- Generated by
1.8.13
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PX4 Firmware
PX4 Autopilot Software http://px4.io
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#include <sbf.h>
Public Attributes | |
| uint8_t | mode_type: 4 |
| Bit field indicating the PVT mode type, as follows: 0: No PVT available (the Error field indicates the cause of the absence of the PVT solution) 1: Stand-Alone PVT 2: Differential PVT 3: Fixed location 4: RTK with fixed ambiguities 5: RTK with float ambiguities 6: SBAS aided PVT 7: moving-base RTK with fixed ambiguities 8: moving-base RTK with float ambiguities 10:Precise Point Positioning (PPP) More... | |
| uint8_t | mode_reserved: 2 |
| Reserved. More... | |
| uint8_t | mode_base_fixed: 1 |
| Set if the user has entered the command setPVTMode,base,auto and the receiver is still in the process of determining its fixed position. More... | |
| uint8_t | mode_2d: 1 |
| 2D/3D flag: set in 2D mode(height assumed constant and not computed). More... | |
| uint8_t | error |
| PVT error code. More... | |
| double | latitude |
| Marker latitude, from −π/2 to +π/2, positive North of Equator. More... | |
| double | longitude |
| Marker longitude, from −π to +π, positive East of Greenwich. More... | |
| double | height |
| Marker ellipsoidal height (with respect to the ellipsoid specified by Datum) More... | |
| float | undulation |
| Geoid undulation computed from the global geoid model defined in the document ’Technical Characteristics of the NAVSTAR GPS, NATO, June 1991’ More... | |
| float | vn |
| Velocity in the North direction. More... | |
| float | ve |
| Velocity in the East direction. More... | |
| float | vu |
| Velocity in the Up direction. More... | |
| float | cog |
| Course over ground: this is defined as the angle of the vehicle with respect to the local level North, ranging from 0 to 360, and increasing towards east. More... | |
| double | rx_clk_bias |
| Receiver clock bias relative to system time reported in the Time System field. More... | |
| float | RxClkDrift |
| Receiver clock drift relative to system time (relative frequency error) More... | |
| uint8_t | time_system |
| Time system of which the offset is provided in this sub-block: 0:GPStime 1:Galileotime 3:GLONASStime. More... | |
| uint8_t | datum |
| This field defines in which datum the coordinates are expressed: 0: WGS84/ITRS 19: Datum equal to that used by the DGNSS/RTK basestation 30: ETRS89(ETRF2000 realization) 31: NAD83(2011), North American Datum(2011) 32: NAD83(PA11), North American Datum, Pacificplate (2011) 33: NAD83(MA11), North American Datum, Marianas plate(2011) 34: GDA94(2010), Geocentric Datum of Australia (2010) 250:First user-defined datum 251:Second user-defined datum. More... | |
| uint8_t | nr_sv |
| Total number of satellites used in the PVT computation. More... | |
| uint8_t | wa_corr_info |
| Bit field providing information about which wide area corrections have been applied: Bit 0: set if orbit and satellite clock correction information is used Bit 1: set if range correction information is used Bit 2: set if ionospheric information is used Bit 3: set if orbit accuracy information is used(UERE/SISA) Bit 4: set if DO229 Precision Approach mode is active Bits 5-7: Reserved. More... | |
| uint16_t | reference_id |
| In case of DGPS or RTK operation, this field is to be interpreted as the base station identifier. More... | |
| uint16_t | mean_corr_age |
| In case of DGPS or RTK, this field is the mean age of the differential corrections. More... | |
| uint32_t | signal_info |
| Bit field indicating the type of GNSS signals having been used in the PVT computations. More... | |
| uint8_t | alert_flag |
| Bit field indicating integrity related information. More... | |
| uint8_t | nr_bases |
| uint16_t | ppp_info |
| uint16_t | latency |
| uint16_t | h_accuracy |
| uint16_t | v_accuracy |
| uint8_t sbf_payload_pvt_geodetic_t::alert_flag |
| float sbf_payload_pvt_geodetic_t::cog |
Course over ground: this is defined as the angle of the vehicle with respect to the local level North, ranging from 0 to 360, and increasing towards east.
Set to the do-not-use value when the speed is lower than 0.1m/s.
Definition at line 156 of file sbf.h.
Referenced by GPSDriverSBF::payloadRxDone().
| uint8_t sbf_payload_pvt_geodetic_t::datum |
This field defines in which datum the coordinates are expressed: 0: WGS84/ITRS 19: Datum equal to that used by the DGNSS/RTK basestation 30: ETRS89(ETRF2000 realization) 31: NAD83(2011), North American Datum(2011) 32: NAD83(PA11), North American Datum, Pacificplate (2011) 33: NAD83(MA11), North American Datum, Marianas plate(2011) 34: GDA94(2010), Geocentric Datum of Australia (2010) 250:First user-defined datum 251:Second user-defined datum.
| uint8_t sbf_payload_pvt_geodetic_t::error |
PVT error code.
