#include <communications.h>
Velocity in ECEF
WGS84 latitude (degrees)
WGS84 longitude (degrees)
WGS84 height above ellipsoid (meters)
North offset from reference LLA
Down offset from reference LLA
X Position in ECEF (earth-centered earth-fixed) frame in meters
Y Position in ECEF (earth-centered earth-fixed) frame in meters
Z Position in ECEF (earth-centered earth-fixed) frame in meters
Height above Mean Sea Level
Preintegrated IMU values delta theta and delta velocity (X axis), and Integral period in body/IMU frame of accelerometer 0.
Preintegrated IMU values delta theta and delta velocity (Y axis), and Integral period in body/IMU frame of accelerometer 0.
Preintegrated IMU values delta theta and delta velocity (Z axis), and Integral period in body/IMU frame of accelerometer 0.
(DID_POSITION_MEASUREMENT) External position estimate
(DID_DEV_INFO) Device information
(DID_MANUFACTURING_INFO) Manufacturing info
(DID_INS_1) INS output: euler rotation w/ respect to NED, NED position from reference LLA
(DID_INS_2) INS output: quaternion rotation w/ respect to NED, ellipsoid altitude
(DID_INS_3) INS output: quaternion rotation w/ respect to NED, msl altitude
(DID_INS_4) INS output: quaternion rotation w/ respect to ECEF, ECEF position
Inertial Measurement Unit (IMU) data
(DID_DUAL_IMU) Dual Inertial Measurement Units (IMUs) data
(DID_MAGNETOMETER_1, DID_MAGNETOMETER_2) Magnetometer sensor data
(DID_BAROMETER) Barometric pressure sensor data
(DID_PREINTEGRATED_IMU) Coning and sculling integral in body/IMU frame.
DID_DUAL_IMU_RAW_MAG, DID_DUAL_IMU_MAG, dual imu + mag1 + mag2
DID DID_PREINTEGRATED_IMU_MAG, dual pre-integrated imu + mag1 + mag2
(DID_GPS1_POS, DID_GPS1_UBX_POS, DID_GPS2_POS) GPS position data
(DID_GPS1_VEL, DID_GPS2_VEL) GPS velocity data
GPS Satellite information
(DID_GPS1_SAT) GPS satellite signal strength
(DID_GPS1_VERSION) GPS version strings
Generic 1 axis sensor
Generic 3 axis sensor
Generic dual 3 axis sensor
(DID_SYS_SENSORS) Output from system sensors
INS output
(DID_SYS_PARAMS) System parameters
(DID_SYS_CMD) System Commands
(DID_ASCII_BCAST_PERIOD) ASCII broadcast periods. This data structure (when it is included in the sCommData struct) is zeroed out on stop_all_broadcasts
(DID_RMC) Realtime message controller (RMC).
(DID_IO) Input/Output
(DID_MAG_CAL) Magnetometer Calibration
(DID_BIT) Built-in self-test parameters
(DID_WHEEL_ENCODER) [NOT SUPPORTED, INTERNAL USE ONLY] Message to communicate wheel encoder measurements to GPS-INS
(DID_WHEEL_CONFIG) [NOT SUPPORTED, INTERNAL USE ONLY] Configuration of wheel encoders and kinematic constraints.
(DID_FLASH_CONFIG) Configuration data IMPORTANT! These fields should not be deleted, they can be deprecated and marked as reserved, or new fields added to the end.
INL2 - Estimate error variances
(DID_STROBE_IN_TIME) Timestamp for input strobe.
Raw satellite observation data
(DID_GPS1_RTK_POS_REL, DID_GPS2_RTK_CMP_REL) - RTK and Dual GNSS heading base to rover relative info.
(DID_GPS1_RTK_POS_MISC, DID_GPS2_RTK_CMP_MISC) - requires little endian CPU
Message wrapper for DID_GPS1_RAW, DID_GPS2_RAW, and DID_GPS_BASE_RAW. The contents of data can vary for this message and are determined by dataType field.
RTOS task info
(DID_RTOS_INFO)
(DID_EVB_RTOS_INFO)
(DID_CAN_BCAST_PERIOD) Broadcast period of CAN messages
Union of datasets
Union of INS output datasets
Definition at line 46 of file communications.h.
| float PACKED::acc |
Acceleration X, Y, Z in meters / second squared
Accelerometers in meters / second squared
ACC motion w/ gravity removed (linear acceleration)
Definition at line 606 of file data_sets.h.
| f_t PACKED::acc[3] |
Definition at line 1183 of file data_sets.h.
| int PACKED::accel_motion |
Definition at line 913 of file data_sets.h.
| float PACKED::accSigma |
Acceleration standard deviation
Definition at line 1456 of file data_sets.h.
| float PACKED::accuracyCov[3] |
Accuracy - estimated standard deviations of the solution assuming a priori error model and error parameters by the positioning options. []: Absolute value of means square root of estimated covariance NE, EU, UN
Definition at line 2638 of file data_sets.h.
| float PACKED::accuracyCovUD[6] |
The Upper Diagonal of accuracy covariance matrix
Definition at line 426 of file data_sets.h.
| float PACKED::accuracyPos[3] |
Accuracy - estimated standard deviations of the solution assuming a priori error model and error parameters by the positioning options. []: standard deviations {ECEF - x,y,z} or {north, east, down} (meters)
Definition at line 2635 of file data_sets.h.
| uint32_t PACKED::activeCalSet |
Definition at line 1355 of file data_sets.h.
| char PACKED::addInfo[DEVINFO_ADDINFO_STRLEN] |
Additional info
Definition at line 469 of file data_sets.h.
| uint32_t PACKED::address |
Definition at line 49 of file communications.h.
| int PACKED::ahrs |
Definition at line 910 of file data_sets.h.
| int PACKED::ahrs_gps_cnt |
Definition at line 916 of file data_sets.h.
| float PACKED::alt |
WGS84 height above ellipsoid (meters)
Definition at line 112 of file CAN_comm.h.
| is_can_ins_alt PACKED::alt |
Definition at line 261 of file CAN_comm.h.
| f_t PACKED::ana[NUM_ANA_CHANNELS] |
Definition at line 1196 of file data_sets.h.
| float PACKED::ana1 |
ADC analog input in volts. uINS pin 4, (G1/AN1).
Definition at line 1004 of file data_sets.h.
| float PACKED::ana3 |
ADC analog input in volts. uINS pin 19 (G3/AN3).
Definition at line 1007 of file data_sets.h.
| float PACKED::ana4 |
ADC analog input in volts. uINS pin 20 (G4/AN4).
Definition at line 1010 of file data_sets.h.
| uint8_t PACKED::arRatio |
Ambiguity resolution ratio factor for validation
Definition at line 232 of file CAN_comm.h.
| float PACKED::arRatio |
Ambiguity resolution ratio factor for validation
Definition at line 2609 of file data_sets.h.
| float PACKED::arThreshold |
Ambiguity resolution threshold for validation
Definition at line 2641 of file data_sets.h.
| int PACKED::att_aligned |
Definition at line 919 of file data_sets.h.
| int PACKED::att_aligning |
Definition at line 920 of file data_sets.h.
| int PACKED::att_coarse |
Definition at line 918 of file data_sets.h.
| float PACKED::att_err |
Definition at line 917 of file data_sets.h.
| uint32_t PACKED::auto_recal |
Definition at line 1347 of file data_sets.h.
| float PACKED::averageRunTimeUs |
Rolling average over last 1000 executions
Definition at line 3310 of file data_sets.h.
| int16_t PACKED::azim |
(deg) Azimuth (range: +/-180)
Definition at line 819 of file data_sets.h.
| double PACKED::b[24] |
Definition at line 2024 of file data_sets.h.
| uint8_t PACKED::bad_baseline_holdamb |
Definition at line 2050 of file data_sets.h.
| float PACKED::bar |
Barometric pressure in kilopascals
Definition at line 653 of file data_sets.h.
| f_t PACKED::bar |
Definition at line 1193 of file data_sets.h.
| barometer_t PACKED::baro |
Definition at line 3414 of file data_sets.h.
