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APM:Libraries
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#include <AP_GPS.h>
Public Attributes | |
| uint8_t | instance |
| GPS_Status | status |
| driver fix status More... | |
| uint32_t | time_week_ms |
| GPS time (milliseconds from start of GPS week) More... | |
| uint16_t | time_week |
| GPS week number. More... | |
| Location | location |
| last fix location More... | |
| float | ground_speed |
| ground speed in m/sec More... | |
| float | ground_course |
| ground course in degrees More... | |
| uint16_t | hdop |
| horizontal dilution of precision in cm More... | |
| uint16_t | vdop |
| vertical dilution of precision in cm More... | |
| uint8_t | num_sats |
| Number of visible satellites. More... | |
| Vector3f | velocity |
| 3D velocity in m/s, in NED format More... | |
| float | speed_accuracy |
| 3D velocity RMS accuracy estimate in m/s More... | |
| float | horizontal_accuracy |
| horizontal RMS accuracy estimate in m More... | |
| float | vertical_accuracy |
| vertical RMS accuracy estimate in m More... | |
| bool | have_vertical_velocity:1 |
| does GPS give vertical velocity? Set to true only once available. More... | |
| bool | have_speed_accuracy:1 |
| does GPS give speed accuracy? Set to true only once available. More... | |
| bool | have_horizontal_accuracy:1 |
| does GPS give horizontal position accuracy? Set to true only once available. More... | |
| bool | have_vertical_accuracy:1 |
| does GPS give vertical position accuracy? Set to true only once available. More... | |
| uint32_t | last_gps_time_ms |
| the system time we got the last GPS timestamp, milliseconds More... | |
| uint32_t | rtk_time_week_ms |
| GPS Time of Week of last baseline in milliseconds. More... | |
| uint16_t | rtk_week_number |
| GPS Week Number of last baseline. More... | |
| uint32_t | rtk_age_ms |
| GPS age of last baseline correction in milliseconds (0 when no corrections, 0xFFFFFFFF indicates overflow) More... | |
| uint8_t | rtk_num_sats |
| Current number of satellites used for RTK calculation. More... | |
| uint8_t | rtk_baseline_coords_type |
| Coordinate system of baseline. 0 == ECEF, 1 == NED. More... | |
| int32_t | rtk_baseline_x_mm |
| Current baseline in ECEF x or NED north component in mm. More... | |
| int32_t | rtk_baseline_y_mm |
| Current baseline in ECEF y or NED east component in mm. More... | |
| int32_t | rtk_baseline_z_mm |
| Current baseline in ECEF z or NED down component in mm. More... | |
| uint32_t | rtk_accuracy |
| Current estimate of 3D baseline accuracy (receiver dependent, typical 0 to 9999) More... | |
| int32_t | rtk_iar_num_hypotheses |
| Current number of integer ambiguity hypotheses. More... | |
| float AP_GPS::GPS_State::ground_course |
ground course in degrees
Definition at line 137 of file AP_GPS.h.
Referenced by AP_GPS_SBP::_attempt_state_update(), AP_GPS_SBP2::_attempt_state_update(), AP_GPS_SIRF::_parse_gps(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS_NMEA::_term_complete(), AP_GPS::calc_blended_state(), AP_GPS_Backend::fill_3d_velocity(), AP_GPS::ground_course(), AP_GPS::ground_course_cd(), AP_GPS_MAV::handle_msg(), AP_GPS_NOVA::process_message(), AP_GPS_GSOF::process_message(), AP_GPS_SBF::process_message(), AP_GPS_MTK::read(), AP_GPS_MTK19::read(), and AP_GPS::setHIL().
| float AP_GPS::GPS_State::ground_speed |
ground speed in m/sec
Definition at line 136 of file AP_GPS.h.
