xsrawgpssol.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef XSRAWGPSSOL_H
#define XSRAWGPSSOL_H

#include "pstdint.h"

#ifdef _MSC_VER
#pragma pack(push, 1)
#endif

#ifndef __cplusplus
#define XSRAWGPSSOL_INITIALIZER { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
#endif

/*! \brief A container for NAV-SOL data
*/
struct XsRawGpsSol
{
        uint32_t        m_itow;         //!< Gps time of week (ms)
        int32_t         m_frac;         //!< Nanoseconds remainder of rounded ms above, range -500000 .. 500000
        int16_t         m_week;         //!< GPS week (GPS time)
        uint8_t         m_gpsfix;       /*!< GPSfix Type, range 0..4
                                                                0x00 = No Fix
                                                                0x01 = Dead Reckoning only
                                                                0x02 = 2D-Fix
                                                                0x03 = 3D-Fix
                                                                0x04 = GPS + dead reckoning combined
                                                                0x05..0xff: reserved
                                                        */
        uint8_t         m_flags;        /*!< 0x01=GPSfixOK (i.e. within DOP & ACC Masks)
                                                                 0x02=DiffSoln (is DGPS used)
                                                                 0x04=WKNSET (is Week Number valid)
                                                                 0x08=TOWSET (is Time of Week valid)
                                                                 0x?0=reserved
                                                        */
        int32_t         m_ecef_x;       //!< ECEF X position (cm)
        int32_t         m_ecef_y;       //!< ECEF Y position (cm)
        int32_t         m_ecef_z;       //!< ECEF Z position (cm)
        uint32_t        m_pacc;         //!< Position Accuracy Estimate (cm)
        int32_t         m_ecef_vx;      //!< ECEF X velocity (cm/s)
        int32_t         m_ecef_vy;      //!< ECEF Y velocity (cm/s)
        int32_t         m_ecef_vz;      //!< ECEF Z velocity (cm/s)
        uint32_t        m_sacc;         //!< Speed Accuracy Estimate (cm/s)
        uint16_t        m_pdop;         //!< Position DOP
        uint8_t         m_res1;         //!< Reserved
        uint8_t         m_numsv;        //!< Number of SVs used in Nav Solution
        uint32_t        m_res2;         //!< Reserved

};
typedef struct XsRawGpsSol XsRawGpsSol;

#ifdef _MSC_VER
#pragma pack(pop)
#endif

#endif // file guard