The following values are defined: 0: No Error 1: Not enough measurements 2: Not enough ephemerides available 3: DOP too large (larger than 15) 4: Sum of squared residuals too large 5: No convergence 6: Not enough measurements after outlier rejection 7: Position output prohibited due to export laws 8: Not enough differential corrections available 9: Base station coordinates unavailable 10:Ambiguities not fixed and user requested to only output RTK-fixed positions Note: if this field has a non-zero value, all following fields are set to their Do-Not-Use value.
Definition at line 135 of file sbf.h.
Referenced by GPSDriverSBF::payloadRxDone().
| uint16_t sbf_payload_pvt_geodetic_t::h_accuracy |
Definition at line 200 of file sbf.h.
Referenced by GPSDriverSBF::payloadRxDone().
| double sbf_payload_pvt_geodetic_t::height |
Marker ellipsoidal height (with respect to the ellipsoid specified by Datum)
Definition at line 150 of file sbf.h.
Referenced by GPSDriverSBF::payloadRxDone().
| double sbf_payload_pvt_geodetic_t::latitude |
Marker latitude, from −π/2 to +π/2, positive North of Equator.
Definition at line 148 of file sbf.h.
Referenced by GPSDriverSBF::payloadRxDone().
| double sbf_payload_pvt_geodetic_t::longitude |
Marker longitude, from −π to +π, positive East of Greenwich.
Definition at line 149 of file sbf.h.
Referenced by GPSDriverSBF::payloadRxDone().
| uint16_t sbf_payload_pvt_geodetic_t::mean_corr_age |
| uint8_t sbf_payload_pvt_geodetic_t::mode_2d |
| uint8_t sbf_payload_pvt_geodetic_t::mode_base_fixed |
| uint8_t sbf_payload_pvt_geodetic_t::mode_type |
Bit field indicating the PVT mode type, as follows: 0: No PVT available (the Error field indicates the cause of the absence of the PVT solution) 1: Stand-Alone PVT 2: Differential PVT 3: Fixed location 4: RTK with fixed ambiguities 5: RTK with float ambiguities 6: SBAS aided PVT 7: moving-base RTK with fixed ambiguities 8: moving-base RTK with float ambiguities 10:Precise Point Positioning (PPP)
Definition at line 120 of file sbf.h.
Referenced by GPSDriverSBF::payloadRxDone().
| uint8_t sbf_payload_pvt_geodetic_t::nr_sv |
Total number of satellites used in the PVT computation.
Definition at line 176 of file sbf.h.
Referenced by GPSDriverSBF::payloadRxDone().
| uint16_t sbf_payload_pvt_geodetic_t::reference_id |
In case of DGPS or RTK operation, this field is to be interpreted as the base station identifier.
In SBAS operation, this field is to be interpreted as the PRN of the geostationary satellite used (from 120 to 158). If multiple base stations or multiple geostationary satellites are used the value is set to 65534.
| double sbf_payload_pvt_geodetic_t::rx_clk_bias |
| float sbf_payload_pvt_geodetic_t::RxClkDrift |
| uint32_t sbf_payload_pvt_geodetic_t::signal_info |
| uint8_t sbf_payload_pvt_geodetic_t::time_system |
| float sbf_payload_pvt_geodetic_t::undulation |
Geoid undulation computed from the global geoid model defined in the document ’Technical Characteristics of the NAVSTAR GPS, NATO, June 1991’
Definition at line 151 of file sbf.h.
Referenced by GPSDriverSBF::payloadRxDone().
| uint16_t sbf_payload_pvt_geodetic_t::v_accuracy |
Definition at line 201 of file sbf.h.
Referenced by GPSDriverSBF::payloadRxDone().
| float sbf_payload_pvt_geodetic_t::ve |
Velocity in the East direction.
Definition at line 154 of file sbf.h.
Referenced by GPSDriverSBF::payloadRxDone().
| float sbf_payload_pvt_geodetic_t::vn |
Velocity in the North direction.
Definition at line 153 of file sbf.h.
Referenced by GPSDriverSBF::payloadRxDone().
| float sbf_payload_pvt_geodetic_t::vu |
Velocity in the Up direction.
Definition at line 155 of file sbf.h.
Referenced by GPSDriverSBF::payloadRxDone().
| uint8_t sbf_payload_pvt_geodetic_t::wa_corr_info |
Bit field providing information about which wide area corrections have been applied: Bit 0: set if orbit and satellite clock correction information is used Bit 1: set if range correction information is used Bit 2: set if ionospheric information is used Bit 3: set if orbit accuracy information is used(UERE/SISA) Bit 4: set if DO229 Precision Approach mode is active Bits 5-7: Reserved.
1.8.13