From 6d9a1e5e5d32e72c58927204193a6458764ed8b5 Mon Sep 17 00:00:00 2001
From: Shreya Subramaniam <ssubramaniam@clearpathrobotics.com>
Date: Mon, 15 Apr 2019 16:29:27 -0400
Subject: [PATCH] Adding to readme

---
 README.md | 70 +++++++++++++++++++++++++++++++++++++------------------
 1 file changed, 47 insertions(+), 23 deletions(-)

diff --git a/README.md b/README.md
index 1b42e5a5..6cb8f22c 100644
--- a/README.md
+++ b/README.md
@@ -5,28 +5,52 @@ Interface software, including ROS node, for Microstrain IMUs.
 | Function  | GX5-45 | GX5-25  |
 | ------------- | ------------- | -------------  |
 | mip_system_com_mode  |  X  |  X  |
-| mip_base_cmd_get_device_info  |  X  |  X  |
+| device_report  |  X  |  X  |
 | mip_3dm_cmd_coning_sculling_compensation  |  X  |  X  |
-| mip_3dm_cmd_accel_bias |  X  |  X  |
-| mip_3dm_cmd_gyro_bias  |  X  |  X  |
-|mip_3dm_cmd_capture_gyro_bias  |  X  |  X  |
-|mip_3dm_cmd_hard_iron  |  X  |  X  |  
-|mip_3dm_cmd_soft_iron  |  X  |  X  |
-|mip_3dm_cmd_complementary_filter_settings  |  X  |  X  |
-|mip_filter_set_init_attitude  |  X  |  X  |
-|mip_filter_set_init_heading  |  X  |  X  |
-|mip_filter_sensor2vehicle_tranformation  |  X  |  X  |
-|mip_filter_estimation_control  |  X  |  X  |
+| set_accel_bias |  X  |  X  |
+| get_accel_bias |  X  |  X  |
+| set_gyro_bias  |  X  |  X  |
+| get_gyro_bias  |  X  |  X  |
+| gyro_bias_capture  |  X  |  X  |
+| set_hard_iron_values |  X  |  X  |
+| get_hard_iron_values |  X  |  X  |
+| set_soft_iron_matrix  |  X  |  X  |
+| get_soft_iron_matrix  |  X  |  X  |
+| set_complementary_filter  |  X  |  X  |
+| get_complementary_filter  |  X  |  X  |
+| set_filter_euler  |  X  |  X  |
+| set_filter_heading  |  X  |  X  |
+| set_sensor_vehicle_frame_trans  |  X  |  X  |
+| get_sensor_vehicle_frame_trans  |  X  |  X  |
+| set_reference_position  |  X  |  X  |
+| get_reference_position  |  X  |  X  |
+| set_coning_sculling_comp  |  X  |  X  |
+| get_coning_sculling_comp  |  X  |  X  |
+| set_estimation_control_flags  |  X  |  X  |
+| get_estimation_control_flags  |  X  |  X  |
 |mip_filter_zero_velocity_update_control  |  X  |  X  |
-|mip_filter_tare_orientation  |  X  |  X  |
-|mip_filter_accel_noise  |  X  |  X  |
-|mip_filter_gyro_noise  |  X  |  X  |
-|mip_filter_mag_noise  |  X  |    |
-|mip_filter_gyro_bias_model  |  X  |  X  |
-|mip_filter_accel_magnitude_error_adaptive_measurement  |  X  |  X  |
-|mip_filter_mag_magnitude_error_adaptive_measurement  |  X  |   |
-|mip_3dm_cmd_hw_specific_imu_device_status  |  X  |  X  |
-|mip_filter_vehicle_dynamics_mode  |  X  |    |
-|mip_filter_sensor2vehicle_offset  |  X  |    |
-|mip_filter_accel_bias_model  |  X  |    |
-|mip_filter_mag_dip_angle_error_adaptive_measurement  |  X  |    |
+| set_zero_angle_update_threshold  |  X  |  X  |
+| get_zero_angle_update_threshold  |  X  |  X  |
+| set_tare_orientation  |  X  |  X  |
+| set_accel_noise  |  X  |  X  |
+| get_accel_noise  |  X  |  X  |
+| set_gyro_noise  |  X  |  X  |
+| get_gyro_noise  |  X  |  X  |
+| set_mag_noise  |  X  |    |
+| get_mag_noise  |  X  |    |
+| set_gyro_bias_model  |  X  |  X  |
+| get_gyro_bias_model  |  X  |  X  |
+| set_accel_adaptive_vals  |  X  |  X  |
+| get_accel_adaptive_vals  |  X  |  X  |
+| get_mag_adaptive_vals  |  X  |   |
+| set_mag_adaptive_vals  |  X  |   |
+| get_basic_status  |  X  |  X  |
+| get_diagnostic_report  |  X  |  X  |
+| set_dynamics_mode  |  X  |    |
+| get_dynamics_mode  |  X  |    |
+| set_sensor_vehicle_frame_offset  |  X  |    |
+| get_sensor_vehicle_frame_offset  |  X  |    |
+| set_accel_bias_model  |  X  |    |
+| get_accel_bias_model  |  X  |    |
+| set_mag_dip_adaptive_vals  |  X  |    |
+| get_mag_dip_adaptive_vals  |  X  |    |