mirror of https://github.com/ArduPilot/ardupilot
AP_GPS: Improve comments and documentation (NFC)
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@ -134,9 +134,9 @@ public:
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uint16_t vdop; ///< vertical dilution of precision in cm
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uint8_t num_sats; ///< Number of visible satellites
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Vector3f velocity; ///< 3D velocity in m/s, in NED format
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float speed_accuracy; ///< 3D velocity accuracy estimate in m/s
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float horizontal_accuracy; ///< horizontal accuracy estimate in m
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float vertical_accuracy; ///< vertical accuracy estimate in m
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float speed_accuracy; ///< 3D velocity RMS accuracy estimate in m/s
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float horizontal_accuracy; ///< horizontal RMS accuracy estimate in m
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float vertical_accuracy; ///< vertical RMS accuracy estimate in m
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bool have_vertical_velocity:1; ///< does GPS give vertical velocity? Set to true only once available.
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bool have_speed_accuracy:1; ///< does GPS give speed accuracy? Set to true only once available.
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bool have_horizontal_accuracy:1; ///< does GPS give horizontal position accuracy? Set to true only once available.
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@ -297,7 +297,7 @@ public:
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return last_message_time_ms(primary_instance);
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}
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// return true if the GPS supports vertical velocity values
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// return true if the GPS supports vertical velocity values
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bool have_vertical_velocity(uint8_t instance) const {
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return state[instance].have_vertical_velocity;
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}
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@ -398,7 +398,7 @@ protected:
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private:
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// returns the desired gps update rate in milliseconds
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// this does not provide any gurantee that the GPS is updating at the requested
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// this does not provide any guarantee that the GPS is updating at the requested
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// rate it is simply a helper for use in the backends for determining what rate
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// they should be configuring the GPS to run at
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uint16_t get_rate_ms(uint8_t instance) const;
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@ -407,7 +407,7 @@ private:
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// the time we got our last fix in system milliseconds
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uint32_t last_fix_time_ms;
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// the time we got our last fix in system milliseconds
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// the time we got our last message in system milliseconds
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uint32_t last_message_time_ms;
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};
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// Note allowance for an additional instance to contain blended data
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@ -46,42 +46,42 @@ private:
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uint16_t length;
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};
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struct PACKED erb_ver {
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uint32_t time;
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uint32_t time; ///< GPS time of week of the navigation epoch [ms]
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uint8_t ver_high;
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uint8_t ver_medium;
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uint8_t ver_low;
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};
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struct PACKED erb_pos {
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uint32_t time;
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uint32_t time; ///< GPS time of week of the navigation epoch [ms]
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double longitude;
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double latitude;
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double altitude_ellipsoid;
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double altitude_msl;
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uint32_t horizontal_accuracy;
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uint32_t vertical_accuracy;
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double altitude_ellipsoid; ///< Height above ellipsoid [m]
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double altitude_msl; ///< Height above mean sea level [m]
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uint32_t horizontal_accuracy; ///< Horizontal accuracy estimate [mm]
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uint32_t vertical_accuracy; ///< Vertical accuracy estimate [mm]
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};
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struct PACKED erb_stat {
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uint32_t time;
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uint32_t time; ///< GPS time of week of the navigation epoch [ms]
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uint16_t week;
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uint8_t fix_type;
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uint8_t fix_type; ///< see erb_fix_type enum
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uint8_t fix_status;
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uint8_t satellites;
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};
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struct PACKED erb_dops {
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uint32_t time;
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uint16_t gDOP;
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uint16_t pDOP;
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uint16_t vDOP;
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uint16_t hDOP;
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uint32_t time; ///< GPS time of week of the navigation epoch [ms]
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uint16_t gDOP; ///< Geometric DOP
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uint16_t pDOP; ///< Position DOP
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uint16_t vDOP; ///< Vertical DOP
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uint16_t hDOP; ///< Horizontal DOP
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};
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struct PACKED erb_vel {
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uint32_t time;
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int32_t vel_north;
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int32_t vel_east;
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int32_t vel_down;
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uint32_t speed_2d;
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int32_t heading_2d;
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uint32_t speed_accuracy;
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uint32_t time; ///< GPS time of week of the navigation epoch [ms]
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int32_t vel_north; ///< North velocity component [cm/s]
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int32_t vel_east; ///< East velocity component [cm/s]
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int32_t vel_down; ///< Down velocity component [cm/s]
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uint32_t speed_2d; ///< Ground speed (2-D) [cm/s]
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int32_t heading_2d; ///< Heading of motion 2-D [1e5 deg]
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uint32_t speed_accuracy; ///< Speed accuracy Estimate [cm/s]
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};
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// Receive buffer
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@ -114,26 +114,26 @@ private:
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struct PACKED bestpos
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{
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uint32_t solstat;
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uint32_t postype;
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double lat;
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double lng;
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double hgt;
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float undulation;
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uint32_t datumid;
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float latsdev;
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float lngsdev;
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float hgtsdev;
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uint32_t solstat; ///< Solution status
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uint32_t postype; ///< Position type
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double lat; ///< latitude (deg)
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double lng; ///< longitude (deg)
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double hgt; ///< height above mean sea level (m)
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float undulation; ///< relationship between the geoid and the ellipsoid (m)
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uint32_t datumid; ///< datum id number
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float latsdev; ///< latitude standard deviation (m)
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float lngsdev; ///< longitude standard deviation (m)
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float hgtsdev; ///< height standard deviation (m)
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// 4 bytes
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uint8_t stnid[4];
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float diffage;
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float sol_age;
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uint8_t svstracked;
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uint8_t svsused;
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uint8_t svsl1;
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uint8_t svsmultfreq;
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uint8_t resv;
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uint8_t extsolstat;
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uint8_t stnid[4]; ///< base station id
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float diffage; ///< differential position age (sec)
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float sol_age; ///< solution age (sec)
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uint8_t svstracked; ///< number of satellites tracked
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uint8_t svsused; ///< number of satellites used in solution
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uint8_t svsl1; ///< number of GPS plus GLONASS L1 satellites used in solution
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uint8_t svsmultfreq; ///< number of GPS plus GLONASS L2 satellites used in solution
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uint8_t resv; ///< reserved
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uint8_t extsolstat; ///< extended solution status - OEMV and greater only
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uint8_t galbeisigmask;
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uint8_t gpsglosigmask;
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};
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@ -309,7 +309,7 @@ AP_GPS_SBP2::_attempt_state_update()
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state.vertical_accuracy = (float) last_pos_llh.v_accuracy * 1.0e-3f;
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//
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// Set flags appropriartely
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// Set flags appropriately
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//
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state.have_vertical_velocity = true;
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state.have_speed_accuracy = !is_zero(state.speed_accuracy);
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