Referenced by AP_GPS_SBP::_attempt_state_update(), AP_GPS_SBP2::_attempt_state_update(), AP_GPS_SIRF::_parse_gps(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS_NMEA::_term_complete(), AP_GPS::calc_blended_state(), AP_GPS_Backend::fill_3d_velocity(), AP_GPS::ground_speed(), AP_GPS::ground_speed_cm(), AP_GPS_MAV::handle_msg(), AP_GPS_NOVA::process_message(), AP_GPS_GSOF::process_message(), AP_GPS_SBF::process_message(), AP_GPS_MTK::read(), AP_GPS_MTK19::read(), and AP_GPS::setHIL().
| bool AP_GPS::GPS_State::have_horizontal_accuracy |
does GPS give horizontal position accuracy? Set to true only once available.
Definition at line 147 of file AP_GPS.h.
Referenced by AP_GPS_SBP2::_attempt_state_update(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS_Backend::AP_GPS_Backend(), AP_GPS::calc_blended_state(), AP_GPS_MAV::handle_msg(), AP_GPS_GSOF::process_message(), AP_GPS_NOVA::process_message(), AP_GPS_SBF::process_message(), and AP_GPS::setHIL_Accuracy().
| bool AP_GPS::GPS_State::have_speed_accuracy |
does GPS give speed accuracy? Set to true only once available.
Definition at line 146 of file AP_GPS.h.
Referenced by AP_GPS_SBP2::_attempt_state_update(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS_Backend::AP_GPS_Backend(), AP_GPS::calc_blended_state(), AP_GPS_MAV::handle_msg(), AP_GPS_SBF::process_message(), and AP_GPS::setHIL_Accuracy().
| bool AP_GPS::GPS_State::have_vertical_accuracy |
does GPS give vertical position accuracy? Set to true only once available.
Definition at line 148 of file AP_GPS.h.
Referenced by AP_GPS_SBP2::_attempt_state_update(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS_Backend::AP_GPS_Backend(), AP_GPS::calc_blended_state(), AP_GPS_MAV::handle_msg(), AP_GPS_GSOF::process_message(), AP_GPS_NOVA::process_message(), AP_GPS_SBF::process_message(), and AP_GPS::setHIL_Accuracy().
| bool AP_GPS::GPS_State::have_vertical_velocity |
does GPS give vertical velocity? Set to true only once available.
Definition at line 145 of file AP_GPS.h.
Referenced by AP_GPS_SBP::_attempt_state_update(), AP_GPS_SBP2::_attempt_state_update(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS::calc_blended_state(), AP_GPS_Backend::fill_3d_velocity(), AP_GPS_MAV::handle_msg(), AP_GPS::have_vertical_velocity(), AP_GPS_GSOF::process_message(), AP_GPS_NOVA::process_message(), AP_GPS_SBF::process_message(), and AP_GPS::setHIL_Accuracy().
| uint16_t AP_GPS::GPS_State::hdop |
horizontal dilution of precision in cm
Definition at line 138 of file AP_GPS.h.
Referenced by AP_GPS_SBP::_attempt_state_update(), AP_GPS_SBP2::_attempt_state_update(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS_NMEA::_term_complete(), AP_GPS::calc_blended_state(), AP_GPS::detect_instance(), AP_GPS::get_hdop(), AP_GPS::get_lag(), AP_GPS_MAV::handle_msg(), AP_GPS_GSOF::process_message(), AP_GPS_NOVA::process_message(), AP_GPS_SBF::process_message(), AP_GPS_MTK19::read(), AP_GPS::setHIL(), and AP_GPS::update_instance().
| float AP_GPS::GPS_State::horizontal_accuracy |
horizontal RMS accuracy estimate in m
Definition at line 143 of file AP_GPS.h.
Referenced by AP_GPS_SBP2::_attempt_state_update(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS::calc_blend_weights(), AP_GPS::calc_blended_state(), AP_GPS_MAV::handle_msg(), AP_GPS::horizontal_accuracy(), AP_GPS_NOVA::process_message(), AP_GPS_GSOF::process_message(), AP_GPS_SBF::process_message(), AP_GPS::setHIL_Accuracy(), and AP_GPS::speed_accuracy().
| uint8_t AP_GPS::GPS_State::instance |
Definition at line 129 of file AP_GPS.h.
