GPS driver base class with Base Station Support. More...

#include <base_station.h>

Inheritance diagram for GPSBaseStationSupport:

Collaboration diagram for GPSBaseStationSupport:

Classes
struct	BaseSettings

struct	FixedPositionSettings

struct	SurveyInSettings

Public Member Functions
	GPSBaseStationSupport (GPSCallbackPtr callback, void *callback_user)

virtual	~GPSBaseStationSupport ()=default

void	setSurveyInSpecs (uint32_t survey_in_acc_limit, uint32_t survey_in_min_dur)
	set survey-in specs for RTK base station setup (for finding an accurate base station position by averaging the position measurements over time). More...

void	setBasePosition (double latitude, double longitude, float altitude, float position_accuracy)
	Set a fixed base station position. More...

Public Member Functions inherited from GPSHelper
	GPSHelper (GPSCallbackPtr callback, void *callback_user)

virtual	~GPSHelper ()=default

virtual int	configure (unsigned &baud, OutputMode output_mode)=0
	configure the device More...

virtual int	receive (unsigned timeout)=0
	receive & handle new data from the device More...

virtual int	reset (GPSRestartType restart_type)
	Reset GPS device. More...

float	getPositionUpdateRate ()

float	getVelocityUpdateRate ()

void	resetUpdateRates ()

void	storeUpdateRates ()

Protected Types
enum	BaseSettingsType : uint8_t { BaseSettingsType::survey_in, BaseSettingsType::fixed_position }

Protected Attributes
BaseSettings	_base_settings

Protected Attributes inherited from GPSHelper
GPSCallbackPtr	_callback {nullptr}

void *	_callback_user {}

uint8_t	_rate_count_lat_lon {}

uint8_t	_rate_count_vel {}

float	_rate_lat_lon {0.0f}

float	_rate_vel {0.0f}

uint64_t	_interval_rate_start {0}

Additional Inherited Members
Public Types inherited from GPSHelper
enum	OutputMode : uint8_t { OutputMode::GPS = 0, OutputMode::RTCM }

enum	Interface : uint8_t { Interface::UART = 0, Interface::SPI }

Protected Member Functions inherited from GPSHelper
int	read (uint8_t *buf, int buf_length, int timeout)
	read from device More...

int	write (const void *buf, int buf_length)
	write to the device More...

int	setBaudrate (int baudrate)
	set the Baudrate More...

void	surveyInStatus (SurveyInStatus &status)

void	gotRTCMMessage (uint8_t *buf, int buf_length)
	got an RTCM message from the device More...

void	setClock (timespec &t)

Static Protected Member Functions inherited from GPSHelper
static void	ECEF2lla (double ecef_x, double ecef_y, double ecef_z, double &latitude, double &longitude, float &altitude)
	Convert an ECEF (Earth Centered Earth Fixed) coordinate to LLA WGS84 (Lat, Lon, Alt). More...

Detailed Description

GPS driver base class with Base Station Support.

Definition at line 49 of file base_station.h.

Member Enumeration Documentation

◆ BaseSettingsType

enum GPSBaseStationSupport::BaseSettingsType : uint8_t

strongprotected

Enumerator
survey_in
fixed_position

Definition at line 89 of file base_station.h.

Constructor & Destructor Documentation

◆ GPSBaseStationSupport()

GPSBaseStationSupport::GPSBaseStationSupport	(	GPSCallbackPtr	callback,
		void *	callback_user
	)

inline

Definition at line 52 of file base_station.h.

References ~GPSBaseStationSupport().

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◆ ~GPSBaseStationSupport()

virtual GPSBaseStationSupport::~GPSBaseStationSupport ( )

virtualdefault

Referenced by GPSBaseStationSupport().

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Member Function Documentation

◆ setBasePosition()

void GPSBaseStationSupport::setBasePosition	(	double	latitude,
		double	longitude,
		float	altitude,
		float	position_accuracy
	)

inline

Set a fixed base station position.

This can be used if the base position is already known to avoid doing a survey-in.

Parameters

latitude	[deg]
longitude	[deg]
altitude	[m]
position_accuracy	3D position accuracy (set to 0 if unknown) [mm]

Definition at line 78 of file base_station.h.

References _base_settings, GPSBaseStationSupport::FixedPositionSettings::altitude, fixed_position, GPSBaseStationSupport::BaseSettings::fixed_position, GPSBaseStationSupport::FixedPositionSettings::latitude, GPSBaseStationSupport::FixedPositionSettings::longitude, GPSBaseStationSupport::FixedPositionSettings::position_accuracy, GPSBaseStationSupport::BaseSettings::settings, and GPSBaseStationSupport::BaseSettings::type.

◆ setSurveyInSpecs()

void GPSBaseStationSupport::setSurveyInSpecs	(	uint32_t	survey_in_acc_limit,
		uint32_t	survey_in_min_dur
	)

inline

set survey-in specs for RTK base station setup (for finding an accurate base station position by averaging the position measurements over time).

Parameters

survey_in_acc_limit	minimum accuracy in 0.1mm
survey_in_min_dur	minimum duration in seconds

Definition at line 63 of file base_station.h.

References _base_settings, GPSBaseStationSupport::SurveyInSettings::acc_limit, GPSBaseStationSupport::SurveyInSettings::min_dur, GPSBaseStationSupport::BaseSettings::settings, survey_in, GPSBaseStationSupport::BaseSettings::survey_in, and GPSBaseStationSupport::BaseSettings::type.

Member Data Documentation

◆ _base_settings

BaseSettings GPSBaseStationSupport::_base_settings

protected

Definition at line 110 of file base_station.h.

Referenced by GPSDriverAshtech::activateCorrectionOutput(), GPSDriverSBF::configure(), GPSDriverAshtech::handleMessage(), GPSDriverUBX::restartSurveyIn(), GPSDriverUBX::restartSurveyInPreV27(), GPSDriverAshtech::sendSurveyInStatusUpdate(), setBasePosition(), and setSurveyInSpecs().

The documentation for this class was generated from the following file:

src/drivers/gps/devices/src/base_station.h

Classes

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ BaseSettingsType

Constructor & Destructor Documentation

◆ GPSBaseStationSupport()

◆ ~GPSBaseStationSupport()

Member Function Documentation

◆ setBasePosition()

◆ setSurveyInSpecs()

Member Data Documentation

◆ _base_settings