| float PACKED::baroTemp |
Baro temperature
Definition at line 1045 of file data_sets.h.
| float PACKED::barTemp |
Temperature of barometric pressure sensor in Celsius
Definition at line 659 of file data_sets.h.
| f_t PACKED::barTemp |
Definition at line 1194 of file data_sets.h.
| uint8_t PACKED::base_position_error |
Definition at line 2051 of file data_sets.h.
| uint8_t PACKED::base_position_update |
Definition at line 2058 of file data_sets.h.
| uint32_t PACKED::baseAntennaCount |
Base station antenna position element counter
Definition at line 2725 of file data_sets.h.
| uint32_t PACKED::baseBeidouEphemerisCount |
Base station beidou ephemeris element counter
Definition at line 2710 of file data_sets.h.
| uint32_t PACKED::baseBeidouObservationCount |
Base station beidou observation element counter
Definition at line 2680 of file data_sets.h.
| uint32_t PACKED::baseGalileoEphemerisCount |
Base station galileo ephemeris element counter
Definition at line 2704 of file data_sets.h.
| uint32_t PACKED::baseGalileoObservationCount |
Base station galileo observation element counter
Definition at line 2674 of file data_sets.h.
| uint32_t PACKED::baseGlonassEphemerisCount |
Base station glonass ephemeris element counter
Definition at line 2698 of file data_sets.h.
| uint32_t PACKED::baseGlonassObservationCount |
Base station glonass observation element counter
Definition at line 2668 of file data_sets.h.
| uint32_t PACKED::baseGpsEphemerisCount |
Base station gps ephemeris element counter
Definition at line 2692 of file data_sets.h.
| uint32_t PACKED::baseGpsObservationCount |
Base station gps observation element counter
Definition at line 2662 of file data_sets.h.
| double PACKED::baseLla[3] |
Base Position - latitude, longitude, height (degrees, meters)
Definition at line 2653 of file data_sets.h.
| uint32_t PACKED::baseQzsEphemerisCount |
Base station qzs ephemeris element counter
Definition at line 2716 of file data_sets.h.
| uint32_t PACKED::baseQzsObservationCount |
Base station qzs observation element counter
Definition at line 2686 of file data_sets.h.
| uint32_t PACKED::baseSbasCount |
Base station sbas element counter
Definition at line 2722 of file data_sets.h.
| float PACKED::baseToRoverDistance |
Distance from base to rover (m)
Definition at line 2615 of file data_sets.h.
| float PACKED::baseToRoverHeading |
Angle from north to baseToRoverVector in local tangent plane. (rad)
Definition at line 2618 of file data_sets.h.
| float PACKED::baseToRoverHeadingAcc |
Accuracy of baseToRoverHeading. (rad)
Definition at line 2621 of file data_sets.h.
| float PACKED::baseToRoverVector[3] |
Vector from base to rover (m) in ECEF - If Compassing enabled, this is the 3-vector from antenna 2 to antenna 1
Definition at line 2612 of file data_sets.h.
| float PACKED::biasAcc[3] |
(m/s^2) Accelerometer bias
Definition at line 896 of file data_sets.h.
| float PACKED::biasBaro |
(m) Barometer bias
Definition at line 899 of file data_sets.h.
| float PACKED::biasPqr[3] |
(rad/s) Gyro bias
Definition at line 893 of file data_sets.h.
| uint64_t PACKED::bits |
Data stream enable bits for the specified ports. (see RMC_BITS_...)
Definition at line 1301 of file data_sets.h.
| uint32_t PACKED::bits |
Config bits (see eWheelCfgBits)
Definition at line 1811 of file data_sets.h.
| double PACKED::bp_ecef[3] |
Definition at line 2021 of file data_sets.h.
| uint8_t PACKED::buf[GPS_RAW_MESSAGE_BUF_SIZE] |
Byte buffer
Definition at line 2784 of file data_sets.h.
| uint8_t PACKED::buildDate[4] |
Build date, little endian order: [0] = status ('r'=release, 'd'=debug), [1] = year-2000, [2] = month, [3] = day. Reversed byte order for big endian systems
Definition at line 463 of file data_sets.h.
| uint32_t PACKED::buildNumber |
Build number
Definition at line 451 of file data_sets.h.
| uint8_t PACKED::buildTime[4] |
Build date, little endian order: [0] = hour, [1] = minute, [2] = second, [3] = millisecond. Reversed byte order for big endian systems
Definition at line 466 of file data_sets.h.
| double PACKED::bv_ecef[3] |
Definition at line 2022 of file data_sets.h.
| uint32_t PACKED::calBitStatus |
Calibration BIT status (see eCalBitStatusFlags)
Definition at line 1432 of file data_sets.h.
| uint32_t PACKED::calibrated |
Definition at line 1346 of file data_sets.h.
| uint32_t PACKED::can_baudrate_kbps |
Baudrate (kbps)
Definition at line 3395 of file data_sets.h.
| uint32_t PACKED::can_period_mult[NUM_CIDS] |
Broadcast period (ms) - CAN time message. 0 to disable.
Definition at line 3389 of file data_sets.h.
| uint32_t PACKED::can_receive_address |
Receive address.
Definition at line 3398 of file data_sets.h.
| uint32_t PACKED::can_transmit_address[NUM_CIDS] |
Transmit address.
Definition at line 3392 of file data_sets.h.
| uint32_t PACKED::cBrdConfig |
Carrier board (i.e. eval board) configuration bits
Definition at line 1907 of file data_sets.h.
| uint32_t PACKED::checksum |
Checksum, excluding size and checksum
Definition at line 1850 of file data_sets.h.
| uint8_t PACKED::chi_square_error |
Definition at line 2076 of file data_sets.h.
| uint8_t PACKED::cno |
(dBHz) Carrier to noise ratio (signal strength)
Definition at line 813 of file data_sets.h.
| uint32_t PACKED::cnoMean |
Average of all satellite carrier to noise ratios (signal strengths) that non-zero in dBHz
Definition at line 226 of file CAN_comm.h.
| float PACKED::cnoMean |
Average of all satellite carrier to noise ratios (signal strengths) that non-zero in dBHz
Definition at line 771 of file data_sets.h.
| uint8_t PACKED::code[1] |
Code indicator: CODE_L1C (1) = L1C/A,G1C/A,E1C (GPS,GLO,GAL,QZS,SBS), CODE_L1X (12) = E1B+C,L1C(D+P) (GAL,QZS), CODE_L1I (47) = B1I (BeiDou)
Definition at line 2279 of file data_sets.h.
| uint8_t PACKED::code_large_residual |
Definition at line 2046 of file data_sets.h.
| uint8_t PACKED::code_outlier |
Definition at line 2044 of file data_sets.h.
| uint32_t PACKED::command |
System commands (see eSystemCommand) 1=save current persistent messages, 5=zero motion, 97=save flash, 99=software reset. "invCommand" (following variable) must be set to bitwise inverse of this value for this command to be processed.
