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<title>ArduPilot Libraries: GPS Class Reference</title>
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<a href="#pro-methods">Protected Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> </div>
<div class="headertitle">
<h1>GPS Class Reference</h1> </div>
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<div class="contents">
<!-- doxytag: class="GPS" -->
<p>Abstract base class for <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> receiver drivers.
<a href="#_details">More...</a></p>
<p><code>#include &lt;<a class="el" href="_g_p_s_8h_source.html">GPS.h</a>&gt;</code></p>
<p>Inherited by <a class="el" href="class_a_p___g_p_s___auto.html">AP_GPS_Auto</a>, <a class="el" href="class_a_p___g_p_s___h_i_l.html">AP_GPS_HIL</a>, <a class="el" href="class_a_p___g_p_s___m_t_k.html">AP_GPS_MTK</a>, <a class="el" href="class_a_p___g_p_s___m_t_k16.html">AP_GPS_MTK16</a>, <a class="el" href="class_a_p___g_p_s___n_m_e_a.html">AP_GPS_NMEA</a>, <a class="el" href="class_a_p___g_p_s___none.html">AP_GPS_None</a>, <a class="el" href="class_a_p___g_p_s___s_i_r_f.html">AP_GPS_SIRF</a>, and <a class="el" href="class_a_p___g_p_s___u_b_l_o_x.html">AP_GPS_UBLOX</a>.</p>
<div class="dynheader">
Collaboration diagram for GPS:</div>
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<div class="center"><img src="class_g_p_s__coll__graph.png" border="0" usemap="#_g_p_s_coll__map" alt="Collaboration graph"/></div>
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<area shape="rect" id="node2" href="class_stream.html" title="Stream" alt="" coords="5,5,75,35"/></map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="class_g_p_s-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum &nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#aa3c9862ff33053e317f423a398bd92c0">GPS_Status</a> { <a class="el" href="class_g_p_s.html#aa3c9862ff33053e317f423a398bd92c0ac0fa717d7b54a06e36c2b30644001dae">NO_GPS</a> = 0,
<a class="el" href="class_g_p_s.html#aa3c9862ff33053e317f423a398bd92c0a81bda4cd96be8b2577fc963c6ba23fa8">NO_FIX</a> = 1,
<a class="el" href="class_g_p_s.html#aa3c9862ff33053e317f423a398bd92c0abd7c07383a51c659af88b8b7bd0df240">GPS_OK</a> = 2
}</td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#a8ba9e9e496efbaf3524b0bf47302aee3">GPS</a> (<a class="el" href="class_stream.html">Stream</a> *s)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#a05a534e0c72a450d6c9ae6207513e59a">update</a> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_g_p_s.html#aa3c9862ff33053e317f423a398bd92c0">GPS_Status</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#a0678132b5dba41a2e53c3398cd0492c3">status</a> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#a2aecc2de1271d131b132ad2e259101ad">init</a> (void)=0</td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#a5400664cf0d912138e91260cbd2b3fa0">time</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight"><a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> time in milliseconds from the start of the week. <a href="#a5400664cf0d912138e91260cbd2b3fa0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#aa5df9c7bd452a9689054e55ec90dfef1">latitude</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">latitude in degrees * 10,000,000 <a href="#aa5df9c7bd452a9689054e55ec90dfef1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#ae64cbfd073326bd5ec8a6d0a1bae2746">longitude</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">longitude in degrees * 10,000,000 <a href="#ae64cbfd073326bd5ec8a6d0a1bae2746"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#aaf73c8b7f3a10e7c37432448ad6582b2">altitude</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">altitude in cm <a href="#aaf73c8b7f3a10e7c37432448ad6582b2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#aba8ad9c8dd3aac81d0e3e2b25ef304c0">ground_speed</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">ground speed in cm/sec <a href="#aba8ad9c8dd3aac81d0e3e2b25ef304c0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#a223b8bf1d912252c15aff621c37d00e3">ground_course</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">ground course in 100ths of a degree <a href="#a223b8bf1d912252c15aff621c37d00e3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#a39fa3ac4a5d784f63c934cdc37eac8b6">speed_3d</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">3D speed in cm/sec (not always available) <a href="#a39fa3ac4a5d784f63c934cdc37eac8b6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#a354808671a37cd3d8681e51a7d809bcb">hdop</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">horizontal dilution of precision in cm <a href="#a354808671a37cd3d8681e51a7d809bcb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#ada1d7424a7a9afa17cfffcd73f741971">num_sats</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Number of visible satelites. <a href="#ada1d7424a7a9afa17cfffcd73f741971"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#a31aed57ed5fbfbfb0bb1e4105e337b9a">new_data</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#a0b2a93a9f1d0e234d791177ea5f42078">fix</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">true if we have a position fix (use status instead) <a href="#a0b2a93a9f1d0e234d791177ea5f42078"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#a0f035818b7805f69f62cb1b734d7bf21">valid_read</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">true if we have seen data from the <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> (use status instead) <a