sbgEComCmdGnss.h

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#ifndef __SBG_ECOM_CMD_GNSS_H__
#define __SBG_ECOM_CMD_GNSS_H__

#include "sbgEComCmdCommon.h"

//----------------------------------------------------------------------//
//- GNSS definitions                                                                                               -//
//----------------------------------------------------------------------//

typedef enum _SbgEComGnssModelsStdIds
{
        SBG_ECOM_GNSS_MODEL_UBLOX_GPS_GLONASS           = 101,          
        SBG_ECOM_GNSS_MODEL_NMEA                                        = 102,          
        SBG_ECOM_GNSS_MODEL_UBLOX_GPS_BEIDOU            = 103,          
        SBG_ECOM_GNSS_MODEL_UBLOX_EXTERNAL                      = 104,          
        SBG_ECOM_GNSS_MODEL_NOVATEL_EXTERNAL            = 106,          
        SBG_ECOM_GNSS_MODEL_NOVATEL_INTERNAL            = 107,          
        SBG_ECOM_GNSS_MODEL_SEPTENTRIO_EXTERNAL         = 109           
} SbgEComGnssModelsStdIds;

//----------------------------------------------------------------------//
//- GNSS configuration                                                                                             -//
//----------------------------------------------------------------------//

typedef struct _SbgEComGnssAlignmentInfo
{
        float   leverArmX;                                              
        float   leverArmY;                                              
        float   leverArmZ;                                              
        float   pitchOffset;                                    
        float   yawOffset;                                              
        float   antennaDistance;                                
} SbgEComGnssAlignmentInfo;

typedef struct _SbgEComGnssRejectionConf
{
        SbgEComRejectionMode    position;               
        SbgEComRejectionMode    velocity;               
        SbgEComRejectionMode    hdt;                    
} SbgEComGnssRejectionConf;

//----------------------------------------------------------------------//
//- GNSS public commands                                                       -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComCmdGnss1SetModelId(SbgEComHandle *pHandle, uint32 id);

SbgErrorCode sbgEComCmdGnss1GetModelInfo(SbgEComHandle *pHandle, SbgEComModelInfo *pModelInfo);

SBG_DEPRECATED(SbgErrorCode sbgEComCmdGnss1SetModel(SbgEComHandle *pHandle, const void *pBuffer, uint32 size));

SbgErrorCode sbgEComCmdGnss1GetLeverArmAlignment(SbgEComHandle *pHandle, SbgEComGnssAlignmentInfo *pAlignConf);

SbgErrorCode sbgEComCmdGnss1SetLeverArmAlignment(SbgEComHandle *pHandle, const SbgEComGnssAlignmentInfo *pAlignConf);

SbgErrorCode sbgEComCmdGnss1GetRejection(SbgEComHandle *pHandle, SbgEComGnssRejectionConf *pRejectConf);

SbgErrorCode sbgEComCmdGnss1SetRejection(SbgEComHandle *pHandle, const SbgEComGnssRejectionConf *pRejectConf);

#endif