Definition at line 1109 of file data_sets.h.
| uint32_t PACKED::correctionChecksumFailures |
Number of checksum failures from received corrections
Definition at line 2731 of file data_sets.h.
| uint32_t PACKED::count |
Strobe serial index number
Definition at line 1978 of file data_sets.h.
| float PACKED::cpuUsage |
Cpu usage percent
Definition at line 3316 of file data_sets.h.
| uint32_t PACKED::cycle_slips |
Definition at line 2078 of file data_sets.h.
| uint32_t PACKED::cycleSlipCount |
Cycle slip counter
Definition at line 2656 of file data_sets.h.
| float PACKED::D[1] |
Observation data Doppler measurement (positive sign for approaching satellites) (Hz)
Definition at line 2297 of file data_sets.h.
| uGpsRawData PACKED::data |
Interpret based on dataType (see eRawDataType)
Definition at line 2803 of file data_sets.h.
| uint8_t PACKED::dataType |
Type of data (eRawDataType: 1=observations, 2=ephemeris, 3=glonassEphemeris, 4=SBAS, 5=baseAntenna, 6=IonosphereModel)
Definition at line 2794 of file data_sets.h.
| char PACKED::date[16] |
Manufacturing date (YYYYMMDDHHMMSS)
Definition at line 482 of file data_sets.h.
| uint8_t PACKED::debug[2] |
Definition at line 2096 of file data_sets.h.
| float PACKED::declination |
Magnetic declination estimate
Definition at line 1338 of file data_sets.h.
| dev_info_t PACKED::devInfo |
Definition at line 3405 of file data_sets.h.
| float PACKED::diameter |
Estimate of wheel diameter
Definition at line 1823 of file data_sets.h.
| uint8_t PACKED::diff_age_error |
Definition at line 2068 of file data_sets.h.
| uint8_t PACKED::differentialAge |
Age of differential (seconds)
Definition at line 234 of file CAN_comm.h.
| float PACKED::differentialAge |
Age of differential (seconds)
Definition at line 2606 of file data_sets.h.
| is_can_dual_imu_px PACKED::dimupx |
Definition at line 271 of file CAN_comm.h.
| is_can_dual_imu_qy PACKED::dimuqy |
Definition at line 272 of file CAN_comm.h.
| is_can_dual_imu_rz PACKED::dimurz |
Definition at line 273 of file CAN_comm.h.
| float PACKED::dist2base |
Definition at line 2087 of file data_sets.h.
| float PACKED::distance |
Distance between the left wheel and the right wheel
Definition at line 1820 of file data_sets.h.
| float PACKED::distanceToBase |
Distance to Base (m)
Definition at line 236 of file CAN_comm.h.
| uint8_t PACKED::divergent_pnt_pos_iteration |
Definition at line 2075 of file data_sets.h.
| uint8_t PACKED::dlc |
Definition at line 50 of file communications.h.
| double PACKED::double_debug[4] |
Definition at line 2094 of file data_sets.h.
| is_can_down PACKED::down |
Definition at line 263 of file CAN_comm.h.
| uint16_t PACKED::dt |
Integral period in seconds for delta theta and delta velocity (scaled by 1000).
Definition at line 174 of file CAN_comm.h.
| float PACKED::dt |
Integral period in seconds for delta theta and delta velocity. This is configured using DID_FLASH_CONFIG.startupNavDtMs.
Definition at line 685 of file data_sets.h.
| dual_imu_t PACKED::dualImu |
Definition at line 3411 of file data_sets.h.
| float PACKED::e_i2l[3] |
Euler angles describing the rotation from imu to left wheel
Definition at line 1814 of file data_sets.h.
| double PACKED::ecef |
Position in ECEF (earth-centered earth-fixed) frame in meters
Position in ECEF {x,y,z} (m)
(m) Position in ECEF frame
Definition at line 420 of file data_sets.h.
| double PACKED::ecef1 |
X Position in ECEF (earth-centered earth-fixed) frame in meters
Definition at line 141 of file CAN_comm.h.
| double PACKED::ecef2 |
Y Position in ECEF (earth-centered earth-fixed) frame in meters
Definition at line 149 of file CAN_comm.h.
| double PACKED::ecef3 |
Z Position in ECEF (earth-centered earth-fixed) frame in meters
Definition at line 157 of file CAN_comm.h.
| is_can_ecef_x PACKED::ecefx |
Definition at line 264 of file CAN_comm.h.
| is_can_ecef_y PACKED::ecefy |
Definition at line 265 of file CAN_comm.h.
| is_can_ecef_z PACKED::ecefz |
Definition at line 266 of file CAN_comm.h.
| int8_t PACKED::elev |
(deg) Elevation (range: +/-90)
Definition at line 816 of file data_sets.h.
| uint8_t PACKED::end_relpos |
Definition at line 2063 of file data_sets.h.
| uint8_t PACKED::endByte |
Definition at line 52 of file communications.h.
| eph_t PACKED::eph |
Satellite non-GLONASS ephemeris data (GPS, Galileo, Beidou, QZSS)
Definition at line 2769 of file data_sets.h.
| uint8_t PACKED::error_code |
Definition at line 2085 of file data_sets.h.
| uint8_t PACKED::error_count |
Definition at line 2084 of file data_sets.h.
| is_can_ins_euler PACKED::euler |
Definition at line 254 of file CAN_comm.h.
| uint8_t PACKED::extension[30] |
Extension
Definition at line 872 of file data_sets.h.
| f_t PACKED::f[DEBUG_F_ARRAY_SIZE] |
Definition at line 1989 of file data_sets.h.
| uint8_t PACKED::firmwareVer[4] |
Firmware (software) version
Definition at line 448 of file data_sets.h.
| uint32_t PACKED::flags |
(see eSatSvFlags)
Definition at line 825 of file data_sets.h.
| nvm_flash_cfg_t PACKED::flashCfg |
Definition at line 3425 of file data_sets.h.
| uint32_t PACKED::freeHeapSize |
Heap high water mark bytes
Definition at line 3326 of file data_sets.h.
| uint32_t PACKED::freeSize |
Total memory freed using RTOS vPortFree()
Definition at line 3332 of file data_sets.h.
| union { ... } PACKED::g0 |
| uint32_t PACKED::gapCount |
Counter of times task took too long to run
Definition at line 3313 of file data_sets.h.
| float PACKED::gDop |
Geometric dilution of precision (meters)
Definition at line 2644 of file data_sets.h.
| uint8_t PACKED::gdop_error |
Definition at line 2090 of file data_sets.h.
| uint32_t PACKED::genFaultCode |
General fault code descriptor (eGenFaultCodes). Set to zero to reset fault code.
Definition at line 1066 of file data_sets.h.
| geph_t PACKED::gloEph |
Satellite GLONASS ephemeris data
Definition at line 2772 of file data_sets.h.
| uint8_t PACKED::gnssId |
GNSS identifier: 0 GPS, 1 SBAS, 2 Galileo, 3 BeiDou, 5 QZSS, 6 GLONASS
Definition at line 807 of file data_sets.h.
| uint16_t PACKED::gnssSatSigConst |
Satellite system constellation used in GNSS solution. (see eGnssSatSigConst) 0x0003=GPS, 0x000C=QZSS, 0x0030=Galileo, 0x00C0=Beidou, 0x0300=GLONASS, 0x1000=SBAS
Definition at line 1883 of file data_sets.h.
| uint32_t PACKED::gpgga |
Broadcast period (ms) - ASCII NMEA GPGGA GPS 3D location, fix, and accuracy. 0 to disable.
Definition at line 1160 of file data_sets.h.
| uint32_t PACKED::gpgll |
Broadcast period (ms) - ASCII NMEA GPGLL GPS 2D location and time. 0 to disable.
Definition at line 1163 of file data_sets.h.
| uint32_t PACKED::gpgsa |
Broadcast period (ms) - ASCII NMEA GSA GPS DOP and active satellites. 0 to disable.
Definition at line 1166 of file data_sets.h.
| uint32_t PACKED::gpioStatus |
General purpose I/O status
Definition at line 1317 of file data_sets.h.
| uint32_t PACKED::gprmc |
Broadcast period (ms) - ASCII NMEA recommended minimum specific GPS/Transit data. 0 to disable.
Definition at line 1169 of file data_sets.h.
| float PACKED::gps1AntOffset[3] |
X,Y,Z offset in meters from Sensor Frame origin to GPS 1 antenna.
Definition at line 1874 of file data_sets.h.
| float PACKED::gps2AntOffset[3] |
X,Y,Z offset in meters from DOD_ Frame origin to GPS 2 antenna.
Definition at line 1910 of file data_sets.h.
| float PACKED::gpsMinimumElevation |
Minimum elevation of a satellite above the horizon to be used in the solution (radians). Low elevation satellites may provide degraded accuracy, due to the long signal path through the atmosphere.
