Implements functions for High Precision GNSS Reference station devices. More...

#include <node.h>

Inheritance diagram for ublox_node::HpgRefProduct:

Public Member Functions
void	callbackNavSvIn (ublox_msgs::NavSVIN m)
	Update the last received NavSVIN message and call diagnostic updater.
bool	configureUblox ()
	Configure the u-blox Reference Station settings.
void	getRosParams ()
	Get the ROS parameters specific to the Reference Station configuration.
void	initializeRosDiagnostics ()
	Add diagnostic updaters for the TMODE3 status.
void	subscribe ()
	Subscribe to u-blox Reference Station messages.
Protected Types
enum	{ INIT, FIXED, DISABLED, SURVEY_IN, TIME }
	Status of device time mode. More...
Protected Member Functions
bool	setTimeMode ()
	Set the device mode to time mode (internal state variable).
void	tmode3Diagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
	Update the TMODE3 diagnostics.
Protected Attributes
std::vector< float >	arp_position_
	Antenna Reference Point Position [m] or [deg].
std::vector< int8_t >	arp_position_hp_
	Antenna Reference Point Position High Precision [0.1 mm] or [deg * 1e-9].
float	fixed_pos_acc_
	Fixed Position Accuracy [m].
ublox_msgs::NavSVIN	last_nav_svin_
	The last received Nav SVIN message.
bool	lla_flag_
	True if coordinates are in LLA, false if ECEF.
enum ublox_node::HpgRefProduct:: { ... }	mode_
	Status of device time mode.
float	sv_in_acc_lim_
	Survey in accuracy limit [m].
uint32_t	sv_in_min_dur_
	Measurement period used during Survey-In [s].
bool	svin_reset_
	Whether to always reset the survey-in during configuration.
uint8_t	tmode3_
	TMODE3 to set, such as disabled, survey-in, fixed.

Detailed Description

Implements functions for High Precision GNSS Reference station devices.

Definition at line 1127 of file node.h.

Member Enumeration Documentation

anonymous enum [protected]

Status of device time mode.

Enumerator:

INIT	Initialization mode (before configuration)
FIXED	Fixed mode (should switch to time mode almost immediately)
DISABLED	Time mode disabled.
SURVEY_IN	Survey-In mode.
TIME	Time mode, after survey-in or after configuring fixed mode.

Definition at line 1224 of file node.h.

Member Function Documentation

void HpgRefProduct::callbackNavSvIn ( ublox_msgs::NavSVIN m )

Update the last received NavSVIN message and call diagnostic updater.

When the survey in finishes, it changes the measurement & navigation rate to the user configured values and enables the user configured RTCM messages. Publish received Nav SVIN messages if enabled.

Parameters:

m	the message to process

Definition at line 1541 of file node.cpp.

bool HpgRefProduct::configureUblox ( ) [virtual]

Configure the u-blox Reference Station settings.

Configure the TMODE3 settings and sets the internal state based on the TMODE3 status. If the TMODE3 is set to fixed, it will configure the RTCM messages.

Returns:: true if configured correctly, false otherwise

Implements ublox_node::ComponentInterface.

Definition at line 1470 of file node.cpp.

void HpgRefProduct::getRosParams ( ) [virtual]

Get the ROS parameters specific to the Reference Station configuration.

Get the TMODE3 settings, the parameters it gets depends on the tmode3 parameter. For example, it will get survey-in parameters if the tmode3 parameter is set to survey in or it will get the fixed parameters if it is set to fixed.

Implements ublox_node::ComponentInterface.

Definition at line 1432 of file node.cpp.

void HpgRefProduct::initializeRosDiagnostics ( ) [virtual]

Add diagnostic updaters for the TMODE3 status.

Implements ublox_node::ComponentInterface.

Definition at line 1574 of file node.cpp.

bool HpgRefProduct::setTimeMode ( ) [protected]

Set the device mode to time mode (internal state variable).

Configure the RTCM messages and measurement and navigation rate.

Definition at line 1557 of file node.cpp.

void HpgRefProduct::subscribe ( ) [virtual]

Subscribe to u-blox Reference Station messages.

Subscribe to NavSVIN messages based on user parameters.

Implements ublox_node::ComponentInterface.

Definition at line 1533 of file node.cpp.

void HpgRefProduct::tmode3Diagnostics ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [protected]

Update the TMODE3 diagnostics.

Updates the status of the survey-in if in survey-in mode or the RTCM messages if in time mode.

Definition at line 1579 of file node.cpp.

Member Data Documentation

std::vector<float> ublox_node::HpgRefProduct::arp_position_ [protected]

Antenna Reference Point Position [m] or [deg].

Used only for fixed mode

Definition at line 1200 of file node.h.

std::vector<int8_t> ublox_node::HpgRefProduct::arp_position_hp_ [protected]

Antenna Reference Point Position High Precision [0.1 mm] or [deg * 1e-9].

Used only for fixed mode

Definition at line 1203 of file node.h.

float ublox_node::HpgRefProduct::fixed_pos_acc_ [protected]

Fixed Position Accuracy [m].

Used only for fixed mode

Definition at line 1206 of file node.h.

ublox_msgs::NavSVIN ublox_node::HpgRefProduct::last_nav_svin_ [protected]

The last received Nav SVIN message.

Definition at line 1189 of file node.h.

bool ublox_node::HpgRefProduct::lla_flag_ [protected]

True if coordinates are in LLA, false if ECEF.

Used only for fixed mode

Definition at line 1197 of file node.h.

enum { ... } ublox_node::HpgRefProduct::mode_ [protected]

Status of device time mode.

float ublox_node::HpgRefProduct::sv_in_acc_lim_ [protected]

Survey in accuracy limit [m].

This variable is used only if TMODE3 is set to survey-in.

Definition at line 1221 of file node.h.

uint32_t ublox_node::HpgRefProduct::sv_in_min_dur_ [protected]

Measurement period used during Survey-In [s].

This variable is used only if TMODE3 is set to survey-in.

Definition at line 1218 of file node.h.

bool ublox_node::HpgRefProduct::svin_reset_ [protected]

Whether to always reset the survey-in during configuration.

If false, it only resets survey-in if there's no fix and TMODE3 is disabled before configuration. This variable is used only if TMODE3 is set to survey-in.

Definition at line 1215 of file node.h.

uint8_t ublox_node::HpgRefProduct::tmode3_ [protected]

TMODE3 to set, such as disabled, survey-in, fixed.

Definition at line 1192 of file node.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Member Function Documentation

Member Data Documentation