href="#a0f035818b7805f69f62cb1b734d7bf21"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#ab75d2968105736833a2e852a797c52a6">print_errors</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">deprecated <a href="#ab75d2968105736833a2e852a797c52a6"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#a4b99d4f414678d48ecb19a655354cbe5">read</a> (void)=0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#aed9c2c8d88047b0fea17f690f9ef107f">_swapl</a> (const void *bytes)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#af4358672ea2ce3a4d48f365c92aeb120">_swapi</a> (const void *bytes)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#acfd79aa1f9bcad32c0b89c2b16d150cf">_error</a> (const char *msg)</td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_stream.html">Stream</a> *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_g_p_s.html#ab534b33b2596f63c716744b6e258c6ee">_port</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">port the <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> is attached to <a href="#ab534b33b2596f63c716744b6e258c6ee"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Abstract base class for <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> receiver drivers. </p>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00014">14</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="aa3c9862ff33053e317f423a398bd92c0"></a><!-- doxytag: member="GPS::GPS_Status" ref="aa3c9862ff33053e317f423a398bd92c0" args="" -->
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<td class="memname">enum <a class="el" href="class_g_p_s.html#aa3c9862ff33053e317f423a398bd92c0">GPS::GPS_Status</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p><a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> status codes</p>
<dl class="note"><dt><b>Note:</b></dt><dd>Non-intuitive ordering for legacy reasons </dd></dl>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="aa3c9862ff33053e317f423a398bd92c0ac0fa717d7b54a06e36c2b30644001dae"></a><!-- doxytag: member="NO_GPS" ref="aa3c9862ff33053e317f423a398bd92c0ac0fa717d7b54a06e36c2b30644001dae" args="" -->NO_GPS</em>&nbsp;</td><td>
<p>No <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> connected/detected. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="aa3c9862ff33053e317f423a398bd92c0a81bda4cd96be8b2577fc963c6ba23fa8"></a><!-- doxytag: member="NO_FIX" ref="aa3c9862ff33053e317f423a398bd92c0a81bda4cd96be8b2577fc963c6ba23fa8" args="" -->NO_FIX</em>&nbsp;</td><td>
<p>Receiving valid <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> messages but no lock. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="aa3c9862ff33053e317f423a398bd92c0abd7c07383a51c659af88b8b7bd0df240"></a><!-- doxytag: member="GPS_OK" ref="aa3c9862ff33053e317f423a398bd92c0abd7c07383a51c659af88b8b7bd0df240" args="" -->GPS_OK</em>&nbsp;</td><td>
<p>Receiving valid messages and locked. </p>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00040">40</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
</div>
</div>
<hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a8ba9e9e496efbaf3524b0bf47302aee3"></a><!-- doxytag: member="GPS::GPS" ref="a8ba9e9e496efbaf3524b0bf47302aee3" args="(Stream *s)" -->
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<td class="memname">GPS::GPS </td>
<td>(</td>
<td class="paramtype"><a class="el" href="class_stream.html">Stream</a> *&nbsp;</td>
<td class="paramname"> <em>s</em></td>
<td>&nbsp;)&nbsp;</td>
<td><code> [inline]</code></td>
</tr>
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<div class="memdoc">
<p>Constructor</p>
<dl class="note"><dt><b>Note:</b></dt><dd>The stream is expected to be set up and configured for the correct bitrate before init is called.</dd></dl>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>s</em>&nbsp;</td><td><a class="el" href="class_stream.html">Stream</a> connected to the <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> module. </td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00025">25</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="acfd79aa1f9bcad32c0b89c2b16d150cf"></a><!-- doxytag: member="GPS::_error" ref="acfd79aa1f9bcad32c0b89c2b16d150cf" args="(const char *msg)" -->
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<td class="memname">void GPS::_error </td>
<td>(</td>
<td class="paramtype">const char *&nbsp;</td>
<td class="paramname"> <em>msg</em></td>
<td>&nbsp;)&nbsp;</td>
<td><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>emit an error message</p>
<p>based on the value of print_errors, emits the printf-formatted message in msg,... to stderr</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>fmt</em>&nbsp;</td><td>printf-like format string</td></tr>
</table>
</dd>
</dl>
<dl class="note"><dt><b>Note:</b></dt><dd>deprecated as-is due to the difficulty of hooking up to a working printf vs. the potential benefits </dd></dl>
<p>Definition at line <a class="el" href="_g_p_s_8cpp_source.html#l00034">34</a> of file <a class="el" href="_g_p_s_8cpp_source.html">GPS.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="af4358672ea2ce3a4d48f365c92aeb120"></a><!-- doxytag: member="GPS::_swapi" ref="af4358672ea2ce3a4d48f365c92aeb120" args="(const void *bytes)" -->
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<td class="memname">int16_t GPS::_swapi </td>
<td>(</td>
<td class="paramtype">const void *&nbsp;</td>
<td class="paramname"> <em>bytes</em></td>
<td>&nbsp;)&nbsp;</td>
<td><code> [inline, protected]</code></td>
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</table>
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<div class="memdoc">