Definition at line 1940 of file data_sets.h.
| is_can_gps1_pos_status PACKED::gpspos |
Definition at line 274 of file CAN_comm.h.
| gps_pos_t PACKED::gpsPos |
Definition at line 3418 of file data_sets.h.
| gps_raw_t PACKED::gpsRaw |
Definition at line 3430 of file data_sets.h.
| gps_rtk_misc_t PACKED::gpsRtkMisc |
Definition at line 3422 of file data_sets.h.
| gps_rtk_rel_t PACKED::gpsRtkRel |
Definition at line 3421 of file data_sets.h.
| gps_sat_t PACKED::gpsSat |
Definition at line 3420 of file data_sets.h.
| uint32_t PACKED::gpsTimeSyncPeriodMs |
Time between GPS time synchronization pulses in milliseconds. Requires reboot to take effect.
Definition at line 1925 of file data_sets.h.
| gps_vel_t PACKED::gpsVel |
Definition at line 3419 of file data_sets.h.
| uint32_t PACKED::gpzda |
Broadcast period (ms) - ASCII NMEA Data and Time. 0 to disable.
Definition at line 1172 of file data_sets.h.
| float PACKED::hAcc |
Horizontal accuracy in meters
Definition at line 762 of file data_sets.h.
| uint32_t PACKED::handle |
Handle
Definition at line 3319 of file data_sets.h.
| uint8_t PACKED::hardwareVer[4] |
Hardware version
Definition at line 445 of file data_sets.h.
| float PACKED::hDop |
Horizontal dilution of precision (meters)
Definition at line 2647 of file data_sets.h.
| uint32_t PACKED::hdwBitStatus |
Hardware BIT status (see eHdwBitStatusFlags)
Definition at line 1429 of file data_sets.h.
| uint32_t PACKED::hdwStatus |
Hardware status flags (eHdwStatusFlags). Copy of DID_SYS_PARAMS.hdwStatus
System status 2 flags (eHdwStatusFlags)
Definition at line 40 of file CAN_comm.h.
| int16_t PACKED::headingToBase |
Angle from north to vectorToBase in local tangent plane. (rad)
Definition at line 238 of file CAN_comm.h.
| float PACKED::hMSL |
Height above mean sea level (MSL) in meters
Definition at line 759 of file data_sets.h.
| float PACKED::humidity |
Relative humidity as a percent (rH). Range is 0% - 100%
Definition at line 662 of file data_sets.h.
| f_t PACKED::humidity |
Definition at line 1195 of file data_sets.h.
| uint8_t PACKED::hwVersion[10] |
Hardware version
Definition at line 870 of file data_sets.h.
| imus_t PACKED::I |
Inertial Measurement Unit (IMU)
Inertial Measurement Units (IMUs)
Definition at line 617 of file data_sets.h.
| int32_t PACKED::i[DEBUG_I_ARRAY_SIZE] |
Definition at line 1988 of file data_sets.h.
| dual_imu_t PACKED::imu |
dual imu - raw or pre-integrated depending on data id
Definition at line 696 of file data_sets.h.
| imu_t PACKED::imu |
Definition at line 3410 of file data_sets.h.
| uint32_t PACKED::imuPeriodMs |
IMU sample period in milliseconds. Zero disables sampling.
Definition at line 1054 of file data_sets.h.
| float PACKED::imuTemp |
IMU temperature
Definition at line 1042 of file data_sets.h.
| inl2_ned_sigma_t PACKED::inl2NedSigma |
Definition at line 3424 of file data_sets.h.
| inl2_states_t PACKED::inl2States |
Definition at line 3423 of file data_sets.h.
| ins_1_t PACKED::ins1 |
Definition at line 3406 of file data_sets.h.
| ins_2_t PACKED::ins2 |
Definition at line 3407 of file data_sets.h.
| ins_3_t PACKED::ins3 |
Definition at line 3408 of file data_sets.h.
| ins_4_t PACKED::ins4 |
Definition at line 3409 of file data_sets.h.
| uint8_t PACKED::insDynModel |
INS dynamic platform model. Options are: 0=PORTABLE, 2=STATIONARY, 3=PEDESTRIAN, 4=AUTOMOTIVE, 5=SEA, 6=AIRBORNE_1G, 7=AIRBORNE_2G, 8=AIRBORNE_4G, 9=WRIST. Used to balance noise and performance characteristics of the system. The dynamics selected here must be at least as fast as your system or you experience accuracy error. This is tied to the GPS position estimation model and intend in the future to be incorporated into the INS position model.
Definition at line 1877 of file data_sets.h.
| float PACKED::insHdg |
Definition at line 1350 of file data_sets.h.
| float PACKED::insOffset[3] |
X,Y,Z offset in meters from Intermediate Output Frame to INS Output Frame.
Definition at line 1871 of file data_sets.h.
| int16_t PACKED::insRoll |
Euler roll, roll rates from each IMU(DID_DUAL_IMU)
Definition at line 244 of file CAN_comm.h.
| float PACKED::insRotation[3] |
Roll, pitch, yaw euler angle rotation in radians from INS Sensor Frame to Intermediate Output Frame. Order applied: heading, pitch, roll.
Definition at line 1868 of file data_sets.h.
| uint32_t PACKED::insStatus |
INS status flags (eInsStatusFlags). Copy of DID_SYS_PARAMS.insStatus
System status 1 flags (eInsStatusFlags)
Definition at line 37 of file CAN_comm.h.
| is_can_ins_status PACKED::insstatus |
Definition at line 253 of file CAN_comm.h.
| uint8_t PACKED::invalid_base_position |
Definition at line 2049 of file data_sets.h.
| uint32_t PACKED::invCommand |
Error checking field that must be set to bitwise inverse of command field for the command to take effect.
Definition at line 1112 of file data_sets.h.
| uint32_t PACKED::ioConfig |
Hardware interface configuration bits (see eIoConfig).
Definition at line 1904 of file data_sets.h.
| ion_model_utc_alm_t PACKED::ion |
Ionosphere model and UTC parameters
Definition at line 2781 of file data_sets.h.
| uint32_t PACKED::ionUtcAlmCount |
Ionosphere model, utc and almanac count
Definition at line 2728 of file data_sets.h.
| uint32_t PACKED::key |
| double PACKED::L[1] |
Observation data carrier-phase (cycle). The carrier phase initial ambiguity is initialized using an approximate value to make the magnitude of the phase close to the pseudorange measurement. Clock resets are applied to both phase and code measurements in accordance with the RINEX specification.
Definition at line 2291 of file data_sets.h.
| uint8_t PACKED::lack_of_valid_sats |
Definition at line 2074 of file data_sets.h.
| uint8_t PACKED::large_v2b |
Definition at line 2056 of file data_sets.h.
| double PACKED::lastLla[3] |
Last latitude, longitude, HAE (height above ellipsoid) used to aid GPS startup (deg, deg, m)
Definition at line 1892 of file data_sets.h.
| uint32_t PACKED::lastLlaTimeOfWeekMs |
Last LLA GPS time since week start (Sunday morning) in milliseconds
Definition at line 1895 of file data_sets.h.
| float PACKED::lastLlaUpdateDistance |
Distance between current and last LLA that triggers an update of lastLla
Definition at line 1901 of file data_sets.h.
| uint32_t PACKED::lastLlaWeek |
Last LLA GPS number of weeks since January 6th, 1980
Definition at line 1898 of file data_sets.h.
| double PACKED::lat |
WGS84 latitude (degrees)
Definition at line 97 of file CAN_comm.h.
| is_can_ins_lat PACKED::lat |
Definition at line 259 of file CAN_comm.h.
| uint8_t PACKED::leapS |
GPS leap second (GPS-UTC) offset. Receiver's best knowledge of the leap seconds offset from UTC to GPS time. Subtract from GPS time of week to get UTC time of week. (18 seconds as of December 31, 2016)
Definition at line 777 of file data_sets.h.
| double PACKED::lf[DEBUG_LF_ARRAY_SIZE] |
Definition at line 1990 of file data_sets.h.
| double PACKED::lla |
WGS84 latitude, longitude, height above ellipsoid (degrees,degrees,meters)
WGS84 latitude, longitude, height above ellipsoid in meters (not MSL)
Position - WGS84 latitude, longitude, height above ellipsoid (not MSL) (degrees, m)
Latitude, longitude and height above ellipsoid (rad, rad, m)
Definition at line 511 of file data_sets.h.
