Changeset 374 in pacpusframework

Timestamp:

12/20/16 12:43:26 (8 years ago)

Author:

xuphilip

Message:

Structure GPS

File:

• tags/0.2.3/include/Pacpus/structures/structure_gps.h (modified) (7 diffs)

tags/0.2.3/include/Pacpus/structures/structure_gps.h

@@ +1 @@
+
+
 // donnees NMEA emises par l'ag132 sur la liaison serie
 // revision le 23/08/2004 PhB et GD : trame_gga_dbl
@@ -7 +9 @@
 
 #include "Pacpus/kernel/road_time.h"
+
+//#define TRAME_CORRIMUDATAA 625 // TODO : Add in kernel enum SpanCptType
+//#define TRAME_INSPVAXA 626 // TODO : Add in kernel enum SpanCptType
 
 /// POSITION WGS84
@@ -324 +329 @@
     NARROW_INT = 50,
     RTK_DIRECT_INS = 51,
-    INS = 52,
-    INS_PSRSP =53,
-    INS_PSRDIFF =54,
+    INS_SBAS = 52,
+    INS_PSRSP = 53,
+    INS_PSRDIFF = 54,
     INS_RTKFLOAT = 55,
     INS_RTKFIXED = 56,
@@ -334 +339 @@
     OMNISTAR_HP = 64,
     OMNISTAR_XP = 65,
-    CDGPS = 66
+    PPP_CONVERGING = 68,
+    PPP = 69,
+    INS_PPP_Converging = 73,
+    INS_PPP = 74
 };
 
@@ -413 +421 @@
 } trame_inscov;
 
+/// TRAME CORRIMUDATAA
+typedef struct
+{
+    uint32_t Week;
+    double        Seconds;
+    double        PitchRate;
+    double        RollRate;
+    double        YawRate;
+    double        LateralAcc;
+    double        LongitudinalAcc;
+    double        VerticalAcc;
+} trame_corrimudataa;
+
+/// TRAME INSPVAXA
+typedef struct
+{
+    INSStatus   Status;
+    PosType     posType;
+    double      Lat;
+    double      Lon;
+    double      Hgt;
+    float       Undulation;
+    double      NorthVel;
+    double      EastVel;
+    double      UpVel;
+    double      Roll;
+    double      Pitch;
+    double      Azimuth;
+    float       LatSd;
+    float       LonSd;
+    float       HgtSd;
+    float       NorthVelSd;
+    float       EastVelSd;
+    float       UpVelSd;
+    float       RollSd;
+    float       PitchSd;
+    float       AzimuthSd;
+} trame_inspvaxa;
+
+/// GROUND TRUTH
+typedef struct
+{
+    double      Lat;
+    double      Lon;
+    double      Hgt;
+    double      EastVel;
+    double      NorthVel;
+    double      UpVel;
+    double      EastAcc;
+    double      NorthAcc;
+    double      UpAcc;
+    double      Roll;
+    double      Pitch;
+    double      Azimuth;
+    float       GPSCOG;
+    double      AccBiasX;
+    double      AccBiasY;
+    double      AccBiasZ;
+    double      GyroDriftX;
+    double      GyroDriftY;
+    double      GyroDriftZ;
+} ground_truth;
+
 /// trame_bestgpsposa structure with timestamping
 struct TimestampedBestgpsposaFrame
@@ -445 +516 @@
 };
 
+/// trame_corrimudataa structure with timestamping
+struct TimestampedCorrimudataaFrame
+{
+    trame_corrimudataa frame;
+    road_time_t time;
+    road_timerange_t timerange;
+};
+
+/// trame_inspvaxa structure with timestamping
+struct TimestampedInspvaxaFrame
+{
+    trame_inspvaxa frame;
+    road_time_t time;
+    road_timerange_t timerange;
+};
+
 /// trame_gga structure with timestamping
 struct TimestampedGgaFrame
@@ -469 +556 @@
 };
 
+/// ground_truth structure with timestamping
+struct TimestampedGroundTruth
+{
+    ground_truth frame;
+    road_time_t time;
+    road_timerange_t timerange;
+};
+
+
 #endif // STRUCTURE_GPS_H