<p>perform an endian swap on an int</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>bytes</em>&nbsp;</td><td>pointer to a buffer containing bytes representing an int in the wrong byte order </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>endian-swapped value </dd></dl>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00158">158</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
</div>
</div>
<a class="anchor" id="aed9c2c8d88047b0fea17f690f9ef107f"></a><!-- doxytag: member="GPS::_swapl" ref="aed9c2c8d88047b0fea17f690f9ef107f" args="(const void *bytes)" -->
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<td class="memname">long GPS::_swapl </td>
<td>(</td>
<td class="paramtype">const void *&nbsp;</td>
<td class="paramname"> <em>bytes</em></td>
<td>&nbsp;)&nbsp;</td>
<td><code> [inline, protected]</code></td>
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</table>
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<div class="memdoc">
<p>perform an endian swap on a long</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>bytes</em>&nbsp;</td><td>pointer to a buffer containing bytes representing a long in the wrong byte order </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>endian-swapped value </dd></dl>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00141">141</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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</div>
<a class="anchor" id="a2aecc2de1271d131b132ad2e259101ad"></a><!-- doxytag: member="GPS::init" ref="a2aecc2de1271d131b132ad2e259101ad" args="(void)=0" -->
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<td class="memname">virtual void GPS::init </td>
<td>(</td>
<td class="paramtype">void&nbsp;</td>
<td class="paramname"></td>
<td>&nbsp;)&nbsp;</td>
<td><code> [pure virtual]</code></td>
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<p>Startup initialisation.</p>
<p>This routine performs any one-off initialisation required to set the <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> up for use.</p>
<p>Must be implemented by the <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> driver. </p>
<p>Implemented in <a class="el" href="class_a_p___g_p_s__406.html#a2a1df4b306a9579c666d1ada55541943">AP_GPS_406</a>, <a class="el" href="class_a_p___g_p_s___auto.html#a3f06de0c1b55f44c33f9269ec60ac710">AP_GPS_Auto</a>, <a class="el" href="class_a_p___g_p_s___h_i_l.html#af693ab47d930e11299798c0b5ac82e0d">AP_GPS_HIL</a>, <a class="el" href="class_a_p___g_p_s___m_t_k.html#ace24c8150a65d0c33bbb052e45a2ea14">AP_GPS_MTK</a>, <a class="el" href="class_a_p___g_p_s___m_t_k16.html#ab4d596d3b7f462d8c95db8778ea0c3e6">AP_GPS_MTK16</a>, <a class="el" href="class_a_p___g_p_s___n_m_e_a.html#aea405b874a1b9921d51662e43f02316f">AP_GPS_NMEA</a>, <a class="el" href="class_a_p___g_p_s___none.html#a6b7235233d8b6703ded9d1293907ddf7">AP_GPS_None</a>, <a class="el" href="class_a_p___g_p_s___s_i_r_f.html#a3598e3b7f9d4baf95973d2a8390b99e8">AP_GPS_SIRF</a>, and <a class="el" href="class_a_p___g_p_s___u_b_l_o_x.html#a65b970c80810a684a7b9435c7116c6fc">AP_GPS_UBLOX</a>.</p>
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<a class="anchor" id="a4b99d4f414678d48ecb19a655354cbe5"></a><!-- doxytag: member="GPS::read" ref="a4b99d4f414678d48ecb19a655354cbe5" args="(void)=0" -->
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<td class="memname">virtual bool GPS::read </td>
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<p>read from the <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> stream and update properties</p>
<p>Must be implemented by the <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> driver.</p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true if a valid message was received from the <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> </dd></dl>
<p>Implemented in <a class="el" href="class_a_p___g_p_s___auto.html#ab5b8f8c2fa48c301ffaa1edd150fd0f8">AP_GPS_Auto</a>, <a class="el" href="class_a_p___g_p_s___h_i_l.html#a23dbfd67e4f1d21bea02a4de604d511a">AP_GPS_HIL</a>, <a class="el" href="class_a_p___g_p_s___m_t_k.html#a92d23465c7b621f93040fd304e9519ce">AP_GPS_MTK</a>, <a class="el" href="class_a_p___g_p_s___m_t_k16.html#a220d9ec5c9e1ce6836508688c050f161">AP_GPS_MTK16</a>, <a class="el" href="class_a_p___g_p_s___n_m_e_a.html#a57afd3ecfcdc92db462c09e55399fa91">AP_GPS_NMEA</a>, <a class="el" href="class_a_p___g_p_s___none.html#a3a39bc8c0803948e35effe14ffb521d7">AP_GPS_None</a>, <a class="el" href="class_a_p___g_p_s___s_i_r_f.html#a8ce1b69e02ab95da6f4deff7abcf51b3">AP_GPS_SIRF</a>, and <a class="el" href="class_a_p___g_p_s___u_b_l_o_x.html#a09825f5ca37ee9bdb5e0939a4073a84e">AP_GPS_UBLOX</a>.</p>
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<td class="memname"><a class="el" href="class_g_p_s.html#aa3c9862ff33053e317f423a398bd92c0">GPS_Status</a> GPS::status </td>
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<p>Query <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> status</p>
<p>The 'valid message' status indicates that a recognised message was received from the <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> within the last 500ms.</p>
<dl class="return"><dt><b>Returns:</b></dt><dd>Current <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> status </dd></dl>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00053">53</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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<td class="memname">void GPS::update </td>