| uint8_t PACKED::LLI[1] |
Loss of Lock Indicator. Set to non-zero values only when carrier-phase is valid (L > 0). bit1 = loss-of-lock, bit2 = half-cycle-invalid
Definition at line 2276 of file data_sets.h.
| double PACKED::lon |
WGS84 longitude (degrees)
Definition at line 105 of file CAN_comm.h.
| is_can_ins_lon PACKED::lon |
Definition at line 260 of file CAN_comm.h.
| uint32_t PACKED::lotNumber |
Lot number
Definition at line 479 of file data_sets.h.
| uint8_t PACKED::lsq_error |
Definition at line 2073 of file data_sets.h.
| evb_flash_cfg_t PACKED::m |
| float PACKED::mag |
Magnetometers in Gauss
Definition at line 642 of file data_sets.h.
| f_t PACKED::mag[3] |
Definition at line 1184 of file data_sets.h.
| magnetometer_t PACKED::mag |
Definition at line 3412 of file data_sets.h.
| magnetometer_t PACKED::mag1 |
mag 1
Definition at line 699 of file data_sets.h.
| magnetometer_t PACKED::mag2 |
Definition at line 700 of file data_sets.h.
| int PACKED::mag_cal_done |
Definition at line 923 of file data_sets.h.
| int PACKED::mag_cal_good |
Definition at line 922 of file data_sets.h.
| mag_cal_t PACKED::magCal |
Definition at line 3413 of file data_sets.h.
| float PACKED::magDec |
(rad) Magnetic declination
Definition at line 902 of file data_sets.h.
| float PACKED::magDeclination |
Earth magnetic field (magnetic north) declination (heading offset from true north) in radians
Definition at line 1922 of file data_sets.h.
| float PACKED::magHdg |
Definition at line 1349 of file data_sets.h.
| float PACKED::magHdgOffset |
Definition at line 1356 of file data_sets.h.
| float PACKED::magInc |
(rad) Magnetic inclination
Definition at line 905 of file data_sets.h.
| float PACKED::magInclination |
Earth magnetic field (magnetic north) inclination (negative pitch offset) in radians
Definition at line 1919 of file data_sets.h.
| float PACKED::magInsHdgDelta |
Definition at line 1351 of file data_sets.h.
| uint32_t PACKED::mallocSize |
Total memory allocated using RTOS pvPortMalloc()
Definition at line 3329 of file data_sets.h.
| char PACKED::manufacturer[DEVINFO_MANUFACTURER_STRLEN] |
Manufacturer name
Definition at line 460 of file data_sets.h.
| uint32_t PACKED::marker |
Definition at line 58 of file communications.h.
| uint32_t PACKED::maxRunTimeUs |
Max run time microseconds
Definition at line 3307 of file data_sets.h.
| float PACKED::mcuTemp |
MCU temperature (not available yet)
Definition at line 1048 of file data_sets.h.
| uint8_t PACKED::moveb_time_sync_error |
Definition at line 2069 of file data_sets.h.
| sensors_mpu_w_temp_t PACKED::mpu[NUM_IMU_DEVICES] |
Definition at line 1192 of file data_sets.h.
| float PACKED::msl |
Height above mean sea level (MSL) in meters
height above mean sea level (MSL) in meters
Definition at line 165 of file CAN_comm.h.
| is_can_msl PACKED::msl |
Definition at line 267 of file CAN_comm.h.
| float PACKED::mslBar |
MSL altitude from barometric pressure sensor in meters
Definition at line 656 of file data_sets.h.
| char PACKED::name[MAX_TASK_NAME_LEN] |
Task name
Definition at line 3292 of file data_sets.h.
| uint32_t PACKED::navPeriodMs |
Nav filter update period in milliseconds. Zero disables nav filter.
Definition at line 1057 of file data_sets.h.
| uint32_t PACKED::Ncal_samples |
Definition at line 1344 of file data_sets.h.
| is_can_north_east PACKED::ne |
Definition at line 262 of file CAN_comm.h.
| float PACKED::ned[3] |
North, east and down offset from reference latitude, longitude, and altitude to current latitude, longitude, and altitude
Definition at line 514 of file data_sets.h.
| float PACKED::ned1 |
North offset from reference latitude, longitude, and altitude to current latitude, longitude, and altitude
Definition at line 121 of file CAN_comm.h.
| float PACKED::ned2 |
East offset from reference latitude, longitude, and altitude to current latitude, longitude, and altitude
Definition at line 123 of file CAN_comm.h.
| float PACKED::ned3 |
Down offset from reference latitude, longitude, and altitude to current latitude, longitude, and altitude
Definition at line 131 of file CAN_comm.h.
| float PACKED::nis |
Definition at line 1352 of file data_sets.h.
| float PACKED::nis_threshold |
Definition at line 1353 of file data_sets.h.
| uint8_t PACKED::no_base_obs_data |
Definition at line 2066 of file data_sets.h.
| uint32_t PACKED::numSats |
Number of satellites in the sky
Definition at line 858 of file data_sets.h.
| int32_t PACKED::nv |
Definition at line 2032 of file data_sets.h.
| obsd_t PACKED::obs[MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE] |
Satellite observation data
Definition at line 2766 of file data_sets.h.
| uint8_t PACKED::obs_count_bas |
Definition at line 2097 of file data_sets.h.
| uint8_t PACKED::obs_count_rov |
Definition at line 2098 of file data_sets.h.
| uint8_t PACKED::obs_pairs_filtered |
Definition at line 2100 of file data_sets.h.
| uint8_t PACKED::obs_pairs_used |
Definition at line 2101 of file data_sets.h.
| uint8_t PACKED::obsCount |
Number of observations in data (obsd_t) when dataType==1 (raw_data_type_observation).
Definition at line 2797 of file data_sets.h.
| float PACKED::omega_l |
Left wheel angular rate (rad/s)
Definition at line 1787 of file data_sets.h.
| float PACKED::omega_r |
Right wheel angular rate (rad/s)
Definition at line 1790 of file data_sets.h.
| uint32_t PACKED::options |
Options: Port selection0x0=current, 0xFF=all, 0x1=ser0, 0x2=ser1, 0x4=USB
Options to select alternate ports to output data, etc. (see RMC_OPTIONS_...)
Definition at line 1139 of file data_sets.h.
| uint8_t PACKED::outc_ovfl |
Definition at line 2053 of file data_sets.h.
| uint32_t PACKED::outlier |
Definition at line 1348 of file data_sets.h.
| double PACKED::P[1] |
Observation data pseudorange (m). GLONASS inter frequency channel delays are compensated with an internal calibration table
Definition at line 2294 of file data_sets.h.
| float PACKED::PABias[3] |
Acceleration bias error sigma
Definition at line 1956 of file data_sets.h.
| uint32_t PACKED::padding[BOOTLOADER_FLASH_BLOCK_SIZE/sizeof(uint32_t)] |
| uint32_t PACKED::pashr |
Broadcast period (ms) - ASCII NMEA Inertial Attitude Data. 0 to disable.
Definition at line 1175 of file data_sets.h.
| float PACKED::PattNED[3] |
NED attitude error sigma
Definition at line 1954 of file data_sets.h.
| is_can_payload PACKED::payload |
Definition at line 51 of file communications.h.
| float PACKED::PBaroBias |
Barometric altitude bias error sigma
Definition at line 1960 of file data_sets.h.
| float PACKED::PDeclination |
Mag declination error sigma
Definition at line 1962 of file data_sets.h.
| float PACKED::pDop |
Position dilution of precision (unitless)
Definition at line 768 of file data_sets.h.
| uint32_t PACKED::periodMs |
Task period ms
Definition at line 3301 of file data_sets.h.
| uint32_t PACKED::pgpsp |
Broadcast period (ms) - ASCII GPS position data. 0 to disable.
