GPS Sensor

Detailed Description

Defines the GPS sensor.

Data Structures
struct	dwGPSFrame
	A GPS packet containing localization information. More...
struct	dwGPSFrameNew
	This structure contains one frame of data from an GPS/GNSS sensor. More...
struct	dwGPSSignalValidityInfo
	This structure contains validity of each signal provided by GPS sensors. More...

Enumerations
enum	dwGPSFixStatus {   DW_GPS_FIX_STATUS_NO_FIX = 0 ,   DW_GPS_FIX_STATUS_2D_FIX = 1 ,   DW_GPS_FIX_STATUS_3D_FIX = 2 ,   DW_GPS_FIX_STATUS_FORCE32 = 0x7FFFFFFF }
	GPS satellite fix status. More...
enum	dwGPSFlags {   DW_DEPRECATED_ENUM =("Use dwGPSFrame.validityInfo.latitude instead") = 1 << 0 ,   DW_DEPRECATED_ENUM =("Use dwGPSFrame.validityInfo.latitude instead") = 1 << 0 ,   DW_DEPRECATED_ENUM =("Use dwGPSFrame.validityInfo.latitude instead") = 1 << 0 ,   DW_DEPRECATED_ENUM =("Use dwGPSFrame.validityInfo.latitude instead") = 1 << 0 ,   DW_DEPRECATED_ENUM =("Use dwGPSFrame.validityInfo.latitude instead") = 1 << 0 ,   DW_DEPRECATED_ENUM =("Use dwGPSFrame.validityInfo.latitude instead") = 1 << 0 ,   DW_DEPRECATED_ENUM =("Use dwGPSFrame.validityInfo.latitude instead") = 1 << 0 ,   DW_DEPRECATED_ENUM =("Use dwGPSFrame.validityInfo.latitude instead") = 1 << 0 ,   DW_DEPRECATED_ENUM =("Use dwGPSFrame.validityInfo.latitude instead") = 1 << 0 ,   DW_DEPRECATED_ENUM =("Use dwGPSFrame.validityInfo.latitude instead") = 1 << 0 ,   DW_DEPRECATED_ENUM =("Use dwGPSFrame.validityInfo.latitude instead") = 1 << 0 ,   DW_GPS_FORCE32 = 0x7FFFFFFF }
	Each flag shows if that value is valid in this GPS frame. More...
enum	dwGPSMode {   DW_GPS_MODE_UNKNOWN = 0 ,   DW_GPS_MODE_INVALID_GPS = 1 ,   DW_GPS_MODE_DEAD_RECKONING = 2 ,   DW_GPS_MODE_STAND_ALONE = 3 ,   DW_GPS_MODE_PRECISE_POINT = 4 ,   DW_GPS_MODE_CODE_DIFFERENTIAL = 5 ,   DW_GPS_MODE_RTK_FLOAT = 6 ,   DW_GPS_MODE_RTK_FIXED = 7 ,   DW_GPS_MODE_PPP_CONVERGING = 8 ,   DW_GPS_MODE_PPP_CONVERGED = 9 ,   DW_GPS_MODE_FORCE32 = 0x7FFFFFFF }
	The GPS mode gives the status of the GNSS data. More...
enum	dwGPSTimestampQuality {   DW_GPS_TIMESTAMP_QUALITY_NOT_INIT = 0 ,   DW_GPS_TIMESTAMP_QUALITY_OK = 1 ,   DW_GPS_TIMESTAMP_QUALITY_SYNC_LOST = 2 ,   DW_GPS_TIMESTAMP_QUALITY_FORCE32 = 0x7FFFFFFF }
	GPS timestamp quality. More...

Functions
DW_API_PUBLIC dwStatus	dwSensorGPS_popFrame (dwGPSFrame *const frame, dwSensorHandle_t const sensor)
	Returns any GPS frame previously processed through RAW data stream. More...
DW_API_PUBLIC dwStatus	dwSensorGPS_popFrameNew (dwGPSFrameNew *const frame, dwSensorHandle_t const sensor)
	Returns any GPS frame New previously processed through RAW data stream. More...
DW_API_PUBLIC dwStatus	dwSensorGPS_processRawData (uint8_t const *const data, size_t const size, dwSensorHandle_t const sensor)
	Decodes RAW data previously read. More...
DW_API_PUBLIC dwStatus	dwSensorGPS_processRawDataNew (uint8_t const *const data, size_t const size, dwSensorHandle_t const sensor)
	Decodes RAW data previously read. More...
DW_API_PUBLIC dwStatus	dwSensorGPS_readFrame (dwGPSFrame *const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads the next GPS packet with a given timeout. More...
DW_API_PUBLIC dwStatus	dwSensorGPS_readFrameNew (dwGPSFrameNew *const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads the next GPS packet with a given timeout. More...

