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author | Linux Build Service Account <lnxbuild@localhost> | 2018-06-19 09:53:38 -0700 |
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committer | Gerrit - the friendly Code Review server <code-review@localhost> | 2018-06-19 09:53:38 -0700 |
commit | 9676e39aa91acf1e6c16a85a2d46fa27fe5720cf (patch) | |
tree | 11f621d6504bf0596e237a2c9ba667d5ed240a20 /utils/gps_extended_c.h | |
parent | dc1e6f6f3469138aed389cd42e429d454ffc1c07 (diff) | |
parent | aac86a158ad76119efe8d9b0718f600354a99b97 (diff) | |
download | gps-9676e39aa91acf1e6c16a85a2d46fa27fe5720cf.tar.gz |
Merge "body frame uncertainty parameters in position report"
Diffstat (limited to 'utils/gps_extended_c.h')
-rw-r--r-- | utils/gps_extended_c.h | 20 |
1 files changed, 20 insertions, 0 deletions
diff --git a/utils/gps_extended_c.h b/utils/gps_extended_c.h index 7720489..5f9dead 100644 --- a/utils/gps_extended_c.h +++ b/utils/gps_extended_c.h @@ -364,6 +364,16 @@ typedef uint32_t LocPosDataMask; #define LOC_NAV_DATA_HAS_YAW_RATE ((LocPosDataMask)0x0008) /* Bitmask to specify whether Navigation data has Body pitch */ #define LOC_NAV_DATA_HAS_PITCH ((LocPosDataMask)0x0010) +/* Bitmask to specify whether Navigation data has Forward Acceleration Unc */ +#define LOC_NAV_DATA_HAS_LONG_ACCEL_UNC ((LocPosDataMask)0x0020) +/* Bitmask to specify whether Navigation data has Sideward Acceleration Unc*/ +#define LOC_NAV_DATA_HAS_LAT_ACCEL_UNC ((LocPosDataMask)0x0040) +/* Bitmask to specify whether Navigation data has Vertical Acceleration Unc*/ +#define LOC_NAV_DATA_HAS_VERT_ACCEL_UNC ((LocPosDataMask)0x0080) +/* Bitmask to specify whether Navigation data has Heading Rate Unc*/ +#define LOC_NAV_DATA_HAS_YAW_RATE_UNC ((LocPosDataMask)0x0100) +/* Bitmask to specify whether Navigation data has Body pitch Unc*/ +#define LOC_NAV_DATA_HAS_PITCH_UNC ((LocPosDataMask)0x0200) /** GPS PRN Range */ #define GPS_SV_PRN_MIN 1 @@ -417,14 +427,24 @@ typedef struct { uint32_t bodyFrameDatamask; /* Forward Acceleration in body frame (m/s2)*/ float longAccel; + /** Uncertainty of Forward Acceleration in body frame */ + float longAccelUnc; /* Sideward Acceleration in body frame (m/s2)*/ float latAccel; + /** Uncertainty of Side-ward Acceleration in body frame */ + float latAccelUnc; /* Vertical Acceleration in body frame (m/s2)*/ float vertAccel; + /** Uncertainty of Vertical Acceleration in body frame */ + float vertAccelUnc; /* Heading Rate (Radians/second) */ float yawRate; + /** Uncertainty of Heading Rate */ + float yawRateUnc; /* Body pitch (Radians) */ float pitch; + /** Uncertainty of Body pitch */ + float pitchRadUnc; }LocPositionDynamics; typedef struct { |