Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 NovAtel Inc.
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef _BESTGPSPOS_H_
00012 #define _BESTGPSPOS_H_
00013 
00014 #include <hydronovatelutil/header.h>
00015 
00016 namespace hydronovatelutil{
00017 
00018     enum POS_VEL_TYPE{
00019         NONE=0,
00020         FIXEDPOS=1,
00021         FIXEDHEIGHT=2,
00022         FLOATCONV=4,
00023         WIDELANE=5,
00024         NARROWLANE=6,
00025         DOPPLER_VELOCITY=8,
00026         SINGLE=16,
00027         PSRDIFF=17,
00028         WAAS=18,
00029         PROPOGATED=19,
00030         OMNISTAR=20,
00031         L1_FLOAT=32,
00032         IONFREE_FLOAT=33,
00033         NARROW_FLOAT=34,
00034         L1_INT=48,
00035         WIDE_INT=49,
00036         NARROW_INT=50,
00037         RTK_DIRECT_INS=51,
00038         INS=52,
00039         INS_PSRSP=53,
00040         INS_PSRDIFF=54,
00041         INS_RTKFLOAT=55,
00042         INS_RTKFIXED=56,
00043         OMNISTAR_HP=64,
00044         OMNISTAR_XP=65,
00045         CDGPS=66,
00046 
00047     };
00048 
00049     enum SOL_STATUS{
00050         SOL_COMPUTED=0,
00051         INSUFFICIENT_OBS=1,
00052         NO_CONVERGENCE=2,
00053         SINGULARITY=3,
00054         COV_TRACE=4,
00055         TEST_DIST=5,
00056         COLD_START=6,
00057         V_H_LIMIT=7,
00058         VARIANCE=8,
00059         RESIDUALS=9,
00060         DELTA_POS=10,
00061         NEGATIVE_VAR=11,
00062         INTEGRITY_WARNING=13,
00063         INS_INACTIVE=14,
00064         INS_ALIGNING=15,
00065         INS_BAD=16,
00066         IMU_UNPLUGGED=17,
00067         PENDING=18,
00068         INVALID_FIX=19,
00069 
00070     };
00071 
00072 #pragma pack(push,1)
00073     typedef struct{
00074         unsigned long  sol_status;
00075         unsigned long  pos_type;
00076         double         latitude;
00077         double         longitude;
00078         double         height;
00079         float          undulation;
00080         unsigned long  datum_id;
00081         float          lat_sigma;
00082         float          lon_sigma;
00083         float          hgt_sigma;
00084         char           station_id[4];
00085         float          diff_age;
00086         float          sol_age;
00087         unsigned char  num_obs;
00088         unsigned char  num_GPSL1;
00089         unsigned char  num_L1;
00090         unsigned char  num_L2;
00091         unsigned char  reserved0;
00092         unsigned char  reserved1;
00093         unsigned char  reserved2;
00094         unsigned char  reserved3;
00095         unsigned long  crc; //again ??
00096     }BESTGPSPOS_DATA;
00097 
00098     typedef struct BESTGPSPOS_LOG
00099     {
00100         OEM4_BINARY_HEADER  hdr;
00101         BESTGPSPOS_DATA    data;
00102     }BESTGPSPOS_LOG;
00103 #pragma pack(pop)
00104 
00105 }//namespace
00106 
00107 #endif
00108
bestgpspos.h
