Ports

state (out)

Data structure

  • struct ::or_pose_estimator::state state

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean intrinsic

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

    • optional< struct ::or::t3d::att > att

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::or::t3d::vel > vel

      • double vx

      • double vy

      • double vz

    • optional< struct ::or::t3d::avel > avel

      • double wx

      • double wy

      • double wz

    • optional< struct ::or::t3d::acc > acc

      • double ax

      • double ay

      • double az

    • optional< struct ::or::t3d::aacc > aacc

      • double awx

      • double awy

      • double awz

    • optional< struct ::or::t3d::pos_cov > pos_cov

      • double cov[6]

    • optional< struct ::or::t3d::att_cov > att_cov

      • double cov[10]

    • optional< struct ::or::t3d::att_pos_cov > att_pos_cov

      • double cov[12]

    • optional< struct ::or::t3d::vel_cov > vel_cov

      • double cov[6]

    • optional< struct ::or::t3d::avel_cov > avel_cov

      • double cov[6]

    • optional< struct ::or::t3d::acc_cov > acc_cov

      • double cov[6]

    • optional< struct ::or::t3d::aacc_cov > aacc_cov

      • double cov[6]

info (out)

Data structure

  • struct ::gps::solution_s info

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • struct ::or::time::ts utc

      • long sec

      • long nsec

    • enum ::gps::fix_s fix ∈ { fix_none, fix_interp, fix_single, fix_diff, fix_rtk_float, fix_rtk, fix_fixed }

    • unsigned short sats

    • struct ::gps::llh_s llh

      • double latitude

      • double longitude

      • double height

    • struct ::gps::enu_s pos

      • double east

      • double north

      • double up

    • struct ::gps::enu_s pos_sigma

      • double east

      • double north

      • double up

    • struct ::gps::enu_s vel

      • double east

      • double north

      • double up

    • struct ::gps::enu_s vel_sigma

      • double east

      • double north

      • double up

Services

get_param (attribute)

Outputs

  • struct ::gps::param_s param

    • string<32> model

    • double rate

    • double ecutoff

get_last_fix (attribute)

Outputs

  • struct ::gps::ids::fix_s fix

    • double remain

    • unsigned long samples

    • struct ::gps::llh_s llh

      • double latitude

      • double longitude

      • double height

    • struct ::gps::enu_s pos

      • double east

      • double north

      • double up

    • struct ::gps::enu_s sigma

      • double east

      • double north

      • double up

connect (activity)

Inputs

  • string<64> serial (default "/dev/ttyUSB0") Serial device

  • unsigned long baud (default "115200") Baud rate
Throws

  • exception ::gps::e_sys

    • short code

    • string<128> what

  • exception ::gps::e_nodev

  • exception ::gps::e_baddev

    • string<256> dev
Context

  • In task io

Connect to the hardware

disconnect (activity)

Throws

  • exception ::gps::e_sys

    • short code

    • string<128> what
Context

  • In task io

Disconnect from the hardware

set_rtk_port (activity)

Inputs

  • unsigned short port (default "8083") RTK server UDP port
Throws

  • exception ::gps::e_sys

    • short code

    • string<128> what
Context

  • In task io

connect_rtk (activity)

Inputs

  • string<64> host (default "gps-base") RTK server hostname

  • unsigned short port (default "8083") RTK server UDP port
Throws

  • exception ::gps::e_sys

    • short code

    • string<128> what

  • exception ::gps::e_nodev
Context

  • In task io

Connect to a RTK server

set_reference (function)

Inputs

  • struct ::gps::llh_s reference

    • double latitude

    • double longitude

    • double height
Throws

  • exception ::gps::e_sys

    • short code

    • string<128> what

Set ENU reference position

get_reference (attribute)

Outputs

  • struct ::gps::llh_s ref

    • double latitude

    • double longitude

    • double height

Get ENU reference position

unfix (activity)

Throws

  • exception ::gps::e_sys

    • short code

    • string<128> what

  • exception ::gps::e_nodev
Context

Unset FIX mode

fix (activity)

Inputs

  • struct ::gps::llh_s llh

    • double latitude

    • double longitude

    • double height

  • struct ::gps::enu_s sigma

    • double east

    • double north

    • double up
Throws

  • exception ::gps::e_sys

    • short code

    • string<128> what

  • exception ::gps::e_nodev

  • exception ::gps::e_nofix
Context

Set FIX mode at given position

fix_here (activity)

Inputs

  • double avg_time (default "600") Position average duration (s)
Outputs

  • struct ::gps::llh_s llh

    • double latitude

    • double longitude

    • double height

  • struct ::gps::enu_s pos

    • double east

    • double north

    • double up

  • struct ::gps::enu_s sigma

    • double east

    • double north

    • double up
Throws

  • exception ::gps::e_sys

    • short code

    • string<128> what

  • exception ::gps::e_nodev

  • exception ::gps::e_nofix
Context

Average current position and set FIX mode

send_rtcm (activity)

Inputs

  • unsigned short rtcmid (default "1") RTCM message id

  • double period (default "1") Period (s)

  • double offset (default "0") Offset (s)
Throws

  • exception ::gps::e_sys

    • short code

    • string<128> what

  • exception ::gps::e_nodev
Context

  • In task io

Send RTCM corrections

rtk_stats (function)

Outputs

  • struct ::gps::rtcm_stats_s stats

    • unsigned long inbytes

    • unsigned long inpkts

    • unsigned long outbytes

    • unsigned long outpkts

    • unsigned long dropbytes

    • unsigned long droppkts
Throws

  • exception ::gps::e_sys

    • short code

    • string<128> what

Log RTK statistics

log (function)

Inputs

  • string<64> path (default "/tmp/gps.log") Log file name

  • unsigned long decimation (default "1") Reduced logging frequency
Throws

  • exception ::gps::e_sys

    • short code

    • string<128> what

Log solution

log_stop (function)

Stop logging

log_info (function)

Outputs

  • unsigned long miss Missed log entries

  • unsigned long total Total log entries

Show missed log entries

Tasks

io

Context
Throws

  • exception ::gps::e_sys

    • short code

    • string<128> what