Definition at line 1154 of file data_sets.h.
| uint8_t PACKED::phase_large_residual |
Definition at line 2048 of file data_sets.h.
| uint8_t PACKED::phase_outlier |
Definition at line 2045 of file data_sets.h.
| preintegrated_imu_t PACKED::pimu |
dual preintegrated imu
Definition at line 708 of file data_sets.h.
| uint32_t PACKED::pimu |
Broadcast period (ms) - ASCII dual IMU data. 0 to disable.
Definition at line 1142 of file data_sets.h.
| preintegrated_imu_t PACKED::pImu |
Definition at line 3417 of file data_sets.h.
| int16_t PACKED::pImu1 |
Definition at line 245 of file CAN_comm.h.
| int16_t PACKED::pImu2 |
Definition at line 246 of file CAN_comm.h.
| is_can_preint_imu_px PACKED::pimupx |
Definition at line 268 of file CAN_comm.h.
| is_can_preint_imu_qy PACKED::pimuqy |
Definition at line 269 of file CAN_comm.h.
| is_can_preint_imu_rz PACKED::pimurz |
Definition at line 270 of file CAN_comm.h.
| uint32_t PACKED::pin |
Strobe input pin
Definition at line 1975 of file data_sets.h.
| uint32_t PACKED::pins1 |
Broadcast period (ms) - ASCII INS output: euler rotation w/ respect to NED, NED position from reference LLA. 0 to disable.
Definition at line 1148 of file data_sets.h.
| uint32_t PACKED::pins2 |
Broadcast period (ms) - ASCII INS output: quaternion rotation w/ respect to NED, ellipsoid altitude. 0 to disable.
Definition at line 1151 of file data_sets.h.
| uint8_t PACKED::pnt_pos_error |
Definition at line 2065 of file data_sets.h.
| pos_measurement_t PACKED::posMeasurement |
Definition at line 3416 of file data_sets.h.
| uint32_t PACKED::ppimu |
Broadcast period (ms) - ASCII preintegrated dual IMU: delta theta (rad) and delta velocity (m/s). 0 to disable.
Definition at line 1145 of file data_sets.h.
| float PACKED::pqr |
Gyroscope P, Q, R in radians / second
Gyros in radians / second
PQR motion (angular rate)
Definition at line 603 of file data_sets.h.
| f_t PACKED::pqr[3] |
Definition at line 1182 of file data_sets.h.
| float PACKED::pqrSigma |
Angular rate standard deviation
Definition at line 1453 of file data_sets.h.
| uint32_t PACKED::priority |
Task priority (0 - 8)
Definition at line 3295 of file data_sets.h.
| float PACKED::progress |
Mag recalibration progress indicator: 0-100 %
Definition at line 1335 of file data_sets.h.
| uint8_t PACKED::protocolVer[4] |
Communications protocol version
Definition at line 454 of file data_sets.h.
| int16_t PACKED::prRes |
(m) Pseudo range residual
Definition at line 822 of file data_sets.h.
| float PACKED::psi |
Heading with respect to NED frame (rad)
Definition at line 423 of file data_sets.h.
| protocol_type_t PACKED::ptype |
Definition at line 59 of file communications.h.
| float PACKED::PvelNED[3] |
NED velocity error sigma
Definition at line 1952 of file data_sets.h.
| float PACKED::PWBias[3] |
Angular rate bias error sigma
Definition at line 1958 of file data_sets.h.
| float PACKED::PxyzNED[3] |
NED position error sigma
Definition at line 1950 of file data_sets.h.
| double PACKED::qb[24] |
Definition at line 2025 of file data_sets.h.
| float PACKED::qe2b |
Quaternion body rotation with respect to ECEF: W, X, Y, Z
Quaternion body rotation with respect to ECEF
Definition at line 589 of file data_sets.h.
| int16_t PACKED::qe2b1 |
Quaternion body rotation with respect to ECEF: W, X, Y, Z (scaled by 10000)
Definition at line 68 of file CAN_comm.h.
| int16_t PACKED::qe2b2 |
Definition at line 69 of file CAN_comm.h.
| int16_t PACKED::qe2b3 |
Definition at line 70 of file CAN_comm.h.
| int16_t PACKED::qe2b4 |
Definition at line 71 of file CAN_comm.h.
| float PACKED::qn2b |
Quaternion body rotation with respect to NED: W, X, Y, Z
Definition at line 534 of file data_sets.h.
| int16_t PACKED::qn2b1 |
Quaternion body rotation with respect to NED: W, X, Y, Z (scaled by 10000)
Definition at line 58 of file CAN_comm.h.
| int16_t PACKED::qn2b2 |
Definition at line 59 of file CAN_comm.h.
| int16_t PACKED::qn2b3 |
Definition at line 60 of file CAN_comm.h.
| int16_t PACKED::qn2b4 |
Definition at line 61 of file CAN_comm.h.
| double PACKED::qr[6] |
Definition at line 2023 of file data_sets.h.
| uint8_t PACKED::qualL[1] |
Estimated carrier phase measurement standard deviation (0.004 cycles), zero means invalid
Definition at line 2282 of file data_sets.h.
| uint8_t PACKED::qualP[1] |
Estimated pseudorange measurement standard deviation (0.01 m), zero means invalid
Definition at line 2285 of file data_sets.h.
| is_can_ins_quate2b PACKED::quate2b |
Definition at line 256 of file CAN_comm.h.
| is_can_ins_quatn2b PACKED::quatn2b |
Definition at line 255 of file CAN_comm.h.
| double PACKED::ra_ecef[3] |
Definition at line 2020 of file data_sets.h.
| uint8_t PACKED::raw_dat_queue_overrun |
Definition at line 2103 of file data_sets.h.
| uint8_t PACKED::raw_ptr_queue_overrun |
Definition at line 2102 of file data_sets.h.
| uint8_t PACKED::rcv |
receiver number
Definition at line 2270 of file data_sets.h.
| uint32_t PACKED::ready |
Definition at line 1345 of file data_sets.h.
| uint32_t PACKED::recalCmd |
Set mode and start recalibration. 1 = multi-axis, 2 = single-axis, 101 = abort.
Definition at line 1332 of file data_sets.h.
| uint8_t PACKED::receiverIndex |
Receiver index (1=RECEIVER_INDEX_GPS1, 2=RECEIVER_INDEX_EXTERNAL_BASE, or 3=RECEIVER_INDEX_GPS2 )
Definition at line 2791 of file data_sets.h.
| double PACKED::refLla[3] |
Reference latitude, longitude and height above ellipsoid for north east down (NED) calculations (deg, deg, m)
Definition at line 1889 of file data_sets.h.
| uint8_t PACKED::rej_ovfl |
Definition at line 2043 of file data_sets.h.
| uint32_t PACKED::repoRevision |
Repository revision number
Definition at line 457 of file data_sets.h.
| uint8_t PACKED::rescode_err_marker |
Definition at line 2083 of file data_sets.h.
| uint8_t PACKED::reserved |
Reserved bits
Broadcast period (ms) - Reserved. Leave zero.
ensure 32 bit aligned in memory
Reserved
reserved, for alignment
Definition at line 439 of file data_sets.h.
| uint8_t PACKED::reserved |
Reserved for future use
ensure 32 bit aligned in memory
Reserved
reserved, for alignment
Definition at line 780 of file data_sets.h.
| float PACKED::reserved1 |
Reserved
Definition at line 1051 of file data_sets.h.
| uint8_t PACKED::reserved1 |
Definition at line 2089 of file data_sets.h.
| float PACKED::reserved2[2] |
Reserved
Definition at line 1063 of file data_sets.h.
| uint8_t PACKED::reset_bias |
Definition at line 2060 of file data_sets.h.
| uint8_t PACKED::reset_timer |
Definition at line 2054 of file data_sets.h.
| rmc_t PACKED::rmc |
Definition at line 3432 of file data_sets.h.
| is_can_roll_rollRate PACKED::rollrollrate |
Definition at line 276 of file CAN_comm.h.
| int PACKED::rot_motion |
Definition at line 914 of file data_sets.h.
| uint8_t PACKED::rover_position_error |
Definition at line 2059 of file data_sets.h.
| uint32_t PACKED::roverBeidouEphemerisCount |
Rover beidou ephemeris element counter
Definition at line 2707 of file data_sets.h.
