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
{
        /** Gps time of week (ms) */
        uint32_t m_itow;
        /** Nanoseconds remainder of rounded ms above, range -500000 .. 500000 */
        int32_t m_frac;
        /** GPS week (GPS time) */
        int16_t m_week;
        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
                                         */
        /** ECEF X position (cm) */
        int32_t m_ecef_x;
        /** ECEF Y position (cm) */
        int32_t m_ecef_y;
        /** ECEF Z position (cm) */
        int32_t m_ecef_z;
        /** Position Accuracy Estimate (cm) */
        uint32_t m_pacc;
        /** ECEF X velocity (cm/s) */
        int32_t m_ecef_vx;
        /** ECEF Y velocity (cm/s) */
        int32_t m_ecef_vy;
        /** ECEF Z velocity (cm/s) */
        int32_t m_ecef_vz;
        /** Speed Accuracy Estimate (cm/s) */
        uint32_t m_sacc;
        /** Position DOP */
        uint16_t m_pdop;
        /** Reserved */
        uint8_t m_res1;
        /** Number of SVs used in Nav Solution */
        uint8_t m_numsv;
        /** Reserved */
        uint32_t m_res2;
};
typedef struct XsRawGpsSol XsRawGpsSol;

#ifdef _MSC_VER
#pragma pack(pop)
#endif

#endif  // file guard