---

Data Structure Documentation

dwGPSFrame

struct dwGPSFrame

Data Fields
float64_t	altitude	Note ID VS-91040 description Altitude over WGS-84 ellipsoid. min nan max nan freq 4 unit m
float64_t	climb	Note ID VS-91070 description Vertical speed. min nan max nan freq 4 unit m/s
float64_t	course	Note ID VS-91050 description Course relative to true north. min nan max nan freq 4 unit deg
dwGPSFixStatus	fixStatus	Note ID VS-91150 description 2D or 3D fix. TODO: Backend not yet implemented min nan max nan freq 4 unit - *** valid values**: { DW_GPS_FIX_STATUS_NO_FIX, DW_GPS_FIX_STATUS_2D_FIX, DW_GPS_FIX_STATUS_3D_FIX }
uint32_t	flags	The flags to show which values are valid in this GPS frame.
dwGPSMode	gpsMode	GPS mode.
float64_t	hacc	Note ID VS-91110 description Horizontal Accuracy of Solution. min nan max nan freq 4 unit m
float64_t	hdop	Note ID VS-91080 description Horizontal Dilution of Precision. min nan max nan freq 4 unit unitless
float64_t	latitude	Note ID VS-91020 description Latitude in WGS-84. min nan max nan freq 4 unit deg
float64_t	longitude	Note ID VS-91030 description Longitude in WGS-84. min nan max nan freq 4 unit deg
dwGPSMode	mode	Note ID VS-91175 description GPS mode. TODO: Backend not yet implemented min nan max nan freq 4 unit - *** valid values**: { DW_GPS_MODE_UNKNOWN, DW_GPS_MODE_INVALID_GPS, DW_GPS_MODE_DEAD_RECKONING, DW_GPS_MODE_STAND_ALONE, DW_GPS_MODE_PRECISE_POINT, DW_GPS_MODE_CODE_DIFFERENTIAL, DW_GPS_MODE_RTK_FLOAT, DW_GPS_MODE_RTK_FIXED, DW_GPS_MODE_PPP_CONVERGING, DW_GPS_MODE_PPP_CONVERGED }
float64_t	pdop	Note ID VS-91100 description Position Dilution of Precision. min nan max nan freq 4 unit unitless
uint8_t	reserved[468]	Reserved space.
uint8_t	satelliteCount	Note ID VS-91140 description Number of satellites in view. TODO: Backend not yet implemented min nan max nan freq 4 unit unitless
float64_t	speed	Note ID VS-91060 description Horizontal speed. min nan max nan freq 4 unit m/s
dwTime_t	timestamp_us	Note ID VS-91010 description Timestamp of the message when first received. min nan max nan freq 4 unit us
dwGPSTimestampQuality	timestampQuality	Note ID VS-91170 description GNSS Timestamp Quality. TODO: Backend not yet implemented min nan max nan freq 4 unit - *** valid values**: { DW_GPS_TIMESTAMP_QUALITY_NOT_INIT, DW_GPS_TIMESTAMP_QUALITY_OK, DW_GPS_TIMESTAMP_QUALITY_SYNC_LOST, }
char	utcDate[16]	UTC date as provided in the GPS package [ddmmyy] (null terminated).
char	utcTime[16]	UTC time as provided in the GPS package [hhmmss.sss] (null terminated).
dwTime_t	utcTimeUs	Note ID VS-91130 description UTC time. min nan max nan freq 4 unit us
float64_t	vacc	Note ID VS-91120 description Vertical Accuracy of Solution. min nan max nan freq 4 unit m
dwGPSSignalValidityInfo	validityInfo	Signal validity information.
float64_t	vdop	Note ID VS-91090 description Vertical Dilution of Precision. min nan max nan freq 4 unit unitless

