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author | Kynos <mail01@delago.net> | 2014-06-21 20:42:33 +0200 |
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committer | Kynos <mail01@delago.net> | 2014-06-21 20:42:33 +0200 |
commit | f1a5be1f57d9a15f29a428e962c3ed7f75777d22 (patch) | |
tree | 7afd5d725859d60a54481cb17a48ca4d42d74762 /src/drivers | |
parent | 0ffb123701c2e6124d7c735cdb55c250564d12c6 (diff) | |
download | px4-firmware-f1a5be1f57d9a15f29a428e962c3ed7f75777d22.tar.gz px4-firmware-f1a5be1f57d9a15f29a428e962c3ed7f75777d22.tar.bz2 px4-firmware-f1a5be1f57d9a15f29a428e962c3ed7f75777d22.zip |
Define NAV-PVT message
Diffstat (limited to 'src/drivers')
-rw-r--r-- | src/drivers/gps/ubx.h | 50 |
1 files changed, 50 insertions, 0 deletions
diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index f01b697a3..1a9e7cb0c 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -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] */ |