sbgEComCmdGnss.h

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#ifndef SBG_ECOM_CMD_GNSS_H
#define SBG_ECOM_CMD_GNSS_H

/* sbgCommonLib headers */
#include "sbgEComCmdCommon.h"

//----------------------------------------------------------------------//
//- Public definitions (DEPRECATED)                                    -//
//----------------------------------------------------------------------//

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

//----------------------------------------------------------------------//
//- Public 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_UBLOX_HIGH_DYNAMICS                 = 105,          
        SBG_ECOM_GNSS_MODEL_NOVATEL_EXTERNAL                    = 106,          
        SBG_ECOM_GNSS_MODEL_ELLIPSE_D_INTERNAL                  = 107,          
        SBG_ECOM_GNSS_MODEL_UBLOX_HIGH_SPEED                    = 108,          
        SBG_ECOM_GNSS_MODEL_SEPTENTRIO_EXTERNAL                 = 109,          
        SBG_ECOM_GNSS_MODEL_UBLOX_LOW_SPEED                             = 110           
} SbgEComGnssModelsStdIds;

typedef enum _SbgEComGnssInstallationMode
{
        SBG_ECOM_GNSS_INSTALLATION_MODE_SINGLE                  = 1,            
        SBG_ECOM_GNSS_INSTALLATION_MODE_DUAL_AUTO               = 2,            
        SBG_ECOM_GNSS_INSTALLATION_MODE_DUAL_ROUGH              = 3,            
        SBG_ECOM_GNSS_INSTALLATION_MODE_DUAL_PRECISE    = 4                     
} SbgEComGnssInstallationMode;

typedef struct _SbgEComGnssInstallation
{
        float                                           leverArmPrimary[3];                             
        bool                                            leverArmPrimaryPrecise;                 
        float                                           leverArmSecondary[3];                   
        SbgEComGnssInstallationMode     leverArmSecondaryMode;                  
} SbgEComGnssInstallation;

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

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

SbgErrorCode sbgEComCmdGnss1SetModelId(SbgEComHandle *pHandle, uint32_t id);

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

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

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

SbgErrorCode sbgEComCmdGnss1InstallationGet(SbgEComHandle *pHandle, SbgEComGnssInstallation *pGnssInstallation);

SbgErrorCode sbgEComCmdGnss1InstallationSet(SbgEComHandle *pHandle, const SbgEComGnssInstallation *pGnssInstallation);

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

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

#endif /* SBG_ECOM_CMD_GNSS_H */