| uint32_t PACKED::roverBeidouObservationCount |
Rover beidou observation element counter
Definition at line 2677 of file data_sets.h.
| uint32_t PACKED::roverGalileoEphemerisCount |
Rover galileo ephemeris element counter
Definition at line 2701 of file data_sets.h.
| uint32_t PACKED::roverGalileoObservationCount |
Rover galileo observation element counter
Definition at line 2671 of file data_sets.h.
| uint32_t PACKED::roverGlonassEphemerisCount |
Rover glonass ephemeris element counter
Definition at line 2695 of file data_sets.h.
| uint32_t PACKED::roverGlonassObservationCount |
Rover glonass observation element counter
Definition at line 2665 of file data_sets.h.
| uint32_t PACKED::roverGpsEphemerisCount |
Rover gps ephemeris element counter
Definition at line 2689 of file data_sets.h.
| uint32_t PACKED::roverGpsObservationCount |
Rover gps observation element counter
Definition at line 2659 of file data_sets.h.
| uint32_t PACKED::roverQzsEphemerisCount |
Rover qzs ephemeris element counter
Definition at line 2713 of file data_sets.h.
| uint32_t PACKED::roverQzsObservationCount |
Rover qzs observation element counter
Definition at line 2683 of file data_sets.h.
| uint32_t PACKED::roverSbasCount |
Rover sbas element counter
Definition at line 2719 of file data_sets.h.
| double PACKED::rp_ecef[3] |
Definition at line 2018 of file data_sets.h.
| uint32_t PACKED::RTKCfgBits |
RTK configuration bits (see eRTKConfigBits).
Definition at line 1931 of file data_sets.h.
| is_can_gps1_rtk_rel PACKED::rtkrel |
Definition at line 275 of file CAN_comm.h.
| rtos_info_t PACKED::rtosInfo |
Definition at line 3429 of file data_sets.h.
| uint32_t PACKED::runTimeUs |
Last run time microseconds
Definition at line 3304 of file data_sets.h.
| double PACKED::rv_ecef[3] |
Definition at line 2019 of file data_sets.h.
| uint8_t PACKED::s[DEBUG_STRING_SIZE] |
Definition at line 1998 of file data_sets.h.
| float PACKED::sAcc |
Speed accuracy in meters / second
Definition at line 796 of file data_sets.h.
| gps_sat_sv_t PACKED::sat[MAX_NUM_SAT_CHANNELS] |
Satellite information list
Definition at line 860 of file data_sets.h.
| uint8_t PACKED::sat |
Satellite number in RTKlib notation. GPS: 1-32, GLONASS: 33-59, Galilleo: 60-89, SBAS: 90-95
Definition at line 2267 of file data_sets.h.
| uint8_t PACKED::sat_id[24] |
Definition at line 2026 of file data_sets.h.
| uint8_t PACKED::sat_id_i[24] |
Definition at line 2033 of file data_sets.h.
| uint8_t PACKED::sat_id_j[24] |
Definition at line 2034 of file data_sets.h.
| sbsmsg_t PACKED::sbas |
Satellite-Based Augmentation Systems (SBAS) data
Definition at line 2775 of file data_sets.h.
| uint32_t PACKED::sensorConfig |
Sensor config (see eSensorConfig in data_sets.h)
Definition at line 1934 of file data_sets.h.
| sys_sensors_adc_t PACKED::sensorsAdc |
Definition at line 3431 of file data_sets.h.
| double PACKED::sensorTruePeriod |
Actual sample period relative to GPS PPS
Definition at line 1060 of file data_sets.h.
| uint32_t PACKED::ser0BaudRate |
Serial port 0 baud rate in bits per second
Definition at line 1862 of file data_sets.h.
| uint32_t PACKED::ser1BaudRate |
Serial port 1 baud rate in bits per second
Definition at line 1865 of file data_sets.h.
| uint32_t PACKED::serialNumber |
Serial number
Definition at line 442 of file data_sets.h.
| uint32_t PACKED::size |
Size of group or union, which is nvm_group_x_t + padding
Definition at line 60 of file communications.h.
| uint8_t PACKED::SNR[1] |
Cno, carrier-to-noise density ratio (signal strength) (0.25 dB-Hz)
Definition at line 2273 of file data_sets.h.
| uint8_t PACKED::solStatus |
Definition at line 2082 of file data_sets.h.
| sta_t PACKED::sta |
Base station information (base position, antenna position, antenna height, etc.)
Definition at line 2778 of file data_sets.h.
| uint32_t PACKED::stackUnused |
Stack high water mark bytes
Definition at line 3298 of file data_sets.h.
| int PACKED::start_proc_done |
Definition at line 921 of file data_sets.h.
| uint8_t PACKED::start_relpos |
Definition at line 2061 of file data_sets.h.
| uint8_t PACKED::start_rtkpos |
Definition at line 2064 of file data_sets.h.
| uint8_t PACKED::startByte |
Definition at line 48 of file communications.h.
| uint32_t PACKED::startupGPSDtMs |
GPS measurement (system input data) update period in milliseconds set on startup. 200ms minimum (5Hz max).
Definition at line 1928 of file data_sets.h.
| uint32_t PACKED::startupImuDtMs |
IMU sample (system input data) period in milliseconds set on startup. Cannot be larger than startupNavDtMs. Zero disables sensor/IMU sampling.
Definition at line 1856 of file data_sets.h.
| uint32_t PACKED::startupNavDtMs |
Nav filter (system output data) update period in milliseconds set on startup. 1ms minimum (1KHz max). Zero disables nav filter updates.
Definition at line 1859 of file data_sets.h.
| int PACKED::stat_magfield |
Definition at line 924 of file data_sets.h.
| uint32_t PACKED::state |
Built-in self-test state (see eBitState)
Definition at line 1426 of file data_sets.h.
| uint32_t PACKED::status |
(see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags
IMU Status (eImuStatus)
(see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag
NMEA input if status flag GPS_STATUS_FLAGS_GPS_NMEA_DATA
Status Word
Definition at line 114 of file CAN_comm.h.
| survey_in_t PACKED::surveyIn |
Definition at line 3426 of file data_sets.h.
| uint8_t PACKED::svId |
Satellite identifier
Definition at line 810 of file data_sets.h.
| uint8_t PACKED::swVersion[30] |
Software version
Definition at line 868 of file data_sets.h.
| uint32_t PACKED::sysCfgBits |
System configuration bits (see eSysConfigBits).
Definition at line 1886 of file data_sets.h.
| sys_params_t PACKED::sysParams |
Definition at line 3427 of file data_sets.h.
| sys_sensors_t PACKED::sysSensors |
Definition at line 3428 of file data_sets.h.
| float PACKED::t_i2l[3] |
Translation from the imu to the left wheel, expressed in the imu frame
Definition at line 1817 of file data_sets.h.
| rtos_task_t PACKED::task |
Tasks
Definition at line 3335 of file data_sets.h.
| float PACKED::tcAccBias |
Definition at line 1436 of file data_sets.h.
| float PACKED::tcAccLinearity |
Definition at line 1444 of file data_sets.h.
| float PACKED::tcAccSlope |
Definition at line 1440 of file data_sets.h.
| float PACKED::Tcal |
Definition at line 1357 of file data_sets.h.
| float PACKED::tcPqrBias |
Temperature calibration bias
Definition at line 1435 of file data_sets.h.
| float PACKED::tcPqrLinearity |
Temperature calibration linearity
Definition at line 1443 of file data_sets.h.
| float PACKED::tcPqrSlope |
Temperature calibration slope
Definition at line 1439 of file data_sets.h.
| float PACKED::temp |
Temperature in Celsius
Definition at line 977 of file data_sets.h.
| f_t PACKED::temp |
Definition at line 1185 of file data_sets.h.
| float PACKED::theta[3] |
Euler angles: roll, pitch, yaw in radians with respect to NED
Definition at line 505 of file data_sets.h.
| int16_t PACKED::theta0 |
Definition at line 171 of file CAN_comm.h.
