Merge "body frame uncertainty parameters in position report"

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 {