Device independent GPS code (interface) More...

#include "std.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_geodetic_float.h"
#include "math/pprz_geodetic_double.h"
#include "mcu_periph/sys_time.h"
#include "generated/airframe.h"

Include dependency graph for gps.h:

Go to the source code of this file.

Data Structures
struct	SVinfo
	data structure for Space Vehicle Information of a single satellite More...

struct	GpsState
	data structure for GPS information More...

struct	GpsTimeSync
	data structure for GPS time sync More...

struct	RelPosNED

Macros
#define	GPS_FIX_NONE 0x00
	No GPS fix. More...

#define	GPS_FIX_2D 0x02
	2D GPS fix More...

#define	GPS_FIX_3D 0x03
	3D GPS fix More...

#define	GPS_FIX_DGPS 0x04
	DGPS fix. More...

#define	GPS_FIX_RTK 0x05
	RTK GPS fix. More...

#define	GPS_VALID_POS_ECEF_BIT 0

#define	GPS_VALID_POS_LLA_BIT 1

#define	GPS_VALID_POS_UTM_BIT 2

#define	GPS_VALID_VEL_ECEF_BIT 3

#define	GPS_VALID_VEL_NED_BIT 4

#define	GPS_VALID_HMSL_BIT 5

#define	GPS_VALID_COURSE_BIT 6

#define	GPS_NB_CHANNELS 40

#define	GPS_MODE_AUTO 0

#define	GPS_MODE_PRIMARY 1

#define	GPS_MODE_SECONDARY 2

#define	MULTI_GPS_MODE GPS_MODE_AUTO

#define	__GpsId(_x) _x ## _ID

#define	_GpsId(_x) __GpsId(_x)

#define	GpsId(_x) _GpsId(_x)

#define	GpsFixValid() gps_fix_valid()

#define	GpsIsLost() !GpsFixValid()

#define	GPS_TIMEOUT 2
	GPS timeout in seconds in case of communication loss with GPS module. More...

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

void	gps_inject_data (uint8_t packet_id, uint8_t length, uint8_t *data)
	GPS packet injection (default empty) More...

void	gps_parse_GPS_INJECT (uint8_t *buf)

void	gps_parse_RTCM_INJECT (uint8_t *buf)

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

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

static bool	gps_has_been_good (void)

static float	gps_time_since_last_3dfix (void)
	Returns the time since last 3D fix in seconds (float) More...

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

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 function to get utm position in float from GPS structure. 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
uint8_t	multi_gps_mode

struct GpsState	gps
	global GPS state More...

struct GpsTimeSync	gps_time_sync

Detailed Description

Device independent GPS code (interface)

Definition in file gps.h.

Data Structure Documentation

◆ SVinfo

struct SVinfo

data structure for Space Vehicle Information of a single satellite

Definition at line 77 of file gps.h.

Data Fields
int16_t	azim	azimuth in deg
uint8_t	cno	Carrier to Noise Ratio (Signal Strength) in dbHz.
int8_t	elev	elevation in deg
uint8_t	flags	bitfield with GPS receiver specific flags
uint8_t	qi	quality bitfield (GPS receiver specific)
uint8_t	svid	Satellite ID.

◆ GpsState

struct GpsState

data structure for GPS information

Definition at line 87 of file gps.h.

Collaboration diagram for GpsState:

