diff options
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 { |