Device independent GPS code. More...

#include "modules/core/abi.h"
#include "modules/gps/gps.h"
#include "led.h"
#include "modules/core/settings.h"
#include "generated/settings.h"
#include "math/pprz_geodetic_wgs84.h"
#include "math/pprz_geodetic.h"
#include "modules/datalink/telemetry.h"
#include "state.h"

Include dependency graph for gps.c:

Go to the source code of this file.

Macros
#define	MSEC_PER_WEEK (10006060247)

#define	TIME_TO_SWITCH 5000

Functions
static void	send_svinfo_id (struct transport_tx trans, struct link_device dev, uint8_t svid)

static void	send_svinfo (struct transport_tx trans, struct link_device dev)
	send SVINFO message (regardless of state) More...

static void	send_svinfo_available (struct transport_tx trans, struct link_device dev)
	send SVINFO message if updated. More...

static void	send_gps (struct transport_tx trans, struct link_device dev)

static void	send_gps_rtk (struct transport_tx trans, struct link_device dev)

static void	send_gps_rxmrtcm (struct transport_tx trans, struct link_device dev)

static void	send_gps_int (struct transport_tx trans, struct link_device dev)

static void	send_gps_lla (struct transport_tx trans, struct link_device dev)

static void	send_gps_sol (struct transport_tx trans, struct link_device dev)

void	gps_periodic_check (struct GpsState *gps_s)
	Periodic GPS check. More...

bool	gps_fix_valid (void)
	Check if GPS fix is valid. More...

static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)

void	gps_init (void)
	initialize the global GPS state More...

uint32_t	gps_tow_from_sys_ticks (uint32_t sys_ticks)
	Convert time in sys_time ticks to GPS time of week. More...

void WEAK	gps_inject_data (uint8_t packet_id, uint8_t length, uint8_t *data)
	Default parser for GPS injected data. More...

void	gps_parse_GPS_INJECT (uint8_t *buf)

void	gps_parse_RTCM_INJECT (uint8_t *buf)

struct LlaCoor_f	lla_float_from_gps (struct GpsState *gps_s)
	Get GPS lla (float) Converted on the fly if not available. More...

struct LlaCoor_i	lla_int_from_gps (struct GpsState *gps_s)
	Get GPS lla (integer) Converted on the fly if not available. More...

struct EcefCoor_f	ecef_float_from_gps (struct GpsState *gps_s)
	Get GPS ecef pos (float) Converted on the fly if not available. More...

struct EcefCoor_i	ecef_int_from_gps (struct GpsState *gps_s)
	Get GPS ecef pos (integer) Converted on the fly if not available. More...

struct EcefCoor_f	ecef_vel_float_from_gps (struct GpsState *gps_s)
	Get GPS ecef velocity (float) Converted on the fly if not available. More...

struct EcefCoor_i	ecef_vel_int_from_gps (struct GpsState *gps_s)
	Get GPS ecef velocity (integer) Converted on the fly if not available. More...

struct NedCoor_f	ned_vel_float_from_gps (struct GpsState *gps_s)
	Get GPS ned velocity (float) Converted on the fly if not available. More...

struct NedCoor_i	ned_vel_int_from_gps (struct GpsState *gps_s)
	Get GPS ned velocity (integer) Converted on the fly if not available. More...

struct UtmCoor_f	utm_float_from_gps (struct GpsState *gps_s, uint8_t zone)
	Convenience functions to get utm position from GPS state. More...

struct UtmCoor_i	utm_int_from_gps (struct GpsState *gps_s, uint8_t zone)
	Convenience function to get utm position in int from GPS structure. More...

uint16_t	gps_day_number (uint16_t year, uint8_t month, uint8_t day)
	Number of days since navigation epoch (6 January 1980) More...

uint16_t	gps_week_number (uint16_t year, uint8_t month, uint8_t day)
	Number of weeks since navigation epoch (6 January 1980) More...

Variables
struct GpsState	gps
	global GPS state More...

struct GpsTimeSync	gps_time_sync

struct GpsRelposNED	gps_relposned

struct RtcmMan	rtcm_man

uint8_t	multi_gps_mode

static abi_event	gps_ev

static const uint16_t	month_days [2][13]
	GPS week number roll-over workaround application note. More...

Detailed Description

Device independent GPS code.