Data Fields
uint32_t	cacc	course accuracy in rad*1e7
uint8_t	comp_id	id of current gps
int32_t	course	GPS course over ground in rad1e7, [0, 2Pi]*1e7 (CW/north)
struct EcefCoor_i	ecef_pos	position in ECEF in cm
struct EcefCoor_i	ecef_vel	speed ECEF in cm/s
uint8_t	fix	status of fix
uint16_t	gspeed	norm of 2d ground speed in cm/s
uint32_t	hacc	horizontal accuracy in cm
int32_t	hmsl	height above mean sea level (MSL) in mm
uint32_t	last_3dfix_ticks	cpu time ticks at last valid 3D fix
uint32_t	last_3dfix_time	cpu time in sec at last valid 3D fix
uint32_t	last_msg_ticks	cpu time ticks at last received GPS message
uint32_t	last_msg_time	cpu time in sec at last received GPS message
struct LlaCoor_i	lla_pos	position in LLA (lat,lon: deg*1e7; alt: mm over ellipsoid)
uint8_t	nb_channels	Number of scanned satellites.
struct NedCoor_i	ned_vel	speed NED in cm/s
uint8_t	num_sv	number of sat in fix
uint32_t	pacc	position accuracy in cm
uint16_t	pdop	position dilution of precision scaled by 100
uint16_t	reset	hotstart, warmstart, coldstart
uint32_t	sacc	speed accuracy in cm/s
uint16_t	speed_3d	norm of 3d speed in cm/s
struct SVinfo	svinfos[GPS_NB_CHANNELS]	holds information from the Space Vehicles (Satellites)
uint32_t	tow	GPS time of week in ms.
struct UtmCoor_i	utm_pos	position in UTM (north,east: cm; alt: mm over MSL)
uint32_t	vacc	vertical accuracy in cm
uint8_t	valid_fields	bitfield indicating valid fields (GPS_VALID_x_BIT)
uint16_t	week	GPS week.

◆ GpsTimeSync

struct GpsTimeSync

data structure for GPS time sync

Definition at line 122 of file gps.h.

Data Fields
uint32_t	t0_ticks	hw clock ticks when GPS message is received
uint32_t	t0_tow	GPS time of week in ms from last message.
int32_t	t0_tow_frac	fractional ns remainder of tow [ms], range -500000 .. 500000

◆ RelPosNED

struct RelPosNED

Definition at line 128 of file gps.h.

Collaboration diagram for RelPosNED:

Data Fields
double	distance	Relative distance to the reference station in meters.
float	distance_acc	Distance accuracy in meters.
float	heading	Relative heading to the reference station in radians.
float	heading_acc	Heading accuracy in radians.
struct NedCoor_d	pos	Relative postion to the reference station in meters.
struct NedCoor_f	pos_acc	Position accuracy in meters.
uint16_t	reference_id	Reference station identification.
uint32_t	tow	Time of week (GPS) in ms.

Macro Definition Documentation

◆ __GpsId

#define __GpsId ( _x ) _x ## _ID

Definition at line 69 of file gps.h.

◆ _GpsId

#define _GpsId ( _x ) __GpsId(_x)

Definition at line 70 of file gps.h.

◆ GPS_FIX_2D

#define GPS_FIX_2D 0x02

2D GPS fix

Definition at line 43 of file gps.h.

◆ GPS_FIX_3D

#define GPS_FIX_3D 0x03

3D GPS fix

Definition at line 44 of file gps.h.

◆ GPS_FIX_DGPS

#define GPS_FIX_DGPS 0x04

DGPS fix.

Definition at line 45 of file gps.h.

◆ GPS_FIX_NONE

#define GPS_FIX_NONE 0x00

No GPS fix.

Definition at line 42 of file gps.h.

◆ GPS_FIX_RTK

#define GPS_FIX_RTK 0x05

RTK GPS fix.

Definition at line 46 of file gps.h.

◆ GPS_MODE_AUTO

#define GPS_MODE_AUTO 0

Definition at line 60 of file gps.h.

◆ GPS_MODE_PRIMARY

#define GPS_MODE_PRIMARY 1

Definition at line 61 of file gps.h.

◆ GPS_MODE_SECONDARY

#define GPS_MODE_SECONDARY 2

Definition at line 62 of file gps.h.

◆ GPS_NB_CHANNELS

#define GPS_NB_CHANNELS 40

Definition at line 57 of file gps.h.