Referenced by AP_GPS_UBLOX::_configure_rate(), AP_GPS_Backend::_detection_message(), AP_GPS_UBLOX::_parse_gps(), AP_GPS_UBLOX::_save_cfg(), AP_GPS_MTK::AP_GPS_MTK(), AP_GPS_MTK19::AP_GPS_MTK19(), AP_GPS_SIRF::AP_GPS_SIRF(), AP_GPS_UBLOX::AP_GPS_UBLOX(), AP_GPS_SBF::broadcast_configuration_failure_reason(), AP_GPS_UBLOX::broadcast_configuration_failure_reason(), AP_GPS::calc_blended_state(), AP_GPS::get_hdop(), AP_GPS::get_vdop(), AP_GPS::ground_course(), AP_GPS::ground_speed(), AP_GPS::have_vertical_velocity(), AP_GPS::init(), AP_GPS_Backend::inject_data(), AP_GPS::last_fix_time_ms(), AP_GPS::last_message_delta_time_ms(), AP_GPS::last_message_time_ms(), AP_GPS::location(), AP_GPS_UBLOX::log_mon_hw(), AP_GPS_UBLOX::log_mon_hw2(), AP_GPS::num_sats(), AP_GPS_SBF::prepare_for_arming(), AP_GPS_SBF::process_message(), AP_GPS::rtk_age_ms(), AP_GPS::rtk_num_sats(), AP_GPS_Backend::send_mavlink_gps_rtk(), AP_GPS::status(), AP_GPS::time_week(), AP_GPS::time_week_ms(), AP_GPS::update_instance(), AP_GPS::velocity(), and AP_GPS_UBLOX::Write_DataFlash_Log_Startup_messages().
| uint32_t AP_GPS::GPS_State::last_gps_time_ms |
the system time we got the last GPS timestamp, milliseconds
Definition at line 149 of file AP_GPS.h.
Referenced by AP_GPS_SBP2::_attempt_state_update(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS_NMEA::_term_complete(), AP_GPS_SBP::AP_GPS_SBP(), AP_GPS::calc_blend_weights(), AP_GPS::calc_blended_state(), AP_GPS_MAV::handle_msg(), AP_GPS_NOVA::process_message(), AP_GPS_GSOF::process_message(), AP_GPS_SBF::process_message(), AP_GPS_MTK19::read(), AP_GPS::setHIL(), and AP_GPS::time_epoch_usec().
| Location AP_GPS::GPS_State::location |
last fix location
Definition at line 135 of file AP_GPS.h.
Referenced by AP_GPS_SBP::_attempt_state_update(), AP_GPS_SBP2::_attempt_state_update(), AP_GPS_SIRF::_parse_gps(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS_NMEA::_term_complete(), AP_GPS::calc_blended_state(), AP_GPS::get_lag(), AP_GPS_MAV::handle_msg(), AP_GPS::location(), AP_GPS_NOVA::process_message(), AP_GPS_GSOF::process_message(), AP_GPS_SBF::process_message(), AP_GPS_MTK::read(), AP_GPS_MTK19::read(), and AP_GPS::setHIL().
| uint8_t AP_GPS::GPS_State::num_sats |
Number of visible satellites.
Definition at line 140 of file AP_GPS.h.
Referenced by AP_GPS_SBP::_attempt_state_update(), AP_GPS_SBP2::_attempt_state_update(), AP_GPS_SIRF::_parse_gps(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS_NMEA::_term_complete(), AP_GPS::calc_blended_state(), AP_GPS::get_lag(), AP_GPS_MAV::handle_msg(), AP_GPS::num_sats(), AP_GPS_GSOF::process_message(), AP_GPS_NOVA::process_message(), AP_GPS_SBF::process_message(), AP_GPS_MTK::read(), AP_GPS_MTK19::read(), AP_GPS::setHIL(), and AP_GPS::update().
| uint32_t AP_GPS::GPS_State::rtk_accuracy |
Current estimate of 3D baseline accuracy (receiver dependent, typical 0 to 9999)
Definition at line 160 of file AP_GPS.h.