dwGPSFrameNew

struct dwGPSFrameNew

Data Fields
float64_t	altitude	Note ID VS-91040 description Altitude over WGS-84 ellipsoid. min nan max nan freq 4 unit m
float64_t	climb	Note ID VS-91070 description Vertical speed. min nan max nan freq 4 unit m/s
float64_t	course	Note ID VS-91050 description Course relative to true north. min nan max nan freq 4 unit deg
dwGPSFixStatus	fixStatus	Note ID VS-91150 description 2D or 3D fix. TODO: Backend not yet implemented min nan max nan freq 4 unit - *** valid values**: { DW_GPS_FIX_STATUS_NO_FIX, DW_GPS_FIX_STATUS_2D_FIX, DW_GPS_FIX_STATUS_3D_FIX }
float64_t	hacc	Note ID VS-91110 description Horizontal Accuracy of Solution. min nan max nan freq 4 unit m
float64_t	hdop	Note ID VS-91080 description Horizontal Dilution of Precision. min nan max nan freq 4 unit unitless
float64_t	latitude	Note ID VS-91020 description Latitude in WGS-84. min nan max nan freq 4 unit deg
float64_t	longitude	Note ID VS-91030 description Longitude in WGS-84. min nan max nan freq 4 unit deg
dwGPSMode	mode	Note ID VS-91175 description GPS mode. TODO: Backend not yet implemented min nan max nan freq 4 unit - *** valid values**: { DW_GPS_MODE_UNKNOWN, DW_GPS_MODE_INVALID_GPS, DW_GPS_MODE_DEAD_RECKONING, DW_GPS_MODE_STAND_ALONE, DW_GPS_MODE_PRECISE_POINT, DW_GPS_MODE_CODE_DIFFERENTIAL, DW_GPS_MODE_RTK_FLOAT, DW_GPS_MODE_RTK_FIXED, DW_GPS_MODE_PPP_CONVERGING, DW_GPS_MODE_PPP_CONVERGED }
float64_t	pdop	Note ID VS-91100 description Position Dilution of Precision. min nan max nan freq 4 unit unitless
uint8_t	reserved[508]	Reserved space.
uint8_t	satelliteCount	Note ID VS-91140 description Number of satellites in view. TODO: Backend not yet implemented min nan max nan freq 4 unit unitless
float64_t	speed	Note ID VS-91060 description Horizontal speed. min nan max nan freq 4 unit m/s
dwTime_t	timestamp_us	Note ID VS-91010 description Timestamp of the message when first received. min nan max nan freq 4 unit us
dwGPSTimestampQuality	timestampQuality	Note ID VS-91170 description GNSS Timestamp Quality. TODO: Backend not yet implemented min nan max nan freq 4 unit - *** valid values**: { DW_GPS_TIMESTAMP_QUALITY_NOT_INIT, DW_GPS_TIMESTAMP_QUALITY_OK, DW_GPS_TIMESTAMP_QUALITY_SYNC_LOST, }
dwTime_t	utcTime	Note ID VS-91130 description UTC time. min nan max nan freq 4 unit us
float64_t	vacc	Note ID VS-91120 description Vertical Accuracy of Solution. min nan max nan freq 4 unit m
dwGPSSignalValidityInfo	validityInfo	Signal validity information.
float64_t	vdop	Note ID VS-91090 description Vertical Dilution of Precision. min nan max nan freq 4 unit unitless

dwGPSSignalValidityInfo

struct dwGPSSignalValidityInfo

Data Fields
dwSignalValidity	altitude	Validity of altitude signal.
dwSignalValidity	climb	Validity of climb signal.
dwSignalValidity	course
dwSignalValidity	fixStatus	Validity of 2D or 3D fix status signal.
dwSignalValidity	hacc	Validity of horizontal accuracy of solution signal.
dwSignalValidity	hdop	Validity of horizontal dilusion of precision signal.
dwSignalValidity	latitude	Validity of latitude signal.
dwSignalValidity	longitude	Validity of longitude signal.
dwSignalValidity	mode	Validity of GPS mode signal.
dwSignalValidity	pdop	Validity of positional dilusion of precision signal.
dwSignalValidity	reserved[63]	Reserved space.
dwSignalValidity	satelliteCount	Validity of satellite count signal.
dwSignalValidity	speed	Validity of speed signal.
dwSignalValidity	timestamp_us	Validity of timestamp signal.
dwSignalValidity	timestampQuality	Validity of timestamp quality signal.
dwSignalValidity	utcTimeUs	Validity of UTC time signal.
dwSignalValidity	vacc	Validity of vertical accuracy of solution signal.
dwSignalValidity	vdop	Validity of vertical dilusion of precision signal.

Enumeration Type Documentation

dwGPSFixStatus

enum dwGPSFixStatus

GPS satellite fix status.

Enumerator
DW_GPS_FIX_STATUS_NO_FIX	No fix.
DW_GPS_FIX_STATUS_2D_FIX	2D fix
DW_GPS_FIX_STATUS_3D_FIX	3D fix
DW_GPS_FIX_STATUS_FORCE32

Definition at line 106 of file GPS.h.

dwGPSFlags

enum dwGPSFlags

Each flag shows if that value is valid in this GPS frame.

