MS Visual Studio)
-1. Open Visual Studio solution file (InertialSenseSDK/InertialSenseCLTool/VS_project/InertialSenseCLTool.sln)
-2. Build (F7)
-3. Run executable
+1. [Install and Configure Visual Studio](../getting-started/#installing-and-configuring-visual-studio)
+2. Open Visual Studio solution file (InertialSenseSDK/CLTool/VS_project/CLTool.sln)
+3. Build (F7)
+4. Run executable
 ``` bash
-C:\InertialSenseSDK\InertialSenseCLTool\VS_project\Release\cltool.exe
+C:\InertialSenseSDK\CLTool\VS_project\Release\cltool.exe
 ```
 
 
 ## Summary
 
-That covers all the basic functionality you need to set up and talk to <a href="https://inertialsense.com">InertialSense</a> products.  If this doesn't cover everything you need, feel free to reach out to us on the <a href="https://github.com/inertialsense/InertialSenseSDK">InertialSenseSDK</a> github repository, and we will be happy to help.
+This section has covered the basic functionality you need to set up and communicate with <a href="https://inertialsense.com">Inertial Sense</a> products.  If this doesn't cover everything you need, feel free to reach out to us on the <a href="https://github.com/inertialsense/InertialSenseSDK">Inertial Sense SDK</a> GitHub repository, and we will be happy to help.
diff --git a/CLTool/VS_project/IS_logs/20180801_225711/LOG_SN30235_20180801_225711_0001.dat b/CLTool/VS_project/IS_logs/20180801_225711/LOG_SN30235_20180801_225711_0001.dat
diff --git a/CLTool/VS_project/IS_logs/20180801_225711/diagnostic_30235.txt b/CLTool/VS_project/IS_logs/20180801_225711/diagnostic_30235.txt
@@ -0,0 +1,19 @@
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+RTK: 2018-08-02T04:59:10.80Z age of differential error (age=7617.3)
diff --git a/CLTool/VS_project/IS_logs/20180801_225711/errors.txt b/CLTool/VS_project/IS_logs/20180801_225711/errors.txt
diff --git a/CLTool/VS_project/IS_logs/20180801_225711/stats.txt b/CLTool/VS_project/IS_logs/20180801_225711/stats.txt
@@ -0,0 +1,122 @@
+Count: 2101
+Errors: 0
+
+Data Id: 1 - devInfo
+Count: 3
+Errors: 0
+Average Timestamp Delta: 0.000000
+Max Timestamp Delta: 0.000000
+Timestamp Drops: 0
+
+Data Id: 3 - preintegratedImu
+Count: 907
+Errors: 0
+Average Timestamp Delta: 0.121797
+Max Timestamp Delta: 5.447597
+Timestamp Drops: 66
+
+Data Id: 5 - ins2
+Count: 33
+Errors: 0
+Average Timestamp Delta: 3.287739
+Max Timestamp Delta: 5.499878
+Timestamp Drops: 6
+
+Data Id: 6 - gpsPos
+Count: 19
+Errors: 0
+Average Timestamp Delta: 5.844444
+Max Timestamp Delta: 12.200000
+Timestamp Drops: 8
+
+Data Id: 7 - config
+Count: 3
+Errors: 0
+Average Timestamp Delta: 0.000000
+Max Timestamp Delta: 0.000000
+Timestamp Drops: 0
+
+Data Id: 10 - sysParams
+Count: 1
+Errors: 0
+Average Timestamp Delta: 0.000000
+Max Timestamp Delta: 0.000000
+Timestamp Drops: 0
+
+Data Id: 12 - flashCfg
+Count: 3
+Errors: 0
+Average Timestamp Delta: 0.000000
+Max Timestamp Delta: 0.000000
+Timestamp Drops: 0
+
+Data Id: 21 - gpsRtkRel
+Count: 18
+Errors: 0
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+Max Timestamp Delta: 19.800000
+Timestamp Drops: 9
+
+Data Id: 30 - DID_GPS1_VEL
+Count: 20
+Errors: 0
+Average Timestamp Delta: 5.536842
+Max Timestamp Delta: 12.200000
+Timestamp Drops: 8
+
+Data Id: 35 - userpage0
+Count: 1
+Errors: 0
+Average Timestamp Delta: 0.000000
+Max Timestamp Delta: 0.000000
+Timestamp Drops: 0
+
+Data Id: 48 - inl2States
+Count: 16
+Errors: 0
+Average Timestamp Delta: 0.000000
+Max Timestamp Delta: 0.000000
+Timestamp Drops: 0
+
+Data Id: 52 - magnetometer1
+Count: 322
+Errors: 0
+Average Timestamp Delta: 0.343777
+Max Timestamp Delta: 5.459597
+Timestamp Drops: 94
+
+Data Id: 53 - barometer
+Count: 363