Referenced by AP_GPS_ERB::_parse_gps(), and AP_GPS_Backend::send_mavlink_gps_rtk().
| uint32_t AP_GPS::GPS_State::rtk_age_ms |
GPS age of last baseline correction in milliseconds (0 when no corrections, 0xFFFFFFFF indicates overflow)
Definition at line 154 of file AP_GPS.h.
Referenced by AP_GPS_ERB::_parse_gps(), AP_GPS_NOVA::process_message(), AP_GPS_SBF::process_message(), and AP_GPS::rtk_age_ms().
| uint8_t AP_GPS::GPS_State::rtk_baseline_coords_type |
Coordinate system of baseline. 0 == ECEF, 1 == NED.
Definition at line 156 of file AP_GPS.h.
Referenced by AP_GPS_ERB::_parse_gps(), and AP_GPS_Backend::send_mavlink_gps_rtk().
| int32_t AP_GPS::GPS_State::rtk_baseline_x_mm |
Current baseline in ECEF x or NED north component in mm.
Definition at line 157 of file AP_GPS.h.
Referenced by AP_GPS_ERB::_parse_gps(), and AP_GPS_Backend::send_mavlink_gps_rtk().
| int32_t AP_GPS::GPS_State::rtk_baseline_y_mm |
Current baseline in ECEF y or NED east component in mm.
Definition at line 158 of file AP_GPS.h.
Referenced by AP_GPS_ERB::_parse_gps(), and AP_GPS_Backend::send_mavlink_gps_rtk().
| int32_t AP_GPS::GPS_State::rtk_baseline_z_mm |
Current baseline in ECEF z or NED down component in mm.
Definition at line 159 of file AP_GPS.h.
Referenced by AP_GPS_ERB::_parse_gps(), and AP_GPS_Backend::send_mavlink_gps_rtk().
| int32_t AP_GPS::GPS_State::rtk_iar_num_hypotheses |
Current number of integer ambiguity hypotheses.
Definition at line 161 of file AP_GPS.h.
Referenced by AP_GPS_SBP::_attempt_state_update(), and AP_GPS_Backend::send_mavlink_gps_rtk().
| uint8_t AP_GPS::GPS_State::rtk_num_sats |
Current number of satellites used for RTK calculation.
Definition at line 155 of file AP_GPS.h.
Referenced by AP_GPS_ERB::_parse_gps(), AP_GPS_NOVA::process_message(), AP_GPS::rtk_num_sats(), and AP_GPS_Backend::send_mavlink_gps_rtk().
| uint32_t AP_GPS::GPS_State::rtk_time_week_ms |
GPS Time of Week of last baseline in milliseconds.
Definition at line 152 of file AP_GPS.h.
Referenced by AP_GPS_ERB::_parse_gps(), and AP_GPS_Backend::send_mavlink_gps_rtk().
| uint16_t AP_GPS::GPS_State::rtk_week_number |
GPS Week Number of last baseline.
Definition at line 153 of file AP_GPS.h.
Referenced by AP_GPS_ERB::_parse_gps(), and AP_GPS_Backend::send_mavlink_gps_rtk().
| float AP_GPS::GPS_State::speed_accuracy |
3D velocity RMS accuracy estimate in m/s
Definition at line 142 of file AP_GPS.h.
Referenced by AP_GPS_SBP2::_attempt_state_update(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS::calc_blend_weights(), AP_GPS::calc_blended_state(), AP_GPS_MAV::handle_msg(), AP_GPS::location(), AP_GPS_SBF::process_message(), AP_GPS::setHIL_Accuracy(), and AP_GPS::speed_accuracy().
| GPS_Status AP_GPS::GPS_State::status |
driver fix status
Definition at line 132 of file AP_GPS.h.
