#include <NTRIPVehicleGgaSource.h>

Inheritance diagram for NTRIPVehicleGgaSource:

Collaboration diagram for NTRIPVehicleGgaSource:

Public Member Functions
	NTRIPVehicleGgaSource (RuntimeScheduler scheduler, QObject parent=nullptr)
	scheduler stamps receipt times and must outlive this source.

void	attach (NTRIPManager *ntrip)

void	setVehicle (Vehicle *vehicle)
	Tracks vehicle's reports; reports from before this call are not used.

std::optional< GPSObservation >	gpsObservation () const
	The fresh observation from the vehicle's GPS with a fix.

std::optional< GPSObservation >	estimateObservation () const
	The fresh observation from the vehicle's GLOBAL_POSITION_INT estimate.

Detailed Description

The active vehicle's GPS and global position estimate as NTRIP's Vehicle GPS and Vehicle EKF GGA sources. Reports only record their receipt; GGA reports, seconds apart, build observations from the latest.

Definition at line 19 of file NTRIPVehicleGgaSource.h.

Constructor & Destructor Documentation

◆ NTRIPVehicleGgaSource()

NTRIPVehicleGgaSource::NTRIPVehicleGgaSource	(	RuntimeScheduler *	scheduler,
		QObject *	parent = `nullptr`
	)

explicit

scheduler stamps receipt times and must outlive this source.

Definition at line 62 of file NTRIPVehicleGgaSource.cc.

Member Function Documentation

◆ attach()

void NTRIPVehicleGgaSource::attach ( NTRIPManager * ntrip )

Supplies both sources to ntrip, gated on a connected active vehicle, and follows MultiVehicleManager's active vehicle. Must precede NTRIPManager::init().

Definition at line 67 of file NTRIPVehicleGgaSource.cc.

References MultiVehicleManager::activeVehicleChanged(), estimateObservation(), gpsObservation(), MultiVehicleManager::instance(), NTRIPManager::setGgaPositionProvider(), and setVehicle().