Enumerator
DW_DEPRECATED_ENUM	Value of dwGPSFrame.latitude is valid. Magnetic heading. True heading. Value of dwIMUFrame.alignmentStatus is valid. Value of dwIMUFrame.magnetometer[2] is valid. Value of dwIMUFrame.magnetometer[1] is valid. Value of dwIMUFrame.magnetometer[0] is valid. Value of dwIMUFrame.acceleration[2] is valid. Value of dwIMUFrame.acceleration[1] is valid. Value of dwIMUFrame.acceleration[0] is valid. Value of dwIMUFrame.turnrate[2] is valid. Value of dwIMUFrame.turnrate[1] is valid. Value of dwIMUFrame.turnrate[0] is valid. Value of dwIMUFrame.orientationQuaternion.w is valid. Value of dwIMUFrame.orientationQuaternion.z is valid. Value of dwIMUFrame.orientationQuaternion.y is valid. Value of dwIMUFrame.orientationQuaternion.x is valid. Value of dwIMUFrame.orientation[2] is valid. Value of dwIMUFrame.orientation[1] is valid. Value of dwIMUFrame.orientation[0] is valid. Value of dwGPSFrame.gpsMode is valid. Value of dwGPSFrame.vacc is valid. Value of dwGPSFrame.hacc is valid. Value of dwGPSFrame.vdop is valid. Value of dwGPSFrame.hdop is valid. Value of dwGPSFrame.climb is valid. Value of dwGPSFrame.speed is valid. Value of dwGPSFrame.course is valid. Value of dwGPSFrame.altitude is valid. Value of dwGPSFrame.longitude is valid. 'dwIMUFrame.heading' points towards true north. 'dwIMUFrame.heading' points towards magnetic north.
DW_DEPRECATED_ENUM	Value of dwGPSFrame.latitude is valid. Magnetic heading. True heading. Value of dwIMUFrame.alignmentStatus is valid. Value of dwIMUFrame.magnetometer[2] is valid. Value of dwIMUFrame.magnetometer[1] is valid. Value of dwIMUFrame.magnetometer[0] is valid. Value of dwIMUFrame.acceleration[2] is valid. Value of dwIMUFrame.acceleration[1] is valid. Value of dwIMUFrame.acceleration[0] is valid. Value of dwIMUFrame.turnrate[2] is valid. Value of dwIMUFrame.turnrate[1] is valid. Value of dwIMUFrame.turnrate[0] is valid. Value of dwIMUFrame.orientationQuaternion.w is valid. Value of dwIMUFrame.orientationQuaternion.z is valid. Value of dwIMUFrame.orientationQuaternion.y is valid. Value of dwIMUFrame.orientationQuaternion.x is valid. Value of dwIMUFrame.orientation[2] is valid. Value of dwIMUFrame.orientation[1] is valid. Value of dwIMUFrame.orientation[0] is valid. Value of dwGPSFrame.gpsMode is valid. Value of dwGPSFrame.vacc is valid. Value of dwGPSFrame.hacc is valid. Value of dwGPSFrame.vdop is valid. Value of dwGPSFrame.hdop is valid. Value of dwGPSFrame.climb is valid. Value of dwGPSFrame.speed is valid. Value of dwGPSFrame.course is valid. Value of dwGPSFrame.altitude is valid. Value of dwGPSFrame.longitude is valid. 'dwIMUFrame.heading' points towards true north. 'dwIMUFrame.heading' points towards magnetic north.
DW_DEPRECATED_ENUM	Value of dwGPSFrame.latitude is valid. Magnetic heading. True heading. Value of dwIMUFrame.alignmentStatus is valid. Value of dwIMUFrame.magnetometer[2] is valid. Value of dwIMUFrame.magnetometer[1] is valid. Value of dwIMUFrame.magnetometer[0] is valid. Value of dwIMUFrame.acceleration[2] is valid. Value of dwIMUFrame.acceleration[1] is valid. Value of dwIMUFrame.acceleration[0] is valid. Value of dwIMUFrame.turnrate[2] is valid. Value of dwIMUFrame.turnrate[1] is valid. Value of dwIMUFrame.turnrate[0] is valid. Value of dwIMUFrame.orientationQuaternion.w is valid. Value of dwIMUFrame.orientationQuaternion.z is valid. Value of dwIMUFrame.orientationQuaternion.y is valid. Value of dwIMUFrame.orientationQuaternion.x is valid. Value of dwIMUFrame.orientation[2] is valid. Value of dwIMUFrame.orientation[1] is valid. Value of dwIMUFrame.orientation[0] is valid. Value of dwGPSFrame.gpsMode is valid. Value of dwGPSFrame.vacc is valid. Value of dwGPSFrame.hacc is valid. Value of dwGPSFrame.vdop is valid. Value of dwGPSFrame.hdop is valid. Value of dwGPSFrame.climb is valid. Value of dwGPSFrame.speed is valid. Value of dwGPSFrame.course is valid. Value of dwGPSFrame.altitude is valid. Value of dwGPSFrame.longitude is valid. 'dwIMUFrame.heading' points towards true north. 'dwIMUFrame.heading' points towards magnetic north.
DW_DEPRECATED_ENUM	Value of dwGPSFrame.latitude is valid. Magnetic heading. True heading. Value of dwIMUFrame.alignmentStatus is valid. Value of dwIMUFrame.magnetometer[2] is valid. Value of dwIMUFrame.magnetometer[1] is valid. Value of dwIMUFrame.magnetometer[0] is valid. Value of dwIMUFrame.acceleration[2] is valid. Value of dwIMUFrame.acceleration[1] is valid. Value of dwIMUFrame.acceleration[0] is valid. Value of dwIMUFrame.turnrate[2] is valid. Value of dwIMUFrame.turnrate[1] is valid. Value of dwIMUFrame.turnrate[0] is valid. Value of dwIMUFrame.orientationQuaternion.w is valid. Value of dwIMUFrame.orientationQuaternion.z is valid. Value of dwIMUFrame.orientationQuaternion.y is valid. Value of dwIMUFrame.orientationQuaternion.x is valid. Value of dwIMUFrame.orientation[2] is valid. Value of dwIMUFrame.orientation[1] is valid. Value of dwIMUFrame.orientation[0] is valid. Value of dwGPSFrame.gpsMode is valid. Value of dwGPSFrame.vacc is valid. Value of dwGPSFrame.hacc is valid. Value of dwGPSFrame.vdop is valid. Value of dwGPSFrame.hdop is valid. Value of dwGPSFrame.climb is valid. Value of dwGPSFrame.speed is valid. Value of dwGPSFrame.course is valid. Value of dwGPSFrame.altitude is valid. Value of dwGPSFrame.longitude is valid. 'dwIMUFrame.heading' points towards true north. 'dwIMUFrame.heading' points towards magnetic north.