Referenced by AP_GPS_SBP::_attempt_state_update(), AP_GPS_SBP2::_attempt_state_update(), AP_GPS_SIRF::_parse_gps(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS_NMEA::_term_complete(), AP_GPS_SBP::AP_GPS_SBP(), AP_GPS::calc_blended_state(), AP_GPS::detect_instance(), AP_GPS::get_lag(), AP_GPS_MAV::handle_msg(), AP_GPS_GSOF::process_message(), AP_GPS_NOVA::process_message(), AP_GPS_SBF::process_message(), AP_GPS_MTK::read(), AP_GPS_MTK19::read(), AP_GPS::setHIL(), AP_GPS::status(), AP_GPS::update(), and AP_GPS::update_instance().
| uint16_t AP_GPS::GPS_State::time_week |
GPS week number.
Definition at line 134 of file AP_GPS.h.
Referenced by AP_GPS_SBP::_attempt_state_update(), AP_GPS_SBP2::_attempt_state_update(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS::calc_blended_state(), AP_GPS_MAV::handle_msg(), AP_GPS_Backend::make_gps_time(), AP_GPS_NOVA::process_message(), AP_GPS_GSOF::process_message(), AP_GPS_SBF::process_message(), AP_GPS::setHIL(), AP_GPS::time_epoch_usec(), and AP_GPS::time_week().
| uint32_t AP_GPS::GPS_State::time_week_ms |
GPS time (milliseconds from start of GPS week)
Definition at line 133 of file AP_GPS.h.
Referenced by AP_GPS_SBP::_attempt_state_update(), AP_GPS_SBP2::_attempt_state_update(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS::calc_blended_state(), AP_GPS_MAV::handle_msg(), AP_GPS_Backend::make_gps_time(), AP_GPS_NOVA::process_message(), AP_GPS_GSOF::process_message(), AP_GPS_SBF::process_message(), AP_GPS::setHIL(), AP_GPS::time_epoch_usec(), and AP_GPS::time_week_ms().
| uint16_t AP_GPS::GPS_State::vdop |
vertical dilution of precision in cm
Definition at line 139 of file AP_GPS.h.
Referenced by AP_GPS_SBP2::_attempt_state_update(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS::calc_blended_state(), AP_GPS::detect_instance(), AP_GPS::get_lag(), AP_GPS::get_vdop(), AP_GPS_MAV::handle_msg(), AP_GPS_NOVA::process_message(), AP_GPS_SBF::process_message(), AP_GPS::setHIL_Accuracy(), and AP_GPS::update_instance().
| Vector3f AP_GPS::GPS_State::velocity |
3D velocity in m/s, in NED format
Definition at line 141 of file AP_GPS.h.
Referenced by AP_GPS_SBP::_attempt_state_update(), AP_GPS_SBP2::_attempt_state_update(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS::calc_blended_state(), AP_GPS_Backend::fill_3d_velocity(), AP_GPS::get_lag(), AP_GPS_MAV::handle_msg(), AP_GPS_NOVA::process_message(), AP_GPS_GSOF::process_message(), AP_GPS_SBF::process_message(), AP_GPS::setHIL(), and AP_GPS::velocity().
| float AP_GPS::GPS_State::vertical_accuracy |
vertical RMS accuracy estimate in m
Definition at line 144 of file AP_GPS.h.
Referenced by AP_GPS_SBP2::_attempt_state_update(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS::calc_blend_weights(), AP_GPS::calc_blended_state(), AP_GPS_MAV::handle_msg(), AP_GPS::horizontal_accuracy(), AP_GPS_NOVA::process_message(), AP_GPS_GSOF::process_message(), AP_GPS_SBF::process_message(), AP_GPS::setHIL_Accuracy(), and AP_GPS::vertical_accuracy().
1.8.13