This provides some general GPS functions and handles the selection of the currently active GPS (if multiple ones are used).

Each GPS implementation sends a GPS message via ABI for each new measurement, which can be received by any other part (either from all or only one specific GPS).

To make it easy to switch to the currently best (or simply the preferred) GPS at runtime, the multi_gps_mode can be set to GPS_MODE_PRIMARY, GPS_MODE_SECONDARY or GPS_MODE_AUTO. This re-sends the GPS message of the "selected" GPS with GPS_MULTI_ID as sender id. In the (default) GPS_MODE_AUTO mode, the GPS with the best fix is selected.

The global gps struct is also updated from the "selected" GPS and used to send the normal GPS telemetry messages.

Definition in file gps.c.

Macro Definition Documentation

◆ MSEC_PER_WEEK

#define MSEC_PER_WEEK (1000*60*60*24*7)

Definition at line 66 of file gps.c.

◆ TIME_TO_SWITCH

#define TIME_TO_SWITCH 5000

Definition at line 67 of file gps.c.

Function Documentation

◆ ecef_float_from_gps()

struct EcefCoor_f ecef_float_from_gps ( struct GpsState * gps_s )

Get GPS ecef pos (float) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: ecef position in float (m)

Definition at line 429 of file gps.c.

References gps_inject_data().

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◆ ecef_int_from_gps()

struct EcefCoor_i ecef_int_from_gps ( struct GpsState * gps_s )

Get GPS ecef pos (integer) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: ecef position in cm

Definition at line 429 of file gps.c.

Referenced by gps_cb(), ins_float_invariant_update_gps(), ins_int_update_gps(), and ins_reset_local_origin().

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◆ ecef_vel_float_from_gps()

struct EcefCoor_f ecef_vel_float_from_gps ( struct GpsState * gps_s )

Get GPS ecef velocity (float) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: ecef velocity in float (m/s)

Definition at line 429 of file gps.c.

Referenced by gps_cb(), and ins_float_invariant_update_gps().

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◆ ecef_vel_int_from_gps()

struct EcefCoor_i ecef_vel_int_from_gps ( struct GpsState * gps_s )

Get GPS ecef velocity (integer) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: ecef velocity in cm/s

Definition at line 429 of file gps.c.

Referenced by gps_cb(), and ins_int_update_gps().

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◆ gps_cb()

static void gps_cb	(	uint8_t	sender_id,
		uint32_t stamp	,
		struct GpsState *	gps_s
	)

static

Definition at line 307 of file gps.c.

References GpsState::comp_id, get_sys_time_usec(), gps, GPS_MULTI_ID, gps_time_sync, sys_time::nb_tick, GpsTimeSync::t0_ticks, GpsTimeSync::t0_tow, and GpsState::tow.

Referenced by gps_init().

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◆ gps_day_number()

uint16_t gps_day_number	(	uint16_t	year,
		uint8_t	month,
		uint8_t	day
	)

Number of days since navigation epoch (6 January 1980)

Parameters

[in]	year	current year
[in]	month	current month
[in]	day	current day

Returns: number of days since navigation epoch

Definition at line 631 of file gps.c.

References month_days.

Referenced by gps_week_number().

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◆ gps_fix_valid()

bool gps_fix_valid ( void )

Check if GPS fix is valid.

If GPS_FIX_TIMEOUT is configured, check for 3D fix with timeout, otherwise, returns the last value from GPS module

Definition at line 294 of file gps.c.

References GpsState::fix, get_sys_time_float(), gps, GPS_FIX_3D, and gps_time_since_last_3dfix().

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◆ gps_init()

void gps_init ( void )

initialize the global GPS state

Definition at line 333 of file gps.c.

References ABI_BROADCAST, GpsState::cacc, RtcmMan::Cnt105, RtcmMan::Cnt177, RtcmMan::Cnt187, RtcmMan::Crc105, RtcmMan::Crc177, RtcmMan::Crc187, DefaultPeriodic, GpsState::fix, gpio_setup_output(), gps, gps_cb(), gps_ev, GPS_FIX_NONE, GPS_POWER_GPIO, GpsState::hacc, GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, LED_OFF, multi_gps_mode, MULTI_GPS_MODE, preflight_check_register(), register_periodic_telemetry(), rtcm_man, send_gps(), send_gps_int(), send_gps_lla(), send_gps_rtk(), send_gps_rxmrtcm(), send_gps_sol(), send_svinfo(), GpsState::tow, GpsState::vacc, GpsState::valid_fields, and GpsState::week.

