estimator::gps_message Struct Reference

#include <common.h>

Collaboration diagram for estimator::gps_message:

Public Attributes
uint64_t	time_usec
int32_t	lat
	Latitude in 1E-7 degrees. More...
int32_t	lon
	Longitude in 1E-7 degrees. More...
int32_t	alt
	Altitude in 1E-3 meters (millimeters) above MSL. More...
float	yaw
	yaw angle. NaN if not set (used for dual antenna GPS), (rad, [-PI, PI]) More...
float	yaw_offset
	Heading/Yaw offset for dual antenna GPS - refer to description for GPS_YAW_OFFSET. More...
uint8_t	fix_type
	0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic More...
float	eph
	GPS horizontal position accuracy in m. More...
float	epv
	GPS vertical position accuracy in m. More...
float	sacc
	GPS speed accuracy in m/s. More...
float	vel_m_s
	GPS ground speed (m/sec) More...
float	vel_ned [3]
	GPS ground speed NED. More...
bool	vel_ned_valid
	GPS ground speed is valid. More...
uint8_t	nsats
	number of satellites used More...
float	pdop
	position dilution of precision More...

Detailed Description

Definition at line 57 of file common.h.

Member Data Documentation

alt

int32_t estimator::gps_message::alt

Altitude in 1E-3 meters (millimeters) above MSL.

Definition at line 61 of file common.h.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::calc_gps_blend_output(), Ekf::collect_gps(), Ekf2::fillGpsMsgWithVehicleGpsPosData(), Ekf::gps_is_good(), Ekf2::Run(), EstimatorInterface::setGpsData(), EkfInitializationTest::SetUp(), Ekf2::update_gps_blend_states(), and Ekf2::update_gps_offsets().

eph

float estimator::gps_message::eph

GPS horizontal position accuracy in m.

Definition at line 65 of file common.h.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::blend_gps_data(), Ekf2::calc_gps_blend_output(), Ekf::collect_gps(), Ekf2::fillGpsMsgWithVehicleGpsPosData(), Ekf::gps_is_good(), Ekf2::Run(), EstimatorInterface::setGpsData(), EkfInitializationTest::SetUp(), and Ekf2::update_gps_blend_states().

epv

float estimator::gps_message::epv

GPS vertical position accuracy in m.

Definition at line 66 of file common.h.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::blend_gps_data(), Ekf2::calc_gps_blend_output(), Ekf::collect_gps(), Ekf2::fillGpsMsgWithVehicleGpsPosData(), Ekf::gps_is_good(), Ekf2::Run(), EstimatorInterface::setGpsData(), EkfInitializationTest::SetUp(), and Ekf2::update_gps_blend_states().

fix_type

uint8_t estimator::gps_message::fix_type

0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic

Definition at line 64 of file common.h.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::calc_gps_blend_output(), Ekf::collect_gps(), Ekf2::fillGpsMsgWithVehicleGpsPosData(), Ekf::gps_is_good(), Ekf2::Run(), EstimatorInterface::setGpsData(), EkfInitializationTest::SetUp(), and Ekf2::update_gps_blend_states().

lat

int32_t estimator::gps_message::lat

Latitude in 1E-7 degrees.

Definition at line 59 of file common.h.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::calc_gps_blend_output(), Ekf::collect_gps(), Ekf2::fillGpsMsgWithVehicleGpsPosData(), Ekf::gps_is_good(), Ekf2::Run(), EstimatorInterface::setGpsData(), EkfInitializationTest::SetUp(), Ekf2::update_gps_blend_states(), and Ekf2::update_gps_offsets().

lon

int32_t estimator::gps_message::lon

Longitude in 1E-7 degrees.

