|
|
|
@ -143,10 +143,10 @@ public:
@@ -143,10 +143,10 @@ public:
|
|
|
|
|
float speed_accuracy; ///< 3D velocity RMS accuracy estimate in m/s
|
|
|
|
|
float horizontal_accuracy; ///< horizontal RMS accuracy estimate in m
|
|
|
|
|
float vertical_accuracy; ///< vertical RMS accuracy estimate in m
|
|
|
|
|
bool have_vertical_velocity:1; ///< does GPS give vertical velocity? Set to true only once available.
|
|
|
|
|
bool have_speed_accuracy:1; ///< does GPS give speed accuracy? Set to true only once available.
|
|
|
|
|
bool have_horizontal_accuracy:1; ///< does GPS give horizontal position accuracy? Set to true only once available.
|
|
|
|
|
bool have_vertical_accuracy:1; ///< does GPS give vertical position accuracy? Set to true only once available.
|
|
|
|
|
bool have_vertical_velocity; ///< does GPS give vertical velocity? Set to true only once available.
|
|
|
|
|
bool have_speed_accuracy; ///< does GPS give speed accuracy? Set to true only once available.
|
|
|
|
|
bool have_horizontal_accuracy; ///< does GPS give horizontal position accuracy? Set to true only once available.
|
|
|
|
|
bool have_vertical_accuracy; ///< does GPS give vertical position accuracy? Set to true only once available.
|
|
|
|
|
uint32_t last_gps_time_ms; ///< the system time we got the last GPS timestamp, milliseconds
|
|
|
|
|
|
|
|
|
|
// all the following fields must only all be filled by RTK capable backend drivers
|
|
|
|
@ -467,13 +467,13 @@ private:
@@ -467,13 +467,13 @@ private:
|
|
|
|
|
AP_HAL::UARTDriver *_port[GPS_MAX_RECEIVERS]; |
|
|
|
|
|
|
|
|
|
/// primary GPS instance
|
|
|
|
|
uint8_t primary_instance:2; |
|
|
|
|
uint8_t primary_instance; |
|
|
|
|
|
|
|
|
|
/// number of GPS instances present
|
|
|
|
|
uint8_t num_instances:2; |
|
|
|
|
uint8_t num_instances; |
|
|
|
|
|
|
|
|
|
// which ports are locked
|
|
|
|
|
uint8_t locked_ports:2; |
|
|
|
|
uint8_t locked_ports; |
|
|
|
|
|
|
|
|
|
// state of auto-detection process, per instance
|
|
|
|
|
struct detect_state { |
|
|
|
@ -515,8 +515,8 @@ private:
@@ -515,8 +515,8 @@ private:
|
|
|
|
|
in a RTCM data block |
|
|
|
|
*/ |
|
|
|
|
struct rtcm_buffer { |
|
|
|
|
uint8_t fragments_received:4; |
|
|
|
|
uint8_t sequence:5; |
|
|
|
|
uint8_t fragments_received; |
|
|
|
|
uint8_t sequence; |
|
|
|
|
uint8_t fragment_count; |
|
|
|
|
uint16_t total_length; |
|
|
|
|
uint8_t buffer[MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN*4]; |
|
|
|
|