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| author | Kynos <mail01@delago.net> | 2014-07-03 13:33:29 +0200 |
|---|---|---|
| committer | Kynos <mail01@delago.net> | 2014-07-03 13:33:29 +0200 |
| commit | 1cca3ca8a5469e66dbb5bebbe518b55e4af426d8 (patch) | |
| tree | 7342ea745ab33608c4bee8a5cbe071978bd8c8f3 /src/drivers/gps/ubx.h | |
| parent | 23164228c84f304326026c9fbda6822f2e99e9b3 (diff) | |
| download | px4-firmware-1cca3ca8a5469e66dbb5bebbe518b55e4af426d8.tar.gz px4-firmware-1cca3ca8a5469e66dbb5bebbe518b55e4af426d8.tar.bz2 px4-firmware-1cca3ca8a5469e66dbb5bebbe518b55e4af426d8.zip | |
Use NAV-PVT with ubx7 and ubx8 modules
This replaces NAV-SOL, NAV-POSLLH, NAV-VELNED and NAV-TIMEUTC.
Diffstat (limited to 'src/drivers/gps/ubx.h')
| -rw-r--r-- | src/drivers/gps/ubx.h | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 65f2dd2ba..219a5762a 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -183,7 +183,7 @@ typedef struct { uint32_t reserved2; } ubx_payload_rx_nav_sol_t; -/* Rx NAV-PVT */ +/* Rx NAV-PVT (ubx8) */ typedef struct { uint32_t iTOW; /**< GPS Time of Week [ms] */ uint16_t year; /**< Year (UTC)*/ @@ -215,9 +215,11 @@ typedef struct { 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; + int32_t headVeh; /**< (ubx8+ only) Heading of vehicle (2-D) [1e-5 deg] */ + uint32_t reserved4; /**< (ubx8+ only) */ } ubx_payload_rx_nav_pvt_t; +#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX7 (sizeof(ubx_payload_rx_nav_pvt_t) - 8) +#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX8 (sizeof(ubx_payload_rx_nav_pvt_t)) /* Rx NAV-TIMEUTC */ typedef struct { @@ -395,6 +397,7 @@ typedef struct { /* General message and payload buffer union */ typedef union { + ubx_payload_rx_nav_pvt_t payload_rx_nav_pvt; ubx_payload_rx_nav_posllh_t payload_rx_nav_posllh; ubx_payload_rx_nav_sol_t payload_rx_nav_sol; ubx_payload_rx_nav_timeutc_t payload_rx_nav_timeutc; @@ -533,6 +536,7 @@ private: uint16_t _ack_waiting_msg; ubx_buf_t _buf; uint32_t _ubx_version; + bool _use_nav_pvt; }; #endif /* UBX_H_ */ |