Changeset 374 in pacpusframework
- Timestamp:
- Dec 20, 2016, 12:43:26 PM (8 years ago)
- File:
-
- 1 edited
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tags/0.2.3/include/Pacpus/structures/structure_gps.h
r362 r374 1 2 1 3 // donnees NMEA emises par l'ag132 sur la liaison serie 2 4 // revision le 23/08/2004 PhB et GD : trame_gga_dbl … … 7 9 8 10 #include "Pacpus/kernel/road_time.h" 11 12 //#define TRAME_CORRIMUDATAA 625 // TODO : Add in kernel enum SpanCptType 13 //#define TRAME_INSPVAXA 626 // TODO : Add in kernel enum SpanCptType 9 14 10 15 /// POSITION WGS84 … … 324 329 NARROW_INT = 50, 325 330 RTK_DIRECT_INS = 51, 326 INS = 52,327 INS_PSRSP = 53,328 INS_PSRDIFF = 54,331 INS_SBAS = 52, 332 INS_PSRSP = 53, 333 INS_PSRDIFF = 54, 329 334 INS_RTKFLOAT = 55, 330 335 INS_RTKFIXED = 56, … … 334 339 OMNISTAR_HP = 64, 335 340 OMNISTAR_XP = 65, 336 CDGPS = 66 341 PPP_CONVERGING = 68, 342 PPP = 69, 343 INS_PPP_Converging = 73, 344 INS_PPP = 74 337 345 }; 338 346 … … 413 421 } trame_inscov; 414 422 423 /// TRAME CORRIMUDATAA 424 typedef struct 425 { 426 uint32_t Week; 427 double Seconds; 428 double PitchRate; 429 double RollRate; 430 double YawRate; 431 double LateralAcc; 432 double LongitudinalAcc; 433 double VerticalAcc; 434 } trame_corrimudataa; 435 436 /// TRAME INSPVAXA 437 typedef struct 438 { 439 INSStatus Status; 440 PosType posType; 441 double Lat; 442 double Lon; 443 double Hgt; 444 float Undulation; 445 double NorthVel; 446 double EastVel; 447 double UpVel; 448 double Roll; 449 double Pitch; 450 double Azimuth; 451 float LatSd; 452 float LonSd; 453 float HgtSd; 454 float NorthVelSd; 455 float EastVelSd; 456 float UpVelSd; 457 float RollSd; 458 float PitchSd; 459 float AzimuthSd; 460 } trame_inspvaxa; 461 462 /// GROUND TRUTH 463 typedef struct 464 { 465 double Lat; 466 double Lon; 467 double Hgt; 468 double EastVel; 469 double NorthVel; 470 double UpVel; 471 double EastAcc; 472 double NorthAcc; 473 double UpAcc; 474 double Roll; 475 double Pitch; 476 double Azimuth; 477 float GPSCOG; 478 double AccBiasX; 479 double AccBiasY; 480 double AccBiasZ; 481 double GyroDriftX; 482 double GyroDriftY; 483 double GyroDriftZ; 484 } ground_truth; 485 415 486 /// trame_bestgpsposa structure with timestamping 416 487 struct TimestampedBestgpsposaFrame … … 445 516 }; 446 517 518 /// trame_corrimudataa structure with timestamping 519 struct TimestampedCorrimudataaFrame 520 { 521 trame_corrimudataa frame; 522 road_time_t time; 523 road_timerange_t timerange; 524 }; 525 526 /// trame_inspvaxa structure with timestamping 527 struct TimestampedInspvaxaFrame 528 { 529 trame_inspvaxa frame; 530 road_time_t time; 531 road_timerange_t timerange; 532 }; 533 447 534 /// trame_gga structure with timestamping 448 535 struct TimestampedGgaFrame … … 469 556 }; 470 557 558 /// ground_truth structure with timestamping 559 struct TimestampedGroundTruth 560 { 561 ground_truth frame; 562 road_time_t time; 563 road_timerange_t timerange; 564 }; 565 566 471 567 #endif // STRUCTURE_GPS_H
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