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Ground Control Station for MAVLink Drones
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Classes | Public Member Functions | Static Public Attributes | List of all members
UBX::EpochAssembler Class Reference

#include <UBXEpochAssembler.h>

Classes

struct  Epoch
 

Public Member Functions

Epoch * find (uint32_t tow, GPSDecodeContext &context)
 The epoch at tow, started now when new; nullptr for a time of week already published or too old.
 
void expire (GPSDecodeContext &context)
 Publishes epochs older than MAX_AGE.
 
void end (uint32_t tow, GPSDecodeContext &context)
 Publishes the epoch at tow and the ones before it.
 

Static Public Attributes

static constexpr std::chrono::microseconds MAX_AGE = std::chrono::milliseconds(200)
 

Detailed Description

Two receiver epochs tolerate reordered navigation messages without mixing their fields. Each completed epoch with a NAV-PVT is published as a position to the context it is given.

Definition at line 16 of file UBXEpochAssembler.h.

Member Function Documentation

◆ end()

void UBX::EpochAssembler::end ( uint32_t  tow,
GPSDecodeContext &  context 
)

Publishes the epoch at tow and the ones before it.

Definition at line 50 of file UBXEpochAssembler.cc.

References GPSTime::towAdvances().

◆ expire()

void UBX::EpochAssembler::expire ( GPSDecodeContext &  context)

Publishes epochs older than MAX_AGE.

Definition at line 39 of file UBXEpochAssembler.cc.

References MAX_AGE, and GPSDecodeContext::nowUs().

Referenced by find(), and UBX::Protocol::flush().

◆ find()

EpochAssembler::Epoch * UBX::EpochAssembler::find ( uint32_t  tow,
GPSDecodeContext &  context 
)

The epoch at tow, started now when new; nullptr for a time of week already published or too old.

Definition at line 10 of file UBXEpochAssembler.cc.

References expire(), GPSDecodeContext::nowUs(), UBX::EpochAssembler::Epoch::tow, GPSTime::towAdvances(), and GPSTime::WEEK_MS.

Member Data Documentation

◆ MAX_AGE

constexpr std::chrono::microseconds UBX::EpochAssembler::MAX_AGE = std::chrono::milliseconds(200)
staticconstexpr

Definition at line 19 of file UBXEpochAssembler.h.

Referenced by expire().

The documentation for this class was generated from the following files: