AP_GPS.h File Reference

#include <AP_HAL/AP_HAL.h>
#include <inttypes.h>
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include "GPS_detect_state.h"
#include <AP_SerialManager/AP_SerialManager.h>

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Classes
class	AP_GPS
struct	AP_GPS::GPS_State
struct	AP_GPS::GPS_timing
struct	AP_GPS::detect_state
struct	AP_GPS::rtcm_buffer

Namespaces
	AP

Macros
#define	GPS_MAX_RECEIVERS   2
#define	GPS_MAX_INSTANCES   (GPS_MAX_RECEIVERS + 1)
#define	GPS_BLENDED_INSTANCE   GPS_MAX_RECEIVERS
#define	GPS_RTK_INJECT_TO_ALL   127
#define	GPS_MAX_RATE_MS   200
#define	GPS_UNKNOWN_DOP   UINT16_MAX
#define	GPS_WORST_LAG_SEC   0.22f
#define	GPS_MAX_DELTA_MS   245
#define	GPS_LEAPSECONDS_MILLIS   18000ULL
#define	UNIX_OFFSET_MSEC   (17000ULL * 86400ULL + 52ULL * 10ULL * AP_MSEC_PER_WEEK - GPS_LEAPSECONDS_MILLIS)

Functions
AP_GPS &	AP::gps ()

Macro Definition Documentation

GPS_BLENDED_INSTANCE

#define GPS_BLENDED_INSTANCE   GPS_MAX_RECEIVERS

Definition at line 32 of file AP_GPS.h.

Referenced by AP_GPS::calc_blend_weights(), AP_GPS::calc_blended_state(), AP_GPS::get_lag(), and AP_GPS::update().

GPS_LEAPSECONDS_MILLIS

#define GPS_LEAPSECONDS_MILLIS   18000ULL

Definition at line 40 of file AP_GPS.h.

Referenced by gps_time(), and AP_GPS_Backend::make_gps_time().

GPS_MAX_DELTA_MS

#define GPS_MAX_DELTA_MS   245

Definition at line 37 of file AP_GPS.h.

Referenced by AP_GPS::is_healthy().

GPS_MAX_INSTANCES

#define GPS_MAX_INSTANCES   (GPS_MAX_RECEIVERS + 1)

Definition at line 31 of file AP_GPS.h.

Referenced by AP_GPS::init().

GPS_MAX_RATE_MS

#define GPS_MAX_RATE_MS   200

Definition at line 34 of file AP_GPS.h.

Referenced by AP_GPS::get_rate_ms(), and AP_GPS::init().

GPS_MAX_RECEIVERS

#define GPS_MAX_RECEIVERS   2

maximum number of GPS instances available on this platform. If more than 1 then redundant sensors may be available

Definition at line 30 of file AP_GPS.h.

Referenced by AP_GPS::calc_blend_weights(), AP_GPS::calc_blended_state(), AP_GPS::first_unconfigured_gps(), AP_GPS::get_antenna_offset(), AP_GPS::highest_supported_status(), AP_GPS::init(), AP_GPS::inject_data(), AP_GPS::lock_port(), AP_GPS::prepare_for_arming(), AP_GPS::send_mavlink_gps_rtk(), AP_GPS::setHIL(), AP_GPS::setHIL_Accuracy(), and AP_GPS::update().

GPS_RTK_INJECT_TO_ALL

#define GPS_RTK_INJECT_TO_ALL   127

Definition at line 33 of file AP_GPS.h.

Referenced by AP_GPS::inject_data().

GPS_UNKNOWN_DOP

#define GPS_UNKNOWN_DOP   UINT16_MAX

Definition at line 35 of file AP_GPS.h.

Referenced by AP_GPS::calc_blended_state(), AP_GPS::detect_instance(), AP_GPS_MAV::handle_msg(), and AP_GPS::update_instance().

GPS_WORST_LAG_SEC

#define GPS_WORST_LAG_SEC   0.22f

Definition at line 36 of file AP_GPS.h.

Referenced by AP_GPS::get_lag().

UNIX_OFFSET_MSEC

#define UNIX_OFFSET_MSEC   (17000ULL * 86400ULL + 52ULL * 10ULL * AP_MSEC_PER_WEEK - GPS_LEAPSECONDS_MILLIS)

Definition at line 42 of file AP_GPS.h.

Referenced by AP_GPS::setHIL(), and AP_GPS::time_epoch_convert().