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xsrawgpssol.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, 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 { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
20 #endif
21 
22 /*! \brief A container for NAV-SOL data
23 */
25 {
26  uint32_t m_itow; //!< Gps time of week (ms)
27  int32_t m_frac; //!< Nanoseconds remainder of rounded ms above, range -500000 .. 500000
28  int16_t m_week; //!< GPS week (GPS time)
29  uint8_t m_gpsfix; /*!< GPSfix Type, range 0..4
30  0x00 = No Fix
31  0x01 = Dead Reckoning only
32  0x02 = 2D-Fix
33  0x03 = 3D-Fix
34  0x04 = GPS + dead reckoning combined
35  0x05..0xff: reserved
36  */
37  uint8_t m_flags; /*!< 0x01=GPSfixOK (i.e. within DOP & ACC Masks)
38  0x02=DiffSoln (is DGPS used)
39  0x04=WKNSET (is Week Number valid)
40  0x08=TOWSET (is Time of Week valid)
41  0x?0=reserved
42  */
43  int32_t m_ecef_x; //!< ECEF X position (cm)
44  int32_t m_ecef_y; //!< ECEF Y position (cm)
45  int32_t m_ecef_z; //!< ECEF Z position (cm)
46  uint32_t m_pacc; //!< Position Accuracy Estimate (cm)
47  int32_t m_ecef_vx; //!< ECEF X velocity (cm/s)
48  int32_t m_ecef_vy; //!< ECEF Y velocity (cm/s)
49  int32_t m_ecef_vz; //!< ECEF Z velocity (cm/s)
50  uint32_t m_sacc; //!< Speed Accuracy Estimate (cm/s)
51  uint16_t m_pdop; //!< Position DOP
52  uint8_t m_res1; //!< Reserved
53  uint8_t m_numsv; //!< Number of SVs used in Nav Solution
54  uint32_t m_res2; //!< Reserved
55 
56 };
57 typedef struct XsRawGpsSol XsRawGpsSol;
58 
59 #ifdef _MSC_VER
60 #pragma pack(pop)
61 #endif
62 
63 #endif // file guard
int32_t m_ecef_x
ECEF X position (cm)
Definition: xsrawgpssol.h:43
uint32_t m_itow
Gps time of week (ms)
Definition: xsrawgpssol.h:26
int32_t m_ecef_vy
ECEF Y velocity (cm/s)
Definition: xsrawgpssol.h:48
uint32_t m_sacc
Speed Accuracy Estimate (cm/s)
Definition: xsrawgpssol.h:50
unsigned __int16 uint16_t
Definition: rptypes.h:46
uint8_t m_numsv
Number of SVs used in Nav Solution.
Definition: xsrawgpssol.h:53
int32_t m_ecef_y
ECEF Y position (cm)
Definition: xsrawgpssol.h:44
int16_t m_week
GPS week (GPS time)
Definition: xsrawgpssol.h:28
unsigned char uint8_t
Definition: rptypes.h:43
uint8_t m_res1
Reserved.
Definition: xsrawgpssol.h:52
uint32_t m_pacc
Position Accuracy Estimate (cm)
Definition: xsrawgpssol.h:46
uint8_t m_gpsfix
Definition: xsrawgpssol.h:29
int32_t m_frac
Nanoseconds remainder of rounded ms above, range -500000 .. 500000.
Definition: xsrawgpssol.h:27
__int16 int16_t
Definition: rptypes.h:45
int32_t m_ecef_vz
ECEF Z velocity (cm/s)
Definition: xsrawgpssol.h:49
int32_t m_ecef_z
ECEF Z position (cm)
Definition: xsrawgpssol.h:45
uint8_t m_flags
Definition: xsrawgpssol.h:37
int32_t m_ecef_vx
ECEF X velocity (cm/s)
Definition: xsrawgpssol.h:47
__int32 int32_t
Definition: rptypes.h:48
unsigned __int32 uint32_t
Definition: rptypes.h:49
A container for NAV-SOL data.
Definition: xsrawgpssol.h:24
uint32_t m_res2
Reserved.
Definition: xsrawgpssol.h:54
uint16_t m_pdop
Position DOP.
Definition: xsrawgpssol.h:51



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