sensor_gps.h

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/* https://github.com/PX4/Firmware/blob/master/msg/SensorGps.msg */
 
#pragma once
 
#include <stdint.h>
 
#include <QtCore/QMetaType>
 
struct sensor_gps_s
{
    uint64_t timestamp;
    uint64_t timestamp_sample;
 
    uint32_t device_id;
 
    double latitude_deg;
    double longitude_deg;
    double altitude_msl_m;
    double altitude_ellipsoid_m;
 
    float s_variance_m_s;
    float c_variance_rad;
 
    static constexpr uint8_t FIX_TYPE_NONE = 1;
    static constexpr uint8_t FIX_TYPE_2D = 2;
    static constexpr uint8_t FIX_TYPE_3D = 3;
    static constexpr uint8_t FIX_TYPE_RTCM_CODE_DIFFERENTIAL = 4;
    static constexpr uint8_t FIX_TYPE_RTK_FLOAT = 5;
    static constexpr uint8_t FIX_TYPE_RTK_FIXED = 6;
    static constexpr uint8_t FIX_TYPE_EXTRAPOLATED = 8;
    uint8_t fix_type;
 
    float eph;
    float epv;
 
    float hdop;
    float vdop;
 
    int32_t noise_per_ms;
    uint16_t automatic_gain_control;
 
    static constexpr uint8_t JAMMING_STATE_UNKNOWN = 0;
    static constexpr uint8_t JAMMING_STATE_OK = 1;
    static constexpr uint8_t JAMMING_STATE_WARNING = 2;
    static constexpr uint8_t JAMMING_STATE_CRITICAL = 3;
    uint8_t jamming_state;
    int32_t jamming_indicator;
 
    static constexpr uint8_t SPOOFING_STATE_UNKNOWN = 0;
    static constexpr uint8_t SPOOFING_STATE_NONE = 1;
    static constexpr uint8_t SPOOFING_STATE_INDICATED = 2;
    static constexpr uint8_t SPOOFING_STATE_MULTIPLE = 3;
    uint8_t spoofing_state;
 
    float vel_m_s;
    float vel_n_m_s;
    float vel_e_m_s;
    float vel_d_m_s;
    float cog_rad;
    bool vel_ned_valid;
 
    int32_t timestamp_time_relative;
    uint64_t time_utc_usec;
 
    uint8_t satellites_used;
 
    float heading;
    float heading_offset;
    float heading_accuracy;
 
    float rtcm_injection_rate;
    uint8_t selected_rtcm_instance;
 
    bool rtcm_crc_failed;
 
    static constexpr uint8_t RTCM_MSG_USED_UNKNOWN = 0;
    static constexpr uint8_t RTCM_MSG_USED_NOT_USED = 1;
    static constexpr uint8_t RTCM_MSG_USED_USED = 2;
    uint8_t rtcm_msg_used;
};
Q_DECLARE_METATYPE(sensor_gps_s);