Definition at line 60 of file common.h.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::calc_gps_blend_output(), Ekf::collect_gps(), Ekf2::fillGpsMsgWithVehicleGpsPosData(), Ekf::gps_is_good(), Ekf2::Run(), EstimatorInterface::setGpsData(), EkfInitializationTest::SetUp(), Ekf2::update_gps_blend_states(), and Ekf2::update_gps_offsets().

nsats

uint8_t estimator::gps_message::nsats

number of satellites used

Definition at line 71 of file common.h.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::calc_gps_blend_output(), Ekf2::fillGpsMsgWithVehicleGpsPosData(), Ekf::gps_is_good(), Ekf2::Run(), EkfInitializationTest::SetUp(), and Ekf2::update_gps_blend_states().

pdop

float estimator::gps_message::pdop

position dilution of precision

Definition at line 72 of file common.h.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::calc_gps_blend_output(), Ekf2::fillGpsMsgWithVehicleGpsPosData(), Ekf::gps_is_good(), EkfInitializationTest::SetUp(), and Ekf2::update_gps_blend_states().

sacc

float estimator::gps_message::sacc

GPS speed accuracy in m/s.

Definition at line 67 of file common.h.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::blend_gps_data(), Ekf2::calc_gps_blend_output(), Ekf2::fillGpsMsgWithVehicleGpsPosData(), Ekf::gps_is_good(), Ekf2::Run(), EstimatorInterface::setGpsData(), EkfInitializationTest::SetUp(), and Ekf2::update_gps_blend_states().

time_usec

uint64_t estimator::gps_message::time_usec

Definition at line 58 of file common.h.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::blend_gps_data(), Ekf2::calc_gps_blend_output(), Ekf2::fillGpsMsgWithVehicleGpsPosData(), Ekf2::filter_altitude_ellipsoid(), Ekf2::Run(), EstimatorInterface::setGpsData(), EkfInitializationTest::SetUp(), Ekf2::update_gps_blend_states(), Ekf2::update_gps_offsets(), and EkfInitializationTest::update_with_const_sensors().

vel_m_s

float estimator::gps_message::vel_m_s

GPS ground speed (m/sec)

Definition at line 68 of file common.h.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::calc_gps_blend_output(), Ekf2::fillGpsMsgWithVehicleGpsPosData(), Ekf2::Run(), EkfInitializationTest::SetUp(), and Ekf2::update_gps_blend_states().

vel_ned

float estimator::gps_message::vel_ned[3]

GPS ground speed NED.

Definition at line 69 of file common.h.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::calc_gps_blend_output(), Ekf2::fillGpsMsgWithVehicleGpsPosData(), Ekf::gps_is_good(), Ekf2::Run(), EstimatorInterface::setGpsData(), EkfInitializationTest::SetUp(), and Ekf2::update_gps_blend_states().

vel_ned_valid

bool estimator::gps_message::vel_ned_valid

GPS ground speed is valid.

Definition at line 70 of file common.h.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::calc_gps_blend_output(), Ekf2::fillGpsMsgWithVehicleGpsPosData(), Ekf2::Run(), EstimatorInterface::setGpsData(), EkfInitializationTest::SetUp(), and Ekf2::update_gps_blend_states().

yaw

float estimator::gps_message::yaw

yaw angle. NaN if not set (used for dual antenna GPS), (rad, [-PI, PI])

Definition at line 62 of file common.h.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::calc_gps_blend_output(), Ekf2::fillGpsMsgWithVehicleGpsPosData(), Ekf2::Run(), EstimatorInterface::setGpsData(), EkfInitializationTest::SetUp(), and Ekf2::update_gps_blend_states().

yaw_offset

float estimator::gps_message::yaw_offset

Heading/Yaw offset for dual antenna GPS - refer to description for GPS_YAW_OFFSET.

Definition at line 63 of file common.h.

Referenced by Ekf2::apply_gps_offsets(), Ekf2::calc_gps_blend_output(), Ekf2::fillGpsMsgWithVehicleGpsPosData(), Ekf2::Run(), EstimatorInterface::setGpsData(), EkfInitializationTest::SetUp(), and Ekf2::update_gps_blend_states().

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

• src/lib/ecl/EKF/common.h