MRPT  1.9.9
xsrawgpssol.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #ifndef XSRAWGPSSOL_H
10 #define XSRAWGPSSOL_H
11 
12 #include "pstdint.h"
13 
14 #ifdef _MSC_VER
15 #pragma pack(push, 1)
16 #endif
17 
18 #ifndef __cplusplus
19 #define XSRAWGPSSOL_INITIALIZER \
20  { \
21  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 \
22  }
23 #endif
24 
25 /*! \brief A container for NAV-SOL data
26 */
28 {
29  /** Gps time of week (ms) */
31  /** Nanoseconds remainder of rounded ms above, range -500000 .. 500000 */
33  /** GPS week (GPS time) */
35  uint8_t m_gpsfix; /*!< GPSfix Type, range 0..4
36  0x00 = No Fix
37  0x01 = Dead Reckoning only
38  0x02 = 2D-Fix
39  0x03 = 3D-Fix
40  0x04 = GPS + dead reckoning combined
41  0x05..0xff: reserved
42  */
43  uint8_t m_flags; /*!< 0x01=GPSfixOK (i.e. within DOP & ACC Masks)
44  0x02=DiffSoln (is DGPS used)
45  0x04=WKNSET (is Week Number valid)
46  0x08=TOWSET (is Time of Week valid)
47  0x?0=reserved
48  */
49  /** ECEF X position (cm) */
51  /** ECEF Y position (cm) */
53  /** ECEF Z position (cm) */
55  /** Position Accuracy Estimate (cm) */
57  /** ECEF X velocity (cm/s) */
59  /** ECEF Y velocity (cm/s) */
61  /** ECEF Z velocity (cm/s) */
63  /** Speed Accuracy Estimate (cm/s) */
65  /** Position DOP */
67  /** Reserved */
69  /** Number of SVs used in Nav Solution */
71  /** Reserved */
73 };
74 typedef struct XsRawGpsSol XsRawGpsSol;
75 
76 #ifdef _MSC_VER
77 #pragma pack(pop)
78 #endif
79 
80 #endif // file guard
int32_t m_ecef_x
ECEF X position (cm)
Definition: xsrawgpssol.h:50
uint32_t m_itow
Gps time of week (ms)
Definition: xsrawgpssol.h:30
int32_t m_ecef_vy
ECEF Y velocity (cm/s)
Definition: xsrawgpssol.h:60
uint32_t m_sacc
Speed Accuracy Estimate (cm/s)
Definition: xsrawgpssol.h:64
unsigned __int16 uint16_t
Definition: rptypes.h:44
uint8_t m_numsv
Number of SVs used in Nav Solution.
Definition: xsrawgpssol.h:70
int32_t m_ecef_y
ECEF Y position (cm)
Definition: xsrawgpssol.h:52
int16_t m_week
GPS week (GPS time)
Definition: xsrawgpssol.h:34
unsigned char uint8_t
Definition: rptypes.h:41
uint8_t m_res1
Reserved.
Definition: xsrawgpssol.h:68
uint32_t m_pacc
Position Accuracy Estimate (cm)
Definition: xsrawgpssol.h:56
uint8_t m_gpsfix
Definition: xsrawgpssol.h:35
int32_t m_frac
Nanoseconds remainder of rounded ms above, range -500000 .
Definition: xsrawgpssol.h:32
__int16 int16_t
Definition: rptypes.h:43
int32_t m_ecef_vz
ECEF Z velocity (cm/s)
Definition: xsrawgpssol.h:62
int32_t m_ecef_z
ECEF Z position (cm)
Definition: xsrawgpssol.h:54
uint8_t m_flags
Definition: xsrawgpssol.h:43
int32_t m_ecef_vx
ECEF X velocity (cm/s)
Definition: xsrawgpssol.h:58
__int32 int32_t
Definition: rptypes.h:46
unsigned __int32 uint32_t
Definition: rptypes.h:47
A container for NAV-SOL data.
Definition: xsrawgpssol.h:27
uint32_t m_res2
Reserved.
Definition: xsrawgpssol.h:72
uint16_t m_pdop
Position DOP.
Definition: xsrawgpssol.h:66



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