text: #import the mscl library
  import sys
  sys.path.append("../../dependencies/Python")
  import mscl
  
  #TODO: change these constants to match your setup
  COM_PORT = "COM4"
  
  try:
      #create a Serial Connection with the specified COM Port, default baud rate of 921600
      connection = mscl.Connection.Serial(COM_PORT)
  
      #create an InertialNode with the connection
      node = mscl.InertialNode(connection)
  
      #many other settings are available than shown below
      #reference the documentation for the full list of commands
  
      #if the node supports AHRS/IMU
      if node.features().supportsCategory(mscl.MipTypes.CLASS_AHRS_IMU):
          #get a list of the AHRS/IMU channels currently active on the Node
          ahrsImuActiveChs = node.getActiveChannelFields(mscl.MipTypes.CLASS_AHRS_IMU)
  
          print "AHRS/IMU Channels"
          print "-----------------"
          for ch in ahrsImuActiveChs:
              print "Channel Field:", ch.channelField()
              print "Sample Rate:", ch.sampleRate().prettyStr()
  
      #if the node supports Estimation Filter
      if node.features().supportsCategory(mscl.MipTypes.CLASS_ESTFILTER):
          #get a list of the Estimation Filter channels currently active on the Node
          estFilterActiveChs = node.getActiveChannelFields(mscl.MipTypes.CLASS_ESTFILTER)
  
          print "Estimation Filter Channels"
          print "--------------------------"
          for ch in estFilterActiveChs:
              print "Channel Field:", ch.channelField()
              print "Sample Rate:", ch.sampleRate().prettyStr()
  
      #if the node supports GNSS
      if node.features().supportsCategory(mscl.MipTypes.CLASS_GNSS):
          #get a list of the GNSS channels currently active on the Node
          gnssActiveChs = node.getActiveChannelFields(mscl.MipTypes.CLASS_GNSS)
  
          print "GNSS Channels"
          print "--------------------------"
          for ch in gnssActiveChs:
              print "Channel Field:", ch.channelField()
              print "Sample Rate:", ch.sampleRate().prettyStr()
  
      print "Altitude Aiding enabled?:", node.getAltitudeAid()
  
      offset = node.getAntennaOffset()
      print "Antenna Offset: x=", offset.x(), " y=", offset.y(), " z=", offset.z()
  
      print "Pitch/Roll Aiding enabled?:", node.getPitchRollAid()
      
  except mscl.Error, e:
      print "Error:", e
  