◆ GPS_TIMEOUT

#define GPS_TIMEOUT 2

GPS timeout in seconds in case of communication loss with GPS module.

Definition at line 177 of file gps.h.

◆ GPS_VALID_COURSE_BIT

#define GPS_VALID_COURSE_BIT 6

Definition at line 54 of file gps.h.

◆ GPS_VALID_HMSL_BIT

#define GPS_VALID_HMSL_BIT 5

Definition at line 53 of file gps.h.

◆ GPS_VALID_POS_ECEF_BIT

#define GPS_VALID_POS_ECEF_BIT 0

Definition at line 48 of file gps.h.

◆ GPS_VALID_POS_LLA_BIT

#define GPS_VALID_POS_LLA_BIT 1

Definition at line 49 of file gps.h.

◆ GPS_VALID_POS_UTM_BIT

#define GPS_VALID_POS_UTM_BIT 2

Definition at line 50 of file gps.h.

◆ GPS_VALID_VEL_ECEF_BIT

#define GPS_VALID_VEL_ECEF_BIT 3

Definition at line 51 of file gps.h.

◆ GPS_VALID_VEL_NED_BIT

#define GPS_VALID_VEL_NED_BIT 4

Definition at line 52 of file gps.h.

◆ GpsFixValid

#define GpsFixValid ( ) gps_fix_valid()

Definition at line 168 of file gps.h.

◆ GpsId

#define GpsId ( _x ) _GpsId(_x)

Definition at line 71 of file gps.h.

◆ GpsIsLost

#define GpsIsLost ( ) !GpsFixValid()

Definition at line 170 of file gps.h.

◆ MULTI_GPS_MODE

#define MULTI_GPS_MODE GPS_MODE_AUTO

Definition at line 65 of file gps.h.

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 437 of file gps.c.

References gps_inject_data().

Here is the call graph for this function:

◆ 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 437 of file gps.c.

Referenced by gps_cb(), ins_float_invariant_reset_ref(), ins_float_invariant_update_gps(), ins_int_update_gps(), and reset_ref().

Here is the caller graph for this function:

◆ 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 437 of file gps.c.

Referenced by gps_cb(), and ins_float_invariant_update_gps().

Here is the caller graph for this function:

◆ 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 437 of file gps.c.

Referenced by gps_cb(), and ins_int_update_gps().

Here is the caller graph for this function:

◆ 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 639 of file gps.c.

References month_days.

Referenced by gps_week_number().

Here is the caller graph for this function:

◆ 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 295 of file gps.c.

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

Here is the call graph for this function:

◆ gps_has_been_good()

static bool gps_has_been_good ( void )

inlinestatic

Definition at line 186 of file gps.h.

References GpsFixValid.

◆ gps_init()

void gps_init ( void )

initialize the global GPS state

Definition at line 350 of file gps.c.

References ABI_BROADCAST, GpsState::cacc, DefaultPeriodic, GpsState::fix, gpio_setup_output(), gps, gps_cb(), gps_ev, GPS_FIX_NONE, GPS_POWER_GPIO, gps_relpos_cb(), gps_relpos_ev, 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(), send_gps(), send_gps_int(), send_gps_lla(), send_gps_relpos(), send_gps_sol(), send_svinfo(), GpsState::tow, GpsState::vacc, GpsState::valid_fields, and GpsState::week.

Here is the call graph for this function:

◆ gps_inject_data()

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

GPS packet injection (default empty)

Definition at line 418 of file gps.c.

References gps_piksi_write(), and sbp_state.

Referenced by ecef_float_from_gps(), and gps_parse_GPS_INJECT().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ gps_parse_GPS_INJECT()

void gps_parse_GPS_INJECT ( uint8_t * buf )

Definition at line 424 of file gps.c.

References gps_inject_data().

Here is the call graph for this function:

◆ gps_parse_RTCM_INJECT()

void gps_parse_RTCM_INJECT ( uint8_t * buf )

Definition at line 437 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 279 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(), and gps_ubx_periodic_check().