+Errors: 0
+Average Timestamp Delta: 0.304818
+Max Timestamp Delta: 5.463577
+Timestamp Drops: 102
+
+Data Id: 55 - magnetometer2
+Count: 325
+Errors: 0
+Average Timestamp Delta: 0.340593
+Max Timestamp Delta: 5.459597
+Timestamp Drops: 92
+
+Data Id: 59 - inl2MagObs
+Count: 15
+Errors: 0
+Average Timestamp Delta: 0.000000
+Max Timestamp Delta: 0.000000
+Timestamp Drops: 0
+
+Data Id: 67 - inl2Variance
+Count: 33
+Errors: 0
+Average Timestamp Delta: 0.000000
+Max Timestamp Delta: 0.000000
+Timestamp Drops: 0
+
+Data Id: 72 - diagnosticMsg
+Count: 19
+Errors: 0
+Average Timestamp Delta: 5.588778
+Max Timestamp Delta: 19.804000
+Timestamp Drops: 9
+
diff --git a/CLTool/VS_project/IS_logs/20180801_225711/stats_SN30235.txt b/CLTool/VS_project/IS_logs/20180801_225711/stats_SN30235.txt
@@ -0,0 +1,122 @@
+Count: 2101
+Errors: 0
+
+Data Id: 1 - devInfo
+Count: 3
+Errors: 0
+Average Timestamp Delta: 0.000000
+Max Timestamp Delta: 0.000000
+Timestamp Drops: 0
+
+Data Id: 3 - preintegratedImu
+Count: 907
+Errors: 0
+Average Timestamp Delta: 0.121797
+Max Timestamp Delta: 5.447597
+Timestamp Drops: 66
+
+Data Id: 5 - ins2
+Count: 33
+Errors: 0
+Average Timestamp Delta: 3.287739
+Max Timestamp Delta: 5.499878
+Timestamp Drops: 6
+
+Data Id: 6 - gpsPos
+Count: 19
+Errors: 0
+Average Timestamp Delta: 5.844444
+Max Timestamp Delta: 12.200000
+Timestamp Drops: 8
+
+Data Id: 7 - config
+Count: 3
+Errors: 0
+Average Timestamp Delta: 0.000000
+Max Timestamp Delta: 0.000000
+Timestamp Drops: 0
+
+Data Id: 10 - sysParams
+Count: 1
+Errors: 0
+Average Timestamp Delta: 0.000000
+Max Timestamp Delta: 0.000000
+Timestamp Drops: 0
+
+Data Id: 12 - flashCfg
+Count: 3
+Errors: 0
+Average Timestamp Delta: 0.000000
+Max Timestamp Delta: 0.000000
+Timestamp Drops: 0
+
+Data Id: 21 - gpsRtkRel
+Count: 18
+Errors: 0
+Average Timestamp Delta: 5.917647
+Max Timestamp Delta: 19.800000
+Timestamp Drops: 9
+
+Data Id: 30 - DID_GPS1_VEL
+Count: 20
+Errors: 0
+Average Timestamp Delta: 5.536842
+Max Timestamp Delta: 12.200000
+Timestamp Drops: 8
+
+Data Id: 35 - userpage0
+Count: 1
+Errors: 0
+Average Timestamp Delta: 0.000000
+Max Timestamp Delta: 0.000000
+Timestamp Drops: 0
+
+Data Id: 48 - inl2States
+Count: 16
+Errors: 0
+Average Timestamp Delta: 0.000000
+Max Timestamp Delta: 0.000000
+Timestamp Drops: 0
+
+Data Id: 52 - magnetometer1
+Count: 322
+Errors: 0
+Average Timestamp Delta: 0.343777
+Max Timestamp Delta: 5.459597
+Timestamp Drops: 94
+
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+
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+Count: 325
+Errors: 0
+Average Timestamp Delta: 0.340593
+Max Timestamp Delta: 5.459597
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+
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+Errors: 0
+Average Timestamp Delta: 0.000000
+Max Timestamp Delta: 0.000000
+Timestamp Drops: 0
+
+Data Id: 67 - inl2Variance
+Count: 33
+Errors: 0
+Average Timestamp Delta: 0.000000
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+Timestamp Drops: 0
+
+Data Id: 72 - diagnosticMsg
+Count: 19
+Errors: 0
+Average Timestamp Delta: 5.588778
+Max Timestamp Delta: 19.804000
+Timestamp Drops: 9
+
diff --git a/CLTool/VS_project/IS_logs/20180801_225926/LOG_SN30235_20180801_225926_0001.dat b/CLTool/VS_project/IS_logs/20180801_225926/LOG_SN30235_20180801_225926_0001.dat
diff --git a/CLTool/VS_project/IS_logs/20180801_225926/diagnostic_30235.txt b/CLTool/VS_project/IS_logs/20180801_225926/diagnostic_30235.txt
@@ -0,0 +1,42 @@
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diff --git a/CLTool/VS_project/IS_logs/20180801_225926/errors.txt b/CLTool/VS_project/IS_logs/20180801_225926/errors.txt