DW_DEPRECATED_ENUM	Value of dwGPSFrame.latitude is valid. Magnetic heading. True heading. Value of dwIMUFrame.alignmentStatus is valid. Value of dwIMUFrame.magnetometer[2] is valid. Value of dwIMUFrame.magnetometer[1] is valid. Value of dwIMUFrame.magnetometer[0] is valid. Value of dwIMUFrame.acceleration[2] is valid. Value of dwIMUFrame.acceleration[1] is valid. Value of dwIMUFrame.acceleration[0] is valid. Value of dwIMUFrame.turnrate[2] is valid. Value of dwIMUFrame.turnrate[1] is valid. Value of dwIMUFrame.turnrate[0] is valid. Value of dwIMUFrame.orientationQuaternion.w is valid. Value of dwIMUFrame.orientationQuaternion.z is valid. Value of dwIMUFrame.orientationQuaternion.y is valid. Value of dwIMUFrame.orientationQuaternion.x is valid. Value of dwIMUFrame.orientation[2] is valid. Value of dwIMUFrame.orientation[1] is valid. Value of dwIMUFrame.orientation[0] is valid. Value of dwGPSFrame.gpsMode is valid. Value of dwGPSFrame.vacc is valid. Value of dwGPSFrame.hacc is valid. Value of dwGPSFrame.vdop is valid. Value of dwGPSFrame.hdop is valid. Value of dwGPSFrame.climb is valid. Value of dwGPSFrame.speed is valid. Value of dwGPSFrame.course is valid. Value of dwGPSFrame.altitude is valid. Value of dwGPSFrame.longitude is valid. 'dwIMUFrame.heading' points towards true north. 'dwIMUFrame.heading' points towards magnetic north.
DW_DEPRECATED_ENUM	Value of dwGPSFrame.latitude is valid. Magnetic heading. True heading. Value of dwIMUFrame.alignmentStatus is valid. Value of dwIMUFrame.magnetometer[2] is valid. Value of dwIMUFrame.magnetometer[1] is valid. Value of dwIMUFrame.magnetometer[0] is valid. Value of dwIMUFrame.acceleration[2] is valid. Value of dwIMUFrame.acceleration[1] is valid. Value of dwIMUFrame.acceleration[0] is valid. Value of dwIMUFrame.turnrate[2] is valid. Value of dwIMUFrame.turnrate[1] is valid. Value of dwIMUFrame.turnrate[0] is valid. Value of dwIMUFrame.orientationQuaternion.w is valid. Value of dwIMUFrame.orientationQuaternion.z is valid. Value of dwIMUFrame.orientationQuaternion.y is valid. Value of dwIMUFrame.orientationQuaternion.x is valid. Value of dwIMUFrame.orientation[2] is valid. Value of dwIMUFrame.orientation[1] is valid. Value of dwIMUFrame.orientation[0] is valid. Value of dwGPSFrame.gpsMode is valid. Value of dwGPSFrame.vacc is valid. Value of dwGPSFrame.hacc is valid. Value of dwGPSFrame.vdop is valid. Value of dwGPSFrame.hdop is valid. Value of dwGPSFrame.climb is valid. Value of dwGPSFrame.speed is valid. Value of dwGPSFrame.course is valid. Value of dwGPSFrame.altitude is valid. Value of dwGPSFrame.longitude is valid. 'dwIMUFrame.heading' points towards true north. 'dwIMUFrame.heading' points towards magnetic north.
DW_DEPRECATED_ENUM	Value of dwGPSFrame.latitude is valid. Magnetic heading. True heading. Value of dwIMUFrame.alignmentStatus is valid. Value of dwIMUFrame.magnetometer[2] is valid. Value of dwIMUFrame.magnetometer[1] is valid. Value of dwIMUFrame.magnetometer[0] is valid. Value of dwIMUFrame.acceleration[2] is valid. Value of dwIMUFrame.acceleration[1] is valid. Value of dwIMUFrame.acceleration[0] is valid. Value of dwIMUFrame.turnrate[2] is valid. Value of dwIMUFrame.turnrate[1] is valid. Value of dwIMUFrame.turnrate[0] is valid. Value of dwIMUFrame.orientationQuaternion.w is valid. Value of dwIMUFrame.orientationQuaternion.z is valid. Value of dwIMUFrame.orientationQuaternion.y is valid. Value of dwIMUFrame.orientationQuaternion.x is valid. Value of dwIMUFrame.orientation[2] is valid. Value of dwIMUFrame.orientation[1] is valid. Value of dwIMUFrame.orientation[0] is valid. Value of dwGPSFrame.gpsMode is valid. Value of dwGPSFrame.vacc is valid. Value of dwGPSFrame.hacc is valid. Value of dwGPSFrame.vdop is valid. Value of dwGPSFrame.hdop is valid. Value of dwGPSFrame.climb is valid. Value of dwGPSFrame.speed is valid. Value of dwGPSFrame.course is valid. Value of dwGPSFrame.altitude is valid. Value of dwGPSFrame.longitude is valid. 'dwIMUFrame.heading' points towards true north. 'dwIMUFrame.heading' points towards magnetic north.