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◆ gps_inject_data()

void WEAK gps_inject_data	(	uint8_t	packet_id,
		uint8_t	length,
		uint8_t *	data
	)

Default parser for GPS injected data.

GPS packet injection (default empty)

Definition at line 410 of file gps.c.

Referenced by ecef_float_from_gps(), and gps_parse_GPS_INJECT().

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◆ gps_parse_GPS_INJECT()

void gps_parse_GPS_INJECT ( uint8_t * buf )

Definition at line 416 of file gps.c.

References gps_inject_data().

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◆ gps_parse_RTCM_INJECT()

void gps_parse_RTCM_INJECT ( uint8_t * buf )

Definition at line 429 of file gps.c.

◆ gps_periodic_check()

void gps_periodic_check ( struct GpsState * gps_s )

Periodic GPS check.

Marks GPS as lost when no GPS message was received for GPS_TIMEOUT seconds

Definition at line 278 of file gps.c.

References GpsState::comp_id, GpsState::fix, gps, GPS_FIX_NONE, GPS_TIMEOUT, GpsState::last_msg_time, and sys_time::nb_sec.

Referenced by dw1000_arduino_periodic().

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◆ gps_tow_from_sys_ticks()

uint32_t gps_tow_from_sys_ticks ( uint32_t sys_ticks )

Convert time in sys_time ticks to GPS time of week.

The resolution is sys_time.resolution

Returns: GPS tow in ms

Definition at line 385 of file gps.c.

References gps_time_sync, msec_of_sys_time_ticks(), MSEC_PER_WEEK, GpsTimeSync::t0_ticks, and GpsTimeSync::t0_tow.

Referenced by acInfoSetPositionEnu_f(), acInfoSetPositionEnu_i(), acInfoSetPositionLla_f(), acInfoSetPositionLla_i(), acInfoSetPositionUtm_f(), acInfoSetPositionUtm_i(), acInfoSetVelocityEnu_f(), acInfoSetVelocityEnu_i(), parse_acinfo_dl(), target_parse_target_pos(), and windturbine_periodic().

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◆ gps_week_number()

uint16_t gps_week_number	(	uint16_t	year,
		uint8_t	month,
		uint8_t	day
	)

Number of weeks since navigation epoch (6 January 1980)

Parameters

[in]	year	current year
[in]	month	current month
[in]	day	current day

Returns: number of weeks since navigation epoch

Definition at line 641 of file gps.c.

References gps_day_number().

Referenced by gps_ubx_parse_nav_pvt().

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◆ lla_float_from_gps()

struct LlaCoor_f lla_float_from_gps ( struct GpsState * gps_s )

Get GPS lla (float) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: lla position in float (rad), altitude ellipsoid (m)

Definition at line 429 of file gps.c.

◆ lla_int_from_gps()

struct LlaCoor_i lla_int_from_gps ( struct GpsState * gps_s )

Get GPS lla (integer) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: lla position (lat,lon: deg*1e7; alt: mm over ellipsoid)

Definition at line 429 of file gps.c.

Referenced by gps_cb(), ins_reset_altitude_ref(), and ins_reset_local_origin().

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◆ ned_vel_float_from_gps()

struct NedCoor_f ned_vel_float_from_gps ( struct GpsState * gps_s )

Get GPS ned velocity (float) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: ned velocity in float (m/s)

Definition at line 429 of file gps.c.

Referenced by gps_cb(), ins_alt_float_update_gps(), and ins_float_invariant_update_gps().

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◆ ned_vel_int_from_gps()

struct NedCoor_i ned_vel_int_from_gps ( struct GpsState * gps_s )

Get GPS ned velocity (integer) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: ned velocity in cm/s

Definition at line 429 of file gps.c.

◆ send_gps()

static void send_gps	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 138 of file gps.c.

References GpsState::course, course, dev, UtmCoor_i::east, GpsState::fix, gps, GpsState::gspeed, GpsState::hmsl, msg, GpsState::ned_vel, UtmCoor_i::north, send_svinfo_available(), GpsState::tow, utm_int_from_gps(), GpsState::week, NedCoor_i::z, and UtmCoor_i::zone.