| int16_t PACKED::theta1 |
Euler angles: roll, pitch, yaw in radians with respect to NED (scaled by 10000)
Definition at line 48 of file CAN_comm.h.
| float PACKED::theta1[3] |
IMU 1 delta theta (gyroscope {p,q,r} integral) in radians in sensor frame
Definition at line 673 of file data_sets.h.
| int16_t PACKED::theta2 |
Definition at line 49 of file CAN_comm.h.
| float PACKED::theta2[3] |
IMU 2 delta theta (gyroscope {p,q,r} integral) in radians in sensor frame
Definition at line 676 of file data_sets.h.
| int16_t PACKED::theta3 |
Definition at line 50 of file CAN_comm.h.
| float PACKED::theta_l |
Left wheel angle (rad)
Definition at line 1781 of file data_sets.h.
| float PACKED::theta_r |
Right wheel angle (rad)
Definition at line 1784 of file data_sets.h.
| gtime_t PACKED::time |
Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset
Time in seconds
Receiver local time approximately aligned to the GPS time system (GPST)
Definition at line 252 of file CAN_comm.h.
| double PACKED::time |
Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset
Time in seconds
Definition at line 614 of file data_sets.h.
| gtime_t PACKED::time |
Receiver local time approximately aligned to the GPS time system (GPST)
Definition at line 2017 of file data_sets.h.
| double PACKED::timeOfWeek |
GPS time of week (since Sunday morning) in seconds
Time of measurement wrt current week
Definition at line 417 of file data_sets.h.
| uint32_t PACKED::timeOfWeekMs |
Time of week (since Sunday morning) in milliseconds, GMT
GPS time of week (since Sunday morning) in milliseconds
Definition at line 29 of file CAN_comm.h.
| uint32_t PACKED::timeOfWeekMs |
GPS time of week (since Sunday morning) in milliseconds
Definition at line 747 of file data_sets.h.
| unsigned int PACKED::timeOfWeekMs |
Timestamp in milliseconds
Definition at line 1948 of file data_sets.h.
| uint32_t PACKED::timeToFirstFixMs |
Time to first RTK fix.
Definition at line 2734 of file data_sets.h.
| double PACKED::towOffset |
Time sync offset between local time since boot up to GPS time of week in seconds. Add this to IMU and sensor time to get GPS time of week in seconds.
Definition at line 774 of file data_sets.h.
| uint8_t PACKED::type[24] |
Definition at line 2035 of file data_sets.h.
| float PACKED::ubx_error |
Definition at line 2080 of file data_sets.h.
| uint8_t PACKED::use_ubx_position |
Definition at line 2055 of file data_sets.h.
| float PACKED::uvw |
Velocity U, V, W in meters per second. Convert to NED velocity using "quatRot(vel_ned, qn2b, uvw)".
Velocities in body frames of X, Y and Z (m/s)
Definition at line 257 of file CAN_comm.h.
| float PACKED::uvw[3] |
Velocity U, V, W in meters per second. Convert to NED velocity using "vectorBodyToReference( uvw, theta, vel_ned )".
Velocity U, V, W in meters per second. Convert to NED velocity using "quatRot(vel_ned, qn2b, uvw)".
Velocities in body frames of X, Y and Z (m/s)
Definition at line 508 of file data_sets.h.
| int16_t PACKED::uvw1 |
Velocity U, V, W in meters per second (scaled by 100). Convert to NED velocity using "vectorBodyToReference( uvw, theta, vel_ned )".
Definition at line 78 of file CAN_comm.h.
| int16_t PACKED::uvw2 |
Definition at line 79 of file CAN_comm.h.
| int16_t PACKED::uvw3 |
Definition at line 80 of file CAN_comm.h.
| double PACKED::v[24] |
Definition at line 2036 of file data_sets.h.
| float PACKED::vAcc |
Vertical accuracy in meters
Definition at line 765 of file data_sets.h.
| float PACKED::val |
Three axis sensor
Definition at line 934 of file data_sets.h.
| double PACKED::val[3] |
Three axis sensor
Definition at line 967 of file data_sets.h.
| float PACKED::val1[3] |
First three axis sensor
Definition at line 954 of file data_sets.h.
| float PACKED::val2[3] |
Second three axis sensor
Definition at line 957 of file data_sets.h.
| float PACKED::vDop |
Vertical dilution of precision (meters)
Definition at line 2650 of file data_sets.h.
| float PACKED::ve |
(m/s) Velocity in ECEF frame
Definition at line 258 of file CAN_comm.h.
| float PACKED::ve[3] |
Velocity in ECEF (earth-centered earth-fixed) frame in meters per second
(m/s) Velocity in ECEF frame
Definition at line 592 of file data_sets.h.
| int16_t PACKED::ve1 |
Velocity in ECEF (earth-centered earth-fixed) (scaled by 100) frame in meters per second
Definition at line 87 of file CAN_comm.h.
| int16_t PACKED::ve2 |
Definition at line 88 of file CAN_comm.h.
| int16_t PACKED::ve3 |
Definition at line 89 of file CAN_comm.h.
| float PACKED::vel[3] |
if status flag GPS_STATUS_FLAGS_GPS_NMEA_DATA = 0, Speed in ECEF {vx,vy,vz} (m/s) if status flag GPS_STATUS_FLAGS_GPS_NMEA_DATA = 1, Speed in NED {vN, vE, 0} (m/s)
Definition at line 793 of file data_sets.h.
| int16_t PACKED::vel0 |
Definition at line 172 of file CAN_comm.h.
| int16_t PACKED::vel1 |
Definition at line 181 of file CAN_comm.h.
| float PACKED::vel1[3] |
IMU 1 delta velocity (accelerometer {x,y,z} integral) in m/s in sensor frame
Definition at line 679 of file data_sets.h.
| int16_t PACKED::vel2 |
Definition at line 191 of file CAN_comm.h.
| float PACKED::vel2[3] |
IMU 2 delta velocity (accelerometer {x,y,z} integral) in m/s in sensor frame
Definition at line 682 of file data_sets.h.
| float PACKED::vin |
EVB system input voltage in volts. uINS pin 5 (G2/AN2). Use 10K/1K resistor divider between Vin and GND.
Definition at line 1001 of file data_sets.h.
| uint8_t PACKED::waiting_for_base_packet |
Definition at line 2071 of file data_sets.h.
| uint8_t PACKED::waiting_for_rover_packet |
Definition at line 2070 of file data_sets.h.
| uint8_t PACKED::warning_code |
Definition at line 2092 of file data_sets.h.
| uint8_t PACKED::warning_count |
Definition at line 2091 of file data_sets.h.
| float PACKED::Wcal[9] |
Definition at line 1354 of file data_sets.h.
| uint32_t PACKED::week |
Weeks since January 6th, 1980
GPS number of weeks since January 6th, 1980
Definition at line 26 of file CAN_comm.h.
| wheel_config_t PACKED::wheelConfig |
Wheel encoder: euler angles describing the rotation from imu to left wheel
Definition at line 1937 of file data_sets.h.
| wheel_encoder_t PACKED::wheelEncoder |
Definition at line 3415 of file data_sets.h.
| uint32_t PACKED::wrap_count_l |
Left wheel revolution count
Definition at line 1793 of file data_sets.h.
| uint32_t PACKED::wrap_count_r |
Right wheel revolution count
Definition at line 1796 of file data_sets.h.
| int PACKED::zero_accel |
Definition at line 911 of file data_sets.h.
| int PACKED::zero_angrate |
Definition at line 912 of file data_sets.h.
| int PACKED::zero_vel |
Definition at line 915 of file data_sets.h.
| float PACKED::zeroVelOffset[3] |
X,Y,Z offset in meters from Intermediate ZeroVelocity Frame to Zero Velocity Frame.
Definition at line 1916 of file data_sets.h.
| float PACKED::zeroVelRotation[3] |
Euler (roll, pitch, yaw) rotation in radians from INS Sensor Frame to Intermediate ZeroVelocity Frame. Order applied: heading, pitch, roll.
Definition at line 1913 of file data_sets.h.