Updated to version 1.3.7

MaxR-iMAR · MaxR-iMAR · commit da12f20ad1c6 · 2023-06-28T12:03:47.000+02:00
diff --git a/ixcom/parser.py b/ixcom/parser.py
@@ -968,6 +968,35 @@ def enable_full_sysstatus(self):
         msgToSend.payload.data['statMode'] = 127
         msgToSend.payload.data['action'] = data.ParameterAction.CHANGING
         self.send_msg_and_waitfor_okay(msgToSend)
+    
+    def set_ins_vel_output_frame(self, vel_output_mode: int = protocol.ParDatVelMode.NED):
+        '''Defines the velocity output frame of the INSSOL message
+            0: NED
+            1: ENU
+            2: ECEF
+            3: BODY
+
+        Raises:
+            ClientTimeoutError: Timeout while waiting for response or log from the XCOM server
+            ResponseError: The response from the system was not 'OK'.
+        '''
+        msgToSend = data.getParameterWithID(data.PARDAT_VEL_Payload.parameter_id)
+        msgToSend.payload.data['velMode'] = vel_output_mode
+        msgToSend.payload.data['action'] = data.ParameterAction.CHANGING
+        self.send_msg_and_waitfor_okay(msgToSend)
+
+    def get_ins_vel_output_frame(self):
+        '''Convenience getter for velocity output frame of the INSSOL message
+
+        Raises:
+            ClientTimeoutError: Timeout while waiting for response or parameter from the XCOM server
+            ResponseError: The response from the system was not 'OK'.
+
+        '''
+        msgToSend = data.getParameterWithID(data.PARDAT_VEL_Payload.parameter_id)
+        msgToSend.payload.data['action'] = data.ParameterAction.REQUESTING
+        self.send_msg_and_waitfor_okay(msgToSend)
+        return self.wait_for_parameter()
 
     def get_device_info(self):
         '''Get information about the connected device
diff --git a/ixcom/protocol.py b/ixcom/protocol.py
@@ -79,6 +79,18 @@ class DatatSelectionMask(IntEnum):
     ECEFPOS = 0b0000010000000000
     '''Position is ECEF X,Y,Z'''
 
+class ParDatVelMode(IntEnum):
+    '''Enumeration for the velocity output frame of the INSSOL message'''
+
+    NED = 0
+    '''The velocity fields of the INSSOL message contain the velocity in NED frame.'''
+    ENU = 1
+    '''The velocity fields of the INSSOL message contain the velocity in ENU frame.'''
+    ECEF = 2
+    '''The velocity fields of the INSSOL message contain the velocity in ECEF frame.'''
+    BODY = 3
+    '''The velocity fields of the INSSOL message contain the velocity in vehicle body frame.'''
+
 class MessageID(IntEnum):
     '''Enumeration for special message IDs'''
     PLUGIN        = 0x64
diff --git a/setup.py b/setup.py
@@ -14,7 +14,7 @@
     long_description = open(readmePath, "rt").read()
 
     setup(name='ixcom',
-          version='1.3.6',
+          version='1.3.7',
           description='Library for communicating with xcom devices over network',
           author='iMAR Navigation GmbH',
           author_email='support@imar-navigation.de',