Referenced by gps_init().

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◆ send_gps_int()

static void send_gps_int	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 189 of file gps.c.

References LlaCoor_i::alt, GpsState::comp_id, dev, GpsState::ecef_pos, GpsState::ecef_vel, GpsState::fix, gps, GpsState::hmsl, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, msg, GpsState::num_sv, GpsState::pacc, GpsState::pdop, GpsState::sacc, send_svinfo_available(), GpsState::tow, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by gps_init().

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◆ send_gps_lla()

static void send_gps_lla	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 217 of file gps.c.

References LlaCoor_i::alt, GpsState::course, course, dev, GpsState::fix, gps, GpsState::gspeed, GpsState::hmsl, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, msg, GpsState::ned_vel, GpsState::tow, GpsState::week, and NedCoor_i::z.

Referenced by gps_init().

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◆ send_gps_rtk()

static void send_gps_rtk	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 164 of file gps.c.

References GpsRelposNED::accD, GpsRelposNED::accE, GpsRelposNED::accN, GpsRelposNED::carrSoln, dev, GpsRelposNED::diffSoln, GpsRelposNED::gnssFixOK, gps_relposned, GpsRelposNED::iTOW, GpsRelposNED::refStationId, GpsRelposNED::relPosD, GpsRelposNED::relPosE, GpsRelposNED::relPosHPD, GpsRelposNED::relPosHPE, GpsRelposNED::relPosHPN, GpsRelposNED::relPosN, and GpsRelposNED::relPosValid.

Referenced by gps_init().

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◆ send_gps_rxmrtcm()

static void send_gps_rxmrtcm	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 178 of file gps.c.

References RtcmMan::Cnt105, RtcmMan::Cnt177, RtcmMan::Cnt187, RtcmMan::Crc105, RtcmMan::Crc177, RtcmMan::Crc187, dev, and rtcm_man.

Referenced by gps_init().

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◆ send_gps_sol()

static void send_gps_sol	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 240 of file gps.c.

References dev, gps, GpsState::num_sv, GpsState::pacc, GpsState::pdop, and GpsState::sacc.

Referenced by gps_init().

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◆ send_svinfo()

static void send_svinfo	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

send SVINFO message (regardless of state)

Definition at line 110 of file gps.c.

References dev, gps, GpsState::nb_channels, and send_svinfo_id().

Referenced by gps_init().

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◆ send_svinfo_available()

static void send_svinfo_available	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

inlinestatic

send SVINFO message if updated.

send SVINFO for all satellites while no GPS fix, after 3D fix, send avialable sats only when there is new information

Definition at line 122 of file gps.c.

References SVinfo::cno, dev, GpsState::fix, gps, GPS_FIX_3D, GPS_NB_CHANNELS, GpsState::nb_channels, send_svinfo_id(), and GpsState::svinfos.

Referenced by send_gps(), and send_gps_int().

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◆ send_svinfo_id()

static void send_svinfo_id	(	struct transport_tx *	trans,
		struct link_device *	dev,
		uint8_t	svid
	)

static

Definition at line 98 of file gps.c.

References SVinfo::azim, SVinfo::cno, dev, SVinfo::elev, SVinfo::flags, gps, GPS_NB_CHANNELS, SVinfo::qi, SVinfo::svid, and GpsState::svinfos.

Referenced by send_svinfo(), and send_svinfo_available().

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◆ utm_float_from_gps()

struct UtmCoor_f utm_float_from_gps	(	struct GpsState *	gps_s,
		uint8_t	zone
	)

Convenience functions to get utm position from GPS state.

Convenience function to get utm position in float from GPS structure.

Definition at line 429 of file gps.c.

Referenced by gps_cb(), ins_alt_float_update_gps(), ins_float_invariant_update_gps(), and ins_reset_local_origin().

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◆ utm_int_from_gps()

struct UtmCoor_i utm_int_from_gps	(	struct GpsState *	gps_s,
		uint8_t	zone
	)

Convenience function to get utm position in int from GPS structure.

Beware that altitude is initialized to zero but not set to the correct value

Parameters

[in]	gps_s	pointer to the gps structure
[in]	zone	set the utm zone in which the position should be computed, 0 to try to get it automatically from lla position

Returns: utm position in fixed point (cm), altitude hmsl (mm).