DW_DEPRECATED_ENUM	Value of dwGPSFrame.latitude is valid. Magnetic heading. True heading. Value of dwIMUFrame.alignmentStatus is valid. Value of dwIMUFrame.magnetometer[2] is valid. Value of dwIMUFrame.magnetometer[1] is valid. Value of dwIMUFrame.magnetometer[0] is valid. Value of dwIMUFrame.acceleration[2] is valid. Value of dwIMUFrame.acceleration[1] is valid. Value of dwIMUFrame.acceleration[0] is valid. Value of dwIMUFrame.turnrate[2] is valid. Value of dwIMUFrame.turnrate[1] is valid. Value of dwIMUFrame.turnrate[0] is valid. Value of dwIMUFrame.orientationQuaternion.w is valid. Value of dwIMUFrame.orientationQuaternion.z is valid. Value of dwIMUFrame.orientationQuaternion.y is valid. Value of dwIMUFrame.orientationQuaternion.x is valid. Value of dwIMUFrame.orientation[2] is valid. Value of dwIMUFrame.orientation[1] is valid. Value of dwIMUFrame.orientation[0] is valid. Value of dwGPSFrame.gpsMode is valid. Value of dwGPSFrame.vacc is valid. Value of dwGPSFrame.hacc is valid. Value of dwGPSFrame.vdop is valid. Value of dwGPSFrame.hdop is valid. Value of dwGPSFrame.climb is valid. Value of dwGPSFrame.speed is valid. Value of dwGPSFrame.course is valid. Value of dwGPSFrame.altitude is valid. Value of dwGPSFrame.longitude is valid. 'dwIMUFrame.heading' points towards true north. 'dwIMUFrame.heading' points towards magnetic north.
DW_DEPRECATED_ENUM	Value of dwGPSFrame.latitude is valid. Magnetic heading. True heading. Value of dwIMUFrame.alignmentStatus is valid. Value of dwIMUFrame.magnetometer[2] is valid. Value of dwIMUFrame.magnetometer[1] is valid. Value of dwIMUFrame.magnetometer[0] is valid. Value of dwIMUFrame.acceleration[2] is valid. Value of dwIMUFrame.acceleration[1] is valid. Value of dwIMUFrame.acceleration[0] is valid. Value of dwIMUFrame.turnrate[2] is valid. Value of dwIMUFrame.turnrate[1] is valid. Value of dwIMUFrame.turnrate[0] is valid. Value of dwIMUFrame.orientationQuaternion.w is valid. Value of dwIMUFrame.orientationQuaternion.z is valid. Value of dwIMUFrame.orientationQuaternion.y is valid. Value of dwIMUFrame.orientationQuaternion.x is valid. Value of dwIMUFrame.orientation[2] is valid. Value of dwIMUFrame.orientation[1] is valid. Value of dwIMUFrame.orientation[0] is valid. Value of dwGPSFrame.gpsMode is valid. Value of dwGPSFrame.vacc is valid. Value of dwGPSFrame.hacc is valid. Value of dwGPSFrame.vdop is valid. Value of dwGPSFrame.hdop is valid. Value of dwGPSFrame.climb is valid. Value of dwGPSFrame.speed is valid. Value of dwGPSFrame.course is valid. Value of dwGPSFrame.altitude is valid. Value of dwGPSFrame.longitude is valid. 'dwIMUFrame.heading' points towards true north. 'dwIMUFrame.heading' points towards magnetic north.
DW_DEPRECATED_ENUM	Value of dwGPSFrame.latitude is valid. Magnetic heading. True heading. Value of dwIMUFrame.alignmentStatus is valid. Value of dwIMUFrame.magnetometer[2] is valid. Value of dwIMUFrame.magnetometer[1] is valid. Value of dwIMUFrame.magnetometer[0] is valid. Value of dwIMUFrame.acceleration[2] is valid. Value of dwIMUFrame.acceleration[1] is valid. Value of dwIMUFrame.acceleration[0] is valid. Value of dwIMUFrame.turnrate[2] is valid. Value of dwIMUFrame.turnrate[1] is valid. Value of dwIMUFrame.turnrate[0] is valid. Value of dwIMUFrame.orientationQuaternion.w is valid. Value of dwIMUFrame.orientationQuaternion.z is valid. Value of dwIMUFrame.orientationQuaternion.y is valid. Value of dwIMUFrame.orientationQuaternion.x is valid. Value of dwIMUFrame.orientation[2] is valid. Value of dwIMUFrame.orientation[1] is valid. Value of dwIMUFrame.orientation[0] is valid. Value of dwGPSFrame.gpsMode is valid. Value of dwGPSFrame.vacc is valid. Value of dwGPSFrame.hacc is valid. Value of dwGPSFrame.vdop is valid. Value of dwGPSFrame.hdop is valid. Value of dwGPSFrame.climb is valid. Value of dwGPSFrame.speed is valid. Value of dwGPSFrame.course is valid. Value of dwGPSFrame.altitude is valid. Value of dwGPSFrame.longitude is valid. 'dwIMUFrame.heading' points towards true north. 'dwIMUFrame.heading' points towards magnetic north.
DW_DEPRECATED_ENUM	Value of dwGPSFrame.latitude is valid. Magnetic heading. True heading. Value of dwIMUFrame.alignmentStatus is valid. Value of dwIMUFrame.magnetometer[2] is valid. Value of dwIMUFrame.magnetometer[1] is valid. Value of dwIMUFrame.magnetometer[0] is valid. Value of dwIMUFrame.acceleration[2] is valid. Value of dwIMUFrame.acceleration[1] is valid. Value of dwIMUFrame.acceleration[0] is valid. Value of dwIMUFrame.turnrate[2] is valid. Value of dwIMUFrame.turnrate[1] is valid. Value of dwIMUFrame.turnrate[0] is valid. Value of dwIMUFrame.orientationQuaternion.w is valid. Value of dwIMUFrame.orientationQuaternion.z is valid. Value of dwIMUFrame.orientationQuaternion.y is valid. Value of dwIMUFrame.orientationQuaternion.x is valid. Value of dwIMUFrame.orientation[2] is valid. Value of dwIMUFrame.orientation[1] is valid. Value of dwIMUFrame.orientation[0] is valid. Value of dwGPSFrame.gpsMode is valid. Value of dwGPSFrame.vacc is valid. Value of dwGPSFrame.hacc is valid. Value of dwGPSFrame.vdop is valid. Value of dwGPSFrame.hdop is valid. Value of dwGPSFrame.climb is valid. Value of dwGPSFrame.speed is valid. Value of dwGPSFrame.course is valid. Value of dwGPSFrame.altitude is valid. Value of dwGPSFrame.longitude is valid. 'dwIMUFrame.heading' points towards true north. 'dwIMUFrame.heading' points towards magnetic north.
DW_GPS_FORCE32