Here is the caller graph for this function:

◆ gps_time_since_last_3dfix()

static float gps_time_since_last_3dfix ( void )

inlinestatic

Returns the time since last 3D fix in seconds (float)

Definition at line 196 of file gps.h.

References sys_time::cpu_ticks_per_sec, gps, GpsState::last_3dfix_ticks, and GpsState::last_3dfix_time.

Referenced by gps_fix_valid().

Here is the caller graph for this function:

◆ 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 393 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().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ 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 649 of file gps.c.

References gps_day_number().

Referenced by gps_ubx_parse_nav_pvt().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ 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 437 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 437 of file gps.c.

Referenced by gps_cb(), ins_float_invariant_reset_ref(), reset_ref(), and reset_vertical_ref().

Here is the caller graph for this function:

◆ 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 437 of file gps.c.

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

Here is the caller graph for this function:

◆ 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 437 of file gps.c.

◆ utm_float_from_gps()

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

Convenience function to get utm position in float 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 float, altitude hmsl.

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

Definition at line 437 of file gps.c.

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

Here is the caller graph for this function:

◆ 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 437 of file gps.c.

Referenced by send_gps().

Here is the caller graph for this function:

Variable Documentation

◆ gps

struct GpsState gps

extern

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_float_invariant_reset_ref(), ins_float_invariant_reset_vertical_ref(), 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(), nav_reset_utm_zone(), nps_sensor_gps_init(), nps_sensor_gps_run_step(), parse_xsens_msg(), potential_task(), push_gps_to_vision(), put_alt(), reset_cb(), reset_ref(), reset_vertical_ref(), 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_time_sync

struct GpsTimeSync gps_time_sync

extern

Definition at line 1 of file gps.c.

Referenced by gps_cb(), and gps_tow_from_sys_ticks().

◆ multi_gps_mode

uint8_t multi_gps_mode

extern

Definition at line 82 of file gps.c.

Referenced by gps_init().

Data Structures

Macros

Functions

Variables

Detailed Description

Data Structure Documentation

◆ SVinfo

◆ GpsState

◆ GpsTimeSync

◆ RelPosNED

Macro Definition Documentation

◆ __GpsId

◆ _GpsId

◆ GPS_FIX_2D

◆ GPS_FIX_3D

◆ GPS_FIX_DGPS

◆ GPS_FIX_NONE

◆ GPS_FIX_RTK

◆ GPS_MODE_AUTO

◆ GPS_MODE_PRIMARY

◆ GPS_MODE_SECONDARY

◆ GPS_NB_CHANNELS

◆ GPS_TIMEOUT

◆ GPS_VALID_COURSE_BIT

◆ GPS_VALID_HMSL_BIT

◆ GPS_VALID_POS_ECEF_BIT

◆ GPS_VALID_POS_LLA_BIT

◆ GPS_VALID_POS_UTM_BIT

◆ GPS_VALID_VEL_ECEF_BIT

◆ GPS_VALID_VEL_NED_BIT

◆ GpsFixValid

◆ GpsId

◆ GpsIsLost

◆ MULTI_GPS_MODE

Function Documentation

◆ ecef_float_from_gps()

◆ ecef_int_from_gps()

◆ ecef_vel_float_from_gps()

◆ ecef_vel_int_from_gps()

◆ gps_day_number()

◆ gps_fix_valid()

◆ gps_has_been_good()

◆ gps_init()

◆ gps_inject_data()

◆ gps_parse_GPS_INJECT()

◆ gps_parse_RTCM_INJECT()

◆ gps_periodic_check()

◆ gps_time_since_last_3dfix()

◆ 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()

◆ utm_float_from_gps()

◆ utm_int_from_gps()

Variable Documentation

◆ gps

◆ gps_time_sync

◆ multi_gps_mode