GPS

Detailed Description

Defines the GPS sensor.

Data Structures
struct	dwGPSFrame
	A GPS packet containing localization information. More...

Functions
DW_API_PUBLIC dwStatus	dwSensorGPS_popFrame (dwGPSFrame *frame, dwSensorHandle_t sensor)
	Returns any GPS frame previously processed through RAW data stream. More...
DW_API_PUBLIC dwStatus	dwSensorGPS_processRawData (const uint8_t *data, size_t size, dwSensorHandle_t sensor)
	Decodes RAW data previously read. More...
DW_API_PUBLIC dwStatus	dwSensorGPS_readFrame (dwGPSFrame *frame, dwTime_t timeout_us, dwSensorHandle_t sensor)
	Reads the next GPS packet with a given timeout. More...

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Data Structure Documentation

dwGPSFrame

struct dwGPSFrame

Data Fields
float64_t	altitude	Altitude in m over see level as reported by the GPS sensor, represented following WGS84.
float64_t	climb	Vertical speed in m/s.
float64_t	course	Course relative to true north in degrees.
float64_t	hdop	Horizontal dilution of precision (HDOP)
float64_t	latitude	Latitude in degrees.
float64_t	longitude	Longitude in degrees.
float64_t	speed	Horizontal speed in m/s.
dwTime_t	timestamp_us	Timestamp of the message when first received [usec].
char	utcDate[16]	UTC date as provided in the GPS package [ddmmyy] (null terminated).
char	utcTime[16]	UTC time as provided in the GPS package [hhmmss.sss] (null terminated).
float64_t	vdop	Vertical dilution of precision (VDOP)

Function Documentation

dwSensorGPS_popFrame()

DW_API_PUBLIC dwStatus dwSensorGPS_popFrame	(	dwGPSFrame *	frame,
		dwSensorHandle_t	sensor
	)

Returns any GPS frame previously processed through RAW data stream.

This happens on the CPU thread where the function is called, incurring on additional load on that thread.

Parameters

[out]	frame	Container for the decoded frame.
[in]	sensor	Sensor handle of the sensor previously created with dwSAL_createSensor().

Returns

DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_NOT_AVAILABLE - if no more data is available
DW_SUCCESS

dwSensorGPS_processRawData()

DW_API_PUBLIC dwStatus dwSensorGPS_processRawData	(	const uint8_t *	data,
		size_t	size,
		dwSensorHandle_t	sensor
	)

Decodes RAW data previously read.

This happens on the CPU thread where the function is called, incurring on additional load on that thread.

Parameters

[in]	data	Undecoded gps data.
[in]	size	Size in bytes of the raw data.
[in]	sensor	Sensor handle of the sensor previously created with dwSAL_createSensor().

Returns

DW_INVALID_HANDLE - if given sensor handle is invalid,
DW_INVALID_ARGUMENTS - if given arguments are invalid,
DW_NOT_READY - if more data needs to be passed in (loop while it returns DW_NOT_READY).
DW_SUCCESS

dwSensorGPS_readFrame()

DW_API_PUBLIC dwStatus dwSensorGPS_readFrame	(	dwGPSFrame *	frame,
		dwTime_t	timeout_us,
		dwSensorHandle_t	sensor
	)

Reads the next GPS packet with a given timeout.

The method blocks until either a new valid frame is received from the sensor or the given timeout exceeds.

Parameters

[out]	frame	A pointer to a GPS frame structure to be filled with new localization data.
[in]	timeout_us	Specifies the timeout in us to wait for a new message. Special values: DW_TIMEOUT_INFINITE - to wait infinitly. Zero - means polling of internal queue.
[in]	sensor	Specifies the sensor handle of the GPS sensor previously created with dwSAL_createSensor().

Returns

DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_TIME_OUT - if operation has timeout.
DW_NOT_AVAILABLE - if sensor has not been started or data is not available in polling mode.
DW_SAL_SENSOR_ERROR - if there was an i/o or bus error.
DW_SUCCESS