Definition at line 429 of file gps.c.

Referenced by send_gps().

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Variable Documentation

◆ gps

struct GpsState gps

global GPS state

Definition at line 1 of file gps.c.

Referenced by airspeed_ets_read_event(), alt_filter_periodic(), apogee_baro_event(), ArduIMU_periodicGPS(), autopilot_failsafe_checks(), baro_sim_periodic(), calculate_new_heading(), cloud_sensor_callback(), dc_send_shot_position(), draw_osd(), error_output(), formation_flight(), generic_com_periodic(), geo_mag_event(), get_fix_mode(), gps_cb(), gps_fix_valid(), gps_init(), gps_periodic_check(), gps_sim_init(), gps_sim_publish(), gps_time_since_last_3dfix(), gps_vectornav_init(), gsm_send_report_continue(), hff_update_gps(), home_direction(), humid_sht_periodic(), ins_reset_altitude_ref(), ins_reset_local_origin(), ins_reset_utm_zone(), ins_vectornav_monitor(), ins_vectornav_propagate(), ins_vectornav_set_pacc(), ins_vectornav_set_sacc(), mavlink_send_gps_raw_int(), mavlink_send_gps_status(), meteo_stick_send_data(), mf_daq_send_report(), mf_ptu_periodic(), nps_sensor_gps_init(), nps_sensor_gps_run_step(), parse_xsens_msg(), potential_task(), push_gps_to_vision(), put_alt(), send_cloud_sensor_data(), send_fp_min(), send_gps(), send_gps_int(), send_gps_lla(), send_gps_sol(), send_minimal_com(), send_status(), send_svinfo(), send_svinfo_available(), send_svinfo_id(), snav_on_time(), tcas_periodic_task_1Hz(), temod_event(), thd_startlog(), and update_geoid_height().

◆ gps_ev

abi_event gps_ev

static

Definition at line 306 of file gps.c.

Referenced by gps_init().

◆ gps_relposned

struct GpsRelposNED gps_relposned

Definition at line 1 of file gps.c.

Referenced by gps_ubx_parse_nav_relposned(), and send_gps_rtk().

◆ gps_time_sync

struct GpsTimeSync gps_time_sync

Definition at line 1 of file gps.c.

Referenced by gps_cb(), and gps_tow_from_sys_ticks().

◆ month_days

const uint16_t month_days[2][13]

static

Initial value:

= {
  { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 },
  { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 }
}

GPS week number roll-over workaround application note.

Definition at line 623 of file gps.c.

Referenced by gps_day_number().

◆ multi_gps_mode

uint8_t multi_gps_mode

Definition at line 78 of file gps.c.

Referenced by gps_init().

◆ rtcm_man

struct RtcmMan rtcm_man

Definition at line 1 of file gps.c.

Referenced by gps_init(), gps_ubx_parse_rxm_rtcm(), and send_gps_rxmrtcm().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ MSEC_PER_WEEK

◆ TIME_TO_SWITCH

Function Documentation

◆ ecef_float_from_gps()

◆ ecef_int_from_gps()

◆ ecef_vel_float_from_gps()

◆ ecef_vel_int_from_gps()

◆ gps_cb()

◆ gps_day_number()

◆ gps_fix_valid()

◆ gps_init()

◆ gps_inject_data()

◆ gps_parse_GPS_INJECT()

◆ gps_parse_RTCM_INJECT()

◆ gps_periodic_check()

◆ gps_tow_from_sys_ticks()

◆ gps_week_number()

◆ lla_float_from_gps()

◆ lla_int_from_gps()

◆ ned_vel_float_from_gps()

◆ ned_vel_int_from_gps()

◆ send_gps()

◆ send_gps_int()

◆ send_gps_lla()

◆ send_gps_rtk()

◆ send_gps_rxmrtcm()

◆ send_gps_sol()

◆ send_svinfo()

◆ send_svinfo_available()

◆ send_svinfo_id()

◆ utm_float_from_gps()

◆ utm_int_from_gps()

Variable Documentation

◆ gps

◆ gps_ev

◆ gps_relposned

◆ gps_time_sync

◆ month_days

◆ multi_gps_mode

◆ rtcm_man