dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Define NAV-PVT message

This commit is contained in:
Kynos 2014-06-21 20:42:33 +02:00
parent 0ffb123701
commit f1a5be1f57
1 changed files with 50 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

50
src/drivers/gps/ubx.h
View File

@ -63,6 +63,7 @@
/* Message IDs */
#define UBX_ID_NAV_POSLLH 0x02
#define UBX_ID_NAV_SOL 0x06
#define UBX_ID_NAV_PVT 0x07
#define UBX_ID_NAV_VELNED 0x12
#define UBX_ID_NAV_TIMEUTC 0x21
#define UBX_ID_NAV_SVINFO 0x30
@ -78,6 +79,7 @@
/* Message Classes & IDs */
#define UBX_MSG_NAV_POSLLH ((UBX_CLASS_NAV) | UBX_ID_NAV_POSLLH << 8)
#define UBX_MSG_NAV_SOL ((UBX_CLASS_NAV) | UBX_ID_NAV_SOL << 8)
#define UBX_MSG_NAV_PVT ((UBX_CLASS_NAV) | UBX_ID_NAV_PVT << 8)
#define UBX_MSG_NAV_VELNED ((UBX_CLASS_NAV) | UBX_ID_NAV_VELNED << 8)
#define UBX_MSG_NAV_TIMEUTC ((UBX_CLASS_NAV) | UBX_ID_NAV_TIMEUTC << 8)
#define UBX_MSG_NAV_SVINFO ((UBX_CLASS_NAV) | UBX_ID_NAV_SVINFO << 8)
@ -90,6 +92,18 @@
#define UBX_MSG_MON_HW ((UBX_CLASS_MON) | UBX_ID_MON_HW << 8)
#define UBX_MSG_MON_VER ((UBX_CLASS_MON) | UBX_ID_MON_VER << 8)
/* RX NAV-PVT message content details */
/* Bitfield "valid" masks */
#define UBX_RX_NAV_PVT_VALID_VALIDDATE 0x01 /**< validDate (Valid UTC Date) */
#define UBX_RX_NAV_PVT_VALID_VALIDTIME 0x02 /**< validTime (Valid UTC Time) */
#define UBX_RX_NAV_PVT_VALID_FULLYRESOLVED 0x04 /**< fullyResolved (1 = UTC Time of Day has been fully resolved (no seconds uncertainty)) */
/* Bitfield "flags" masks */
#define UBX_RX_NAV_PVT_FLAGS_GNSSFIXOK 0x01 /**< gnssFixOK (A valid fix (i.e within DOP & accuracy masks)) */
#define UBX_RX_NAV_PVT_FLAGS_DIFFSOLN 0x02 /**< diffSoln (1 if differential corrections were applied) */
#define UBX_RX_NAV_PVT_FLAGS_PSMSTATE 0x1C /**< psmState (Power Save Mode state (see Power Management)) */
#define UBX_RX_NAV_PVT_FLAGS_HEADVEHVALID 0x20 /**< headVehValid (Heading of vehicle is valid) */
/* TX CFG-PRT message contents */
#define UBX_TX_CFG_PRT_PORTID 0x01 /**< UART1 */
#define UBX_TX_CFG_PRT_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */
@ -162,6 +176,42 @@ typedef struct {
uint32_t reserved2;
} ubx_payload_rx_nav_sol_t;
/* Rx NAV-PVT */
typedef struct {
uint32_t iTOW; /**< GPS Time of Week [ms] */
uint16_t year; /**< Year (UTC)*/
uint8_t month; /**< Month, range 1..12 (UTC) */
uint8_t day; /**< Day of month, range 1..31 (UTC) */
uint8_t hour; /**< Hour of day, range 0..23 (UTC) */
uint8_t min; /**< Minute of hour, range 0..59 (UTC) */
uint8_t sec; /**< Seconds of minute, range 0..60 (UTC) */
uint8_t valid; /**< Validity flags (see UBX_RX_NAV_PVT_VALID_...) */
uint32_t tAcc; /**< Time accuracy estimate (UTC) [ns] */
int32_t nano; /**< Fraction of second (UTC) [-1e9...1e9 ns] */
uint8_t fixType; /**< GNSSfix type: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GNSS + dead reckoning, 5 = time only fix */
uint8_t flags; /**< Fix Status Flags (see UBX_RX_NAV_PVT_FLAGS_...) */
uint8_t reserved1;
uint8_t numSV; /**< Number of SVs used in Nav Solution */
int32_t lon; /**< Longitude [1e-7 deg] */
int32_t lat; /**< Latitude [1e-7 deg] */
int32_t height; /**< Height above ellipsoid [mm] */
int32_t hMSL; /**< Height above mean sea level [mm] */
uint32_t hAcc; /**< Horizontal accuracy estimate [mm] */
uint32_t vAcc; /**< Vertical accuracy estimate [mm] */
int32_t velN; /**< NED north velocity [mm/s]*/
int32_t velE; /**< NED east velocity [mm/s]*/
int32_t velD; /**< NED down velocity [mm/s]*/
int32_t gSpeed; /**< Ground Speed (2-D) [mm/s] */
int32_t headMot; /**< Heading of motion (2-D) [1e-5 deg] */
uint32_t sAcc; /**< Speed accuracy estimate [mm/s] */
uint32_t headAcc; /**< Heading accuracy estimate (motion and vehicle) [1e-5 deg] */
uint16_t pDOP; /**< Position DOP [0.01] */
uint16_t reserved2;
uint32_t reserved3;
int32_t headVeh; /**< Heading of vehicle (2-D) [1e-5 deg] */
uint32_t reserved4;
} ubx_payload_rx_nav_pvt_t;
/* Rx NAV-TIMEUTC */
typedef struct {
uint32_t iTOW; /**< GPS Time of Week [ms] */