bestgpsvel.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 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 _BESTGPSVEL_H_
00012 #define _BESTGPSVEL_H_
00013 
00014 #include <hydronovatelutil/header.h>
00015 
00016 namespace hydronovatelutil{
00017 #pragma pack(push,1)
00018     typedef struct{
00019         unsigned long  sol_status;
00020         unsigned long  vel_type;
00021         float          latency;    // [s]? usually either 0, or half the interval (instantious/averaged doppler)
00022         float          diff_age;   // [s]?
00023         double         hor_speed;  // [m/s]
00024         double         heading;    // [deg] w.r. to true north
00025         double         vert_speed; // [m/s] up positive
00026         float          reserved;
00027         unsigned long  crc;
00028     }BESTGPSVEL_DATA;
00029 
00030     typedef struct BESTGPSVEL_LOG
00031     {
00032         OEM4_BINARY_HEADER  hdr;
00033         BESTGPSVEL_DATA    data;
00034     }BESTGPSVEL_LOG;
00035 #pragma pack(pop)
00036 
00037 }//namespace
00038 
00039 #endif
00040