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| author | Naresh Munagala <nareshm@codeaurora.org> | 2018-06-21 10:44:51 +0530 |
|---|---|---|
| committer | Naresh Munagala <nareshm@codeaurora.org> | 2018-06-21 10:44:51 +0530 |
| commit | 02cddf0f260b4c0b78aec15272f3594de8a8ec8c (patch) | |
| tree | d99dbf6b1784d346716c9a28ecf3545e2cd9753a /location | |
| parent | 9676e39aa91acf1e6c16a85a2d46fa27fe5720cf (diff) | |
| download | gps-02cddf0f260b4c0b78aec15272f3594de8a8ec8c.tar.gz | |
GNSS hal: propagate position dynamics uncertainty
Support for uncertainty of positition dynamics, including
uncertainty of forward, sideward, upward accelation,
and uncertainty of heading and pitch
Change-Id: I33fbfd0344d4beb7eabaa629b0c0993fe368293b
CRs-fixed: 2263818
Diffstat (limited to 'location')
| -rw-r--r-- | location/LocationDataTypes.h | 17 |
1 files changed, 16 insertions, 1 deletions
diff --git a/location/LocationDataTypes.h b/location/LocationDataTypes.h index 8bb11cc..e40dcaa 100644 --- a/location/LocationDataTypes.h +++ b/location/LocationDataTypes.h @@ -119,7 +119,17 @@ typedef enum { LOCATION_NAV_DATA_HAS_LAT_ACCEL_BIT = (1<<1), // Navigation data has Sideward Acceleration LOCATION_NAV_DATA_HAS_VERT_ACCEL_BIT = (1<<2), // Navigation data has Vertical Acceleration LOCATION_NAV_DATA_HAS_YAW_RATE_BIT = (1<<3), // Navigation data has Heading Rate - LOCATION_NAV_DATA_HAS_PITCH_BIT = (1<<4) // Navigation data has Body pitch + LOCATION_NAV_DATA_HAS_PITCH_BIT = (1<<4), // Navigation data has Body pitch + // Navigation data has Forward Acceleration uncertainty + LOCATION_NAV_DATA_HAS_LONG_ACCEL_UNC_BIT = (1<<5), + // Navigation data has Sideward Acceleration uncertainty + LOCATION_NAV_DATA_HAS_LAT_ACCEL_UNC_BIT = (1<<6), + // Navigation data has Vertical Acceleration uncertainty + LOCATION_NAV_DATA_HAS_VERT_ACCEL_UNC_BIT = (1<<7), + // Navigation data has Heading Rate uncertainty + LOCATION_NAV_DATA_HAS_YAW_RATE_UNC_BIT = (1<<8), + // Navigation data has Body pitch uncertainty + LOCATION_NAV_DATA_HAS_PITCH_UNC_BIT = (1<<9) } GnssLocationPosDataBits; typedef uint32_t GnssLocationInfoFlagMask; @@ -658,6 +668,11 @@ typedef struct { float vertAccel; // Vertical Acceleration in body frame (m/s2) float yawRate; // Heading Rate (Radians/second) float pitch; // Body pitch (Radians) + float longAccelUnc; // Uncertainty of Forward Acceleration in body frame + float latAccelUnc; // Uncertainty of Side-ward Acceleration in body frame + float vertAccelUnc; // Uncertainty of Vertical Acceleration in body frame + float yawRateUnc; // Uncertainty of Heading Rate + float pitchUnc; // Uncertainty of Body pitch } GnssLocationPositionDynamics; typedef struct { |