Definition at line 61 of file GPS.h.

dwGPSMode

enum dwGPSMode

The GPS mode gives the status of the GNSS data.

Note that modes 1-7 are increasing in accuracy. Modes 8 and 9 are not quite as good as 6 and 7, respectively.

Enumerator
DW_GPS_MODE_UNKNOWN	GPS mode unknown. The device cannot or has not reported the mode.
DW_GPS_MODE_INVALID_GPS	GPS mode invalid. This GPS data cannot be used.
DW_GPS_MODE_DEAD_RECKONING	GPS mode dead reckoning. Device relying on IMU alone for updates.
DW_GPS_MODE_STAND_ALONE	GPS mode stand alone. No RTK or PPP correction.
DW_GPS_MODE_PRECISE_POINT	GPS mode precise point. No RTK or PPP correction.
DW_GPS_MODE_CODE_DIFFERENTIAL	GPS mode code differential. No RTK or PPP correction.
DW_GPS_MODE_RTK_FLOAT	GPS mode RTK float.
DW_GPS_MODE_RTK_FIXED	GPS mode RTK fixed. This is the highest accuracy mode.
DW_GPS_MODE_PPP_CONVERGING	GPS mode PPP converging. Using PPP, but solution has not finished converging, so the data is not yet as accurate as it can be.
DW_GPS_MODE_PPP_CONVERGED	GPS mode PPP converged. Most accurate mode for using PPP.
DW_GPS_MODE_FORCE32

Definition at line 81 of file GPS.h.

dwGPSTimestampQuality

enum dwGPSTimestampQuality

GPS timestamp quality.

