MRPT  1.9.9
gnss_messages_type_list.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
11 namespace mrpt::obs::gnss
12 {
13 /** List of all known GNSS message types.
14  * Normally, each type here has a corresponding class, derived from
15  * mrpt::obs::gnss::gnss_message,
16  * that stores the message data, but some classes may be still in the "TO-DO"
17  * list or just not needed in practice.
18  * On the other hand, \b all message classes \b must be associated with one and
19  * only one value from this list.
20  * \sa mrpt::obs::CObservationGPS, mrpt::obs::gnss::gnss_message
21  */
23 {
24  // ====== NMEA ======
25  NMEA_GGA = 10,
33 
34  // ====== TopCon mmGPS ======
35  TOPCON_PZS = 30,
37 
38  // ====== Novatel OEM6 ======
39  // See "OEM6 Family Firmware Reference Manual"
41 
42  NV_OEM6_GENERIC_FRAME = 3000 + NV_OEM6_MSG2ENUM, // Generic container
44  3001 + NV_OEM6_MSG2ENUM, // Generic container (short header)
45 
49  NV_OEM6_BESTPOS = 42 + NV_OEM6_MSG2ENUM, // SPAN: Best available combined
50  // GNSS and INS position
59  259 + NV_OEM6_MSG2ENUM, // More decimal digits than regular GGA
76 
77  // ====== Novatel SPAN+OEM6 ======
78  // See "SPAN on OEM6 firmware reference"
79 
80  NV_OEM6_INSPVAS = 508 + NV_OEM6_MSG2ENUM, // Most recent position, velocity
81  // and attitude at full rate of
82  // IMU (short header)
83  NV_OEM6_INSATTS = 319 + NV_OEM6_MSG2ENUM, // Most recent attitude (roll,
84  // pitch and azimuth)
85  // measurements (short header)
86  NV_OEM6_INSCOVS = 320 + NV_OEM6_MSG2ENUM, // Position, attitude, and
87  // velocity matrices with respect
88  // to the local level frame
89  // (short header)
90  NV_OEM6_INSVELS = 324 + NV_OEM6_MSG2ENUM, // Most recent North, East, and
91  // Up velocity vector values
92  // (short header)
93  NV_OEM6_RAWIMUS = 325 + NV_OEM6_MSG2ENUM // IMU status indicator and the
94  // measurements from the
95  // accelerometers and gyros (short
96  // header)
97 
98 };
99 } // namespace mrpt::obs::gnss
gnss_message_type_t
List of all known GNSS message types.
GNSS (GPS) data structures, mainly for use within mrpt::obs::CObservationGPS.



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