Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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1 /*
2  * Copyright (C) 2003-2011 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
27 #ifndef GPS_H
28 #define GPS_H
31 #include "std.h"
32 #include "math/pprz_geodetic_int.h"
34 #include "mcu_periph/sys_time.h"
36 /* GPS model specific implementation or sim */
37 #ifdef GPS_TYPE_H
38 #include GPS_TYPE_H
39 #endif
41 #define GPS_FIX_NONE 0x00
42 #define GPS_FIX_2D 0x02
43 #define GPS_FIX_3D 0x03
45 #define GpsFixValid() (gps.fix == GPS_FIX_3D)
48 #ifndef GPS_NB_CHANNELS
49 #define GPS_NB_CHANNELS 1
50 #endif
53 struct SVinfo {
60 };
63 struct GpsState {
65  struct LlaCoor_i lla_pos;
66  struct UtmCoor_i utm_pos;
69  struct NedCoor_i ned_vel;
90 };
93 struct GpsTimeSync {
97 };
100 extern struct GpsState gps;
103 extern void gps_init(void);
105 /* GPS model specific init implementation */
106 extern void gps_impl_init(void);
110 #ifndef GPS_TIMEOUT
111 #define GPS_TIMEOUT 2
112 #endif
114 static inline bool_t GpsIsLost(void) {
115  if (gps.fix == GPS_FIX_3D) {
116  return FALSE;
117  }
118  return TRUE;
119 }
124 extern void gps_periodic_check(void);
130 #define gps_Reset(_val) { \
131 }
134 /*
135  * For GPS time synchronizaiton...
136  */
137 extern struct GpsTimeSync gps_time_sync;
144 extern uint32_t gps_tow_from_sys_ticks(uint32_t sys_ticks);
146 #endif /* GPS_H */
unsigned short uint16_t
Definition: types.h:16
struct LlaCoor_i lla_pos
position in LLA (lat,lon: deg*1e7; alt: mm over ellipsoid)
Definition: gps.h:65
uint32_t last_3dfix_ticks
cpu time ticks at last valid 3D fix
Definition: gps.h:85
uint32_t gps_tow_from_sys_ticks(uint32_t sys_ticks)
Convert time in sys_time ticks to GPS time of week.
Definition: gps.c:142
struct NedCoor_i ned_vel
speed NED in cm/s
Definition: gps.h:69
struct EcefCoor_i ecef_vel
speed ECEF in cm/s
Definition: gps.h:68
int32_t course
GPS course over ground in rad*1e7, [0, 2*Pi]*1e7 (CW/north)
Definition: gps.h:72
vector in EarthCenteredEarthFixed coordinates
uint32_t sacc
speed accuracy in cm/s
Definition: gps.h:74
int32_t t0_tow_frac
fractional ns remainder of tow [ms], range -500000 .. 500000
Definition: gps.h:95
void gps_impl_init(void)
GPS initialization.
Definition: gps_ardrone2.c:38
void gps_periodic_check(void)
Periodic GPS check.
Definition: gps.c:136
Definition: gps.h:49
void gps_init(void)
initialize the global GPS state
Definition: gps.c:107
uint32_t cacc
course accuracy in rad*1e7
Definition: gps.h:75
data structure for GPS time sync
Definition: gps.h:93
uint16_t pdop
position dilution of precision scaled by 100
Definition: gps.h:76
int32_t hmsl
height above mean sea level in mm
Definition: gps.h:67
vector in Latitude, Longitude and Altitude
uint8_t fix
status of fix
Definition: gps.h:78
#define GPS_FIX_3D
Definition: gps.h:43
struct EcefCoor_i ecef_pos
position in ECEF in cm
Definition: gps.h:64
int16_t week
GPS week.
Definition: gps.h:79
uint8_t qi
quality bitfield (GPS receiver specific)
Definition: gps.h:56
struct GpsState gps
global GPS state
Definition: gps.c:41
#define FALSE
Definition: imu_chimu.h:141
data structure for GPS information
Definition: gps.h:63
vector in North East Down coordinates
struct GpsTimeSync gps_time_sync
Definition: gps.c:43
uint32_t tow
GPS time of week in ms.
Definition: gps.h:80
int16_t azim
azimuth in deg
Definition: gps.h:59
uint32_t t0_ticks
hw clock ticks when GPS message is received
Definition: gps.h:96
int16_t gspeed
norm of 2d ground speed in cm/s
Definition: gps.h:70
Architecture independent timing functions.
unsigned long uint32_t
Definition: types.h:18
signed short int16_t
Definition: types.h:17
Paparazzi fixed point math for geodetic calculations.
position in UTM coordinates
struct SVinfo svinfos[GPS_NB_CHANNELS]
holds information from the Space Vehicles (Satellites)
Definition: gps.h:83
signed long int32_t
Definition: types.h:19
#define TRUE
Definition: imu_chimu.h:144
int16_t speed_3d
norm of 3d speed in cm/s
Definition: gps.h:71
uint32_t pacc
position accuracy in cm
Definition: gps.h:73
uint8_t flags
bitfield with GPS receiver specific flags
Definition: gps.h:55
unsigned char uint8_t
Definition: types.h:14
uint32_t last_msg_ticks
cpu time ticks at last received GPS message
Definition: gps.h:87
int8_t elev
elevation in deg
Definition: gps.h:58
uint8_t svid
Satellite ID.
Definition: gps.h:54
static bool_t GpsIsLost(void)
Definition: gps.h:114
uint32_t last_3dfix_time
cpu time in sec at last valid 3D fix
Definition: gps.h:86
struct UtmCoor_i utm_pos
position in UTM (north,east: cm; alt: mm over ellipsoid)
Definition: gps.h:66
uint32_t last_msg_time
cpu time in sec at last received GPS message
Definition: gps.h:88
signed char int8_t
Definition: types.h:15
uint32_t t0_tow
GPS time of week in ms from last message.
Definition: gps.h:94
data structure for Space Vehicle Information of a single satellite
Definition: gps.h:53
uint8_t cno
Carrier to Noise Ratio (Signal Strength) in dbHz.
Definition: gps.h:57
uint8_t nb_channels
Number of scanned satellites.
Definition: gps.h:82
uint16_t reset
hotstart, warmstart, coldstart
Definition: gps.h:89
uint8_t num_sv
number of sat in fix
Definition: gps.h:77