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. More...

bool	configureUblox ()
	Configure the u-blox Reference Station settings. More...

void	getRosParams ()
	Get the ROS parameters specific to the Reference Station configuration. More...

void	initializeRosDiagnostics ()
	Add diagnostic updaters for the TMODE3 status. More...

void	subscribe ()
	Subscribe to u-blox Reference Station messages. More...

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). More...

void	tmode3Diagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
	Update the TMODE3 diagnostics. More...

Protected Attributes
std::vector< float >	arp_position_
	Antenna Reference Point Position [m] or [deg]. More...

std::vector< int8_t >	arp_position_hp_
	Antenna Reference Point Position High Precision [0.1 mm] or [deg * 1e-9]. More...

float	fixed_pos_acc_
	Fixed Position Accuracy [m]. More...

ublox_msgs::NavSVIN	last_nav_svin_
	The last received Nav SVIN message. More...

bool	lla_flag_
	True if coordinates are in LLA, false if ECEF. More...

enum ublox_node::HpgRefProduct:: { ... }	mode_
	Status of device time mode. More...

float	sv_in_acc_lim_
	Survey in accuracy limit [m]. More...

uint32_t	sv_in_min_dur_
	Measurement period used during Survey-In [s]. More...

bool	svin_reset_
	Whether to always reset the survey-in during configuration. More...

uint8_t	tmode3_
	TMODE3 to set, such as disabled, survey-in, fixed. More...

Detailed Description

Implements functions for High Precision GNSS Reference station devices.

Definition at line 1181 of file node.h.

Member Enumeration Documentation

◆ anonymous enum

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 1278 of file node.h.

Member Function Documentation

◆ callbackNavSvIn()

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 1557 of file node.cpp.

◆ configureUblox()

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 1486 of file node.cpp.

◆ getRosParams()

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 1448 of file node.cpp.

◆ initializeRosDiagnostics()

void HpgRefProduct::initializeRosDiagnostics ( )

virtual

Add diagnostic updaters for the TMODE3 status.

Implements ublox_node::ComponentInterface.

Definition at line 1590 of file node.cpp.

◆ setTimeMode()

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 1573 of file node.cpp.

◆ subscribe()

void HpgRefProduct::subscribe ( )

virtual

Subscribe to u-blox Reference Station messages.

Subscribe to NavSVIN messages based on user parameters.

Implements ublox_node::ComponentInterface.

Reimplemented in ublox_node::HpPosRecProduct.

Definition at line 1549 of file node.cpp.

◆ tmode3Diagnostics()

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 1595 of file node.cpp.

Member Data Documentation

◆ arp_position_

std::vector<float> ublox_node::HpgRefProduct::arp_position_

protected

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

Used only for fixed mode

Definition at line 1254 of file node.h.

◆ arp_position_hp_

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 1257 of file node.h.

◆ fixed_pos_acc_

float ublox_node::HpgRefProduct::fixed_pos_acc_

protected

Fixed Position Accuracy [m].

Used only for fixed mode

Definition at line 1260 of file node.h.

◆ last_nav_svin_

ublox_msgs::NavSVIN ublox_node::HpgRefProduct::last_nav_svin_

protected

The last received Nav SVIN message.

Definition at line 1243 of file node.h.

◆ lla_flag_

bool ublox_node::HpgRefProduct::lla_flag_

protected

True if coordinates are in LLA, false if ECEF.

Used only for fixed mode

Definition at line 1251 of file node.h.

◆ mode_

enum { ... } ublox_node::HpgRefProduct::mode_

Status of device time mode.

◆ sv_in_acc_lim_

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 1275 of file node.h.

◆ sv_in_min_dur_

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 1272 of file node.h.

◆ svin_reset_

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 1269 of file node.h.

◆ tmode3_

uint8_t ublox_node::HpgRefProduct::tmode3_

protected

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

Definition at line 1246 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

◆ anonymous enum

Member Function Documentation

◆ callbackNavSvIn()

◆ configureUblox()

◆ getRosParams()

◆ initializeRosDiagnostics()

◆ setTimeMode()

◆ subscribe()

◆ tmode3Diagnostics()

Member Data Documentation

◆ arp_position_

◆ arp_position_hp_

◆ fixed_pos_acc_

◆ last_nav_svin_

◆ lla_flag_

◆ mode_

◆ sv_in_acc_lim_

◆ sv_in_min_dur_

◆ svin_reset_

◆ tmode3_