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<p>Update <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> state based on possible bytes received from the module.</p>
<p>This routine must be called periodically to process incoming data.</p>
<p><a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> drivers should not override this function; they should implement read instead. </p>
<p>Definition at line <a class="el" href="_g_p_s_8cpp_source.html#l00007">7</a> of file <a class="el" href="_g_p_s_8cpp_source.html">GPS.cpp</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="ab534b33b2596f63c716744b6e258c6ee"></a><!-- doxytag: member="GPS::_port" ref="ab534b33b2596f63c716744b6e258c6ee" args="" -->
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<td class="memname"><a class="el" href="class_stream.html">Stream</a>* <a class="el" href="class_g_p_s.html#ab534b33b2596f63c716744b6e258c6ee">GPS::_port</a><code> [protected]</code></td>
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<p>port the <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> is attached to </p>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00088">88</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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<td class="memname">long <a class="el" href="class_g_p_s.html#aaf73c8b7f3a10e7c37432448ad6582b2">GPS::altitude</a></td>
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<p>altitude in cm </p>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00068">68</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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<td class="memname">bool <a class="el" href="class_g_p_s.html#a0b2a93a9f1d0e234d791177ea5f42078">GPS::fix</a></td>
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<p>true if we have a position fix (use status instead) </p>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00081">81</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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<p>ground course in 100ths of a degree </p>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00070">70</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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<td class="memname">long <a class="el" href="class_g_p_s.html#aba8ad9c8dd3aac81d0e3e2b25ef304c0">GPS::ground_speed</a></td>
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<p>ground speed in cm/sec </p>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00069">69</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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<a class="anchor" id="a354808671a37cd3d8681e51a7d809bcb"></a><!-- doxytag: member="GPS::hdop" ref="a354808671a37cd3d8681e51a7d809bcb" args="" -->
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<p>horizontal dilution of precision in cm </p>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00072">72</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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<p>latitude in degrees * 10,000,000 </p>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00066">66</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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<p>longitude in degrees * 10,000,000 </p>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00067">67</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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<a class="anchor" id="a31aed57ed5fbfbfb0bb1e4105e337b9a"></a><!-- doxytag: member="GPS::new_data" ref="a31aed57ed5fbfbfb0bb1e4105e337b9a" args="" -->
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<p>Set to true when new data arrives. A client may set this to false in order to avoid processing data they have already seen. </p>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00078">78</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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<p>Number of visible satelites. </p>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00073">73</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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<p>deprecated </p>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00085">85</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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<a class="anchor" id="a39fa3ac4a5d784f63c934cdc37eac8b6"></a><!-- doxytag: member="GPS::speed_3d" ref="a39fa3ac4a5d784f63c934cdc37eac8b6" args="" -->
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<p>3D speed in cm/sec (not always available) </p>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00071">71</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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<p><a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> time in milliseconds from the start of the week. </p>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00065">65</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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<p>true if we have seen data from the <a class="el" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> (use status instead) </p>
<p>Definition at line <a class="el" href="_g_p_s_8h_source.html#l00082">82</a> of file <a class="el" href="_g_p_s_8h_source.html">GPS.h</a>.</p>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/jgoppert/Projects/ap/libraries/AP_GPS/<a class="el" href="_g_p_s_8h_source.html">GPS.h</a></li>
<li>/home/jgoppert/Projects/ap/libraries/AP_GPS/<a class="el" href="_g_p_s_8cpp_source.html">GPS.cpp</a></li>
</ul>
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