Enumerator
DW_GPS_TIMESTAMP_QUALITY_NOT_INIT	Not Initialized. still initializing.
DW_GPS_TIMESTAMP_QUALITY_OK	Normal Operation. Functional and Electrical Checks Passed.
DW_GPS_TIMESTAMP_QUALITY_SYNC_LOST	Synchronization lost.
DW_GPS_TIMESTAMP_QUALITY_FORCE32

Definition at line 117 of file GPS.h.

Function Documentation

dwSensorGPS_popFrame()

DW_API_PUBLIC dwStatus dwSensorGPS_popFrame	(	dwGPSFrame *const	frame,
		dwSensorHandle_t const	sensor
	)

Returns any GPS frame previously processed through RAW data stream.

This happens on the CPU thread where the function is called, incurring an additional load on that thread.

Parameters

[out]	frame	Pointer to an GPS frame structure to be filled with new data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns

DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_NOT_AVAILABLE - if no more data is available
DW_SUCCESS

dwSensorGPS_popFrameNew()

DW_API_PUBLIC dwStatus dwSensorGPS_popFrameNew	(	dwGPSFrameNew *const	frame,
		dwSensorHandle_t const	sensor
	)

Returns any GPS frame New previously processed through RAW data stream.

This happens on the CPU thread where the function is called, incurring an additional load on that thread.

Parameters

[out]	frame	Pointer to an GPS frame New structure to be filled with new data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns

DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_NOT_AVAILABLE - if no more data is available
DW_SUCCESS

dwSensorGPS_processRawData()

DW_API_PUBLIC dwStatus dwSensorGPS_processRawData	(	uint8_t const *const	data,
		size_t const	size,
		dwSensorHandle_t const	sensor
	)

Decodes RAW data previously read.

Any processed messages can be picked up using the dwSensorGPS_popMessage() method. This happens on the CPU thread where the function is called, incurring on additional load on that thread.

Parameters

[in]	data	Undecoded gps data.
[in]	size	Size in bytes of the raw data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns

DW_INVALID_HANDLE - if given sensor handle is invalid,
DW_INVALID_ARGUMENTS - if given arguments are invalid,
DW_NOT_READY - if more data needs to be passed in (loop while it returns 'DW_NOT_READY').
DW_SUCCESS

dwSensorGPS_processRawDataNew()

DW_API_PUBLIC dwStatus dwSensorGPS_processRawDataNew	(	uint8_t const *const	data,
		size_t const	size,
		dwSensorHandle_t const	sensor
	)

Decodes RAW data previously read.

Any processed messages can be picked up using the dwSensorGPS_popMessageNew() method. This happens on the CPU thread where the function is called, incurring on additional load on that thread.

Parameters

[in]	data	Undecoded gps data.
[in]	size	Size in bytes of the raw data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns

DW_INVALID_HANDLE - if given sensor handle is invalid,
DW_INVALID_ARGUMENTS - if given arguments are invalid,
DW_NOT_READY - if more data needs to be passed in (loop while it returns 'DW_NOT_READY').
DW_SUCCESS

dwSensorGPS_readFrame()

DW_API_PUBLIC dwStatus dwSensorGPS_readFrame	(	dwGPSFrame *const	frame,
		dwTime_t const	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads the next GPS packet with a given timeout.

The method blocks until either a new valid frame is received from the sensor or the given timeout exceeds.

Parameters

[out]	frame	A pointer to a GPS frame structure to be filled with new localization data.
[in]	timeoutUs	Specifies the timeout in us to wait for a new message. Special values: DW_TIMEOUT_INFINITE - to wait infinitly. Zero - means polling of internal queue.
[in]	sensor	Specifies the sensor handle of the GPS sensor previously created with 'dwSAL_createSensor()'.

Returns

DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_TIME_OUT - if operation has timeout.
DW_NOT_AVAILABLE - if sensor has not been started or data is not available in polling mode.
DW_END_OF_STREAM - if end of stream reached (virtual sensor only).
DW_SAL_SENSOR_ERROR - if there was an i/o or bus error.
DW_SUCCESS

dwSensorGPS_readFrameNew()

DW_API_PUBLIC dwStatus dwSensorGPS_readFrameNew	(	dwGPSFrameNew *const	frame,
		dwTime_t const	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads the next GPS packet with a given timeout.

The method blocks until either a new valid frame is received from the sensor or the given timeout exceeds.

Parameters

[out]	frame	A pointer to a GPS frame New structure to be filled with new localization data.
[in]	timeoutUs	Specifies the timeout in us to wait for a new message. Special values: DW_TIMEOUT_INFINITE - to wait infinitly. Zero - means polling of internal queue.
[in]	sensor	Specifies the sensor handle of the GPS sensor previously created with 'dwSAL_createSensor()'.

Returns

DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_TIME_OUT - if operation has timeout.
DW_NOT_AVAILABLE - if sensor has not been started or data is not available in polling mode.
DW_END_OF_STREAM - if end of stream reached (virtual sensor only).
DW_SAL_SENSOR_ERROR - if there was an i/o or bus error.
DW_SUCCESS