Step_4

Author: PaulZC

src/u-blox_structs.h

@@ -753,6 +753,180 @@ typedef struct
 UBX_NAV_HPPOSLLH_data_t*callbackData;
 } UBX_NAV_HPPOSLLH_t;
 
+// UBX-NAV-PVAT (0x01 0x17): Navigation position velocity attitude time solution
+constuint16_tUBX_NAV_PVAT_LEN=116;
+
+typedefstruct
+{
+uint32_tiTOW; // GPS time of week of the navigation epoch: ms
+uint8_tversion; // Message version (0x00 for this version)
+union
+ {
+uint8_tall;
+struct
+ {
+uint8_tvalidDate : 1; // 1 = valid UTC Date
+uint8_tvalidTime : 1; // 1 = valid UTC time of day
+uint8_tfullyResolved : 1; // 1 = UTC time of day has been fully resolved (no seconds uncertainty).
+uint8_tvalidMag : 1; // 1 = valid magnetic declination
+ } bits;
+ } valid;
+uint16_tyear; // Year (UTC)
+uint8_tmonth; // Month, range 1..12 (UTC)
+uint8_tday; // Day of month, range 1..31 (UTC)
+uint8_thour; // Hour of day, range 0..23 (UTC)
+uint8_tmin; // Minute of hour, range 0..59 (UTC)
+uint8_tsec; // Seconds of minute, range 0..60 (UTC)
+uint8_treserved0;
+uint8_treserved1[2];
+uint32_ttAcc; // Time accuracy estimate (UTC): ns
+int32_tnano; // Fraction of second, range -1e9 .. 1e9 (UTC): ns
+uint8_tfixType; // GNSSfix Type:
+// 0: no fix
+// 1: dead reckoning only
+// 2: 2D-fix
+// 3: 3D-fix
+// 4: GNSS + dead reckoning combined
+// 5: time only fix
+union
+ {
+uint8_tall;
+struct
+ {
+uint8_tgnssFixOK : 1; // 1 = valid fix (i.e within DOP & accuracy masks)
+uint8_tdiffSoln : 1; // 1 = differential corrections were applied
+uint8_treserved : 1;
+uint8_tvehRollValid : 1; // 1 = roll of vehicle is valid, only set if the receiver is in sensor fusion mode
+uint8_tvehPitchValid : 1; // 1 = pitch of vehicle is valid, only set if the receiver is in sensor fusion mode
+uint8_tvehHeadingValid : 1; // 1 = heading of vehicle is valid, only set if the receiver is in sensor fusion mode
+uint8_tcarrSoln : 2; // Carrier phase range solution status:
+// 0: no carrier phase range solution
+// 1: carrier phase range solution with floating ambiguities
+// 2: carrier phase range solution with fixed ambiguities
+ } bits;
+ } flags;
+union
+ {
+uint8_tall;
+struct
+ {
+uint8_treserved : 5;
+uint8_tconfirmedAvai : 1; // 1 = information about UTC Date and Time of Day validity confirmation is available
+uint8_tconfirmedDate : 1; // 1 = UTC Date validity could be confirmed
+uint8_tconfirmedTime : 1; // 1 = UTC Time of Day could be confirmed
+ } bits;
+ } flags2;
+uint8_tnumSV; // Number of satellites used in Nav Solution
+int32_tlon; // Longitude: deg * 1e-7
+int32_tlat; // Latitude: deg * 1e-7
+int32_theight; // Height above ellipsoid: mm
+int32_thMSL; // Height above mean sea level: mm
+uint32_thAcc; // Horizontal accuracy estimate: mm
+uint32_tvAcc; // Vertical accuracy estimate: mm
+int32_tvelN; // NED north velocity: mm/s
+int32_tvelE; // NED east velocity: mm/s
+int32_tvelD; // NED down velocity: mm/s
+int32_tgSpeed; // Ground Speed (2-D): mm/s
+uint32_tsAcc; // Speed accuracy estimate: mm/s
+int32_tvehRoll; // Vehicle roll: 1e-5 deg
+int32_tvehPitch; // Vehicle pitch: 1e-5 deg
+int32_tvehHeading; // Vehicle heading: 1e-5 deg
+int32_tmotHeading; // Motion heading.: 1e-5 deg
+uint16_taccRoll; // Vehicle roll accuracy (if null, roll angle is not available): 1e-2 deg
+uint16_taccPitch; // Vehicle pitch accuracy (if null, pitch angle is not available): 1e-2 deg
+uint16_taccHeading; // Vehicle heading accuracy (if null, heading angle is not available): 1e-2 deg
+int16_tmagDec; // Magnetic declination: 1e-2 deg
+uint16_tmagAcc; // Magnetic declination accuracy: 1e-2 deg
+uint16_terrEllipseOrient; // Orientation of semi-major axis of error ellipse (degrees from true north): 1e-2 deg
+uint32_terrEllipseMajor; // Semi-major axis of error ellipse: mm
+uint32_terrEllipseMinor; // Semi-minor axis of error ellipse: mm
+uint8_treserved2[4];
+uint8_treserved3[4];
+} UBX_NAV_PVAT_data_t;
+
+typedefstruct
+{
+union
+ {
+uint32_tall;
+struct
+ {
+uint32_tall : 1;
+
+uint32_tiTOW : 1;
+uint32_tversion : 1;
+
+uint32_tvalidDate : 1;
+uint32_tvalidTime : 1;
+uint32_tfullyResolved : 1;
+uint32_tvalidMag : 1;
+
+uint32_tyear : 1;
+uint32_tmonth : 1;
+uint32_tday : 1;
+uint32_thour : 1;
+uint32_tmin : 1;
+uint32_tsec : 1;
+
+uint32_ttAcc : 1;
+uint32_tnano : 1;
+uint32_tfixType : 1;
+
+uint32_tgnssFixOK : 1;
+uint32_tdiffSoln : 1;
+uint32_tvehRollValid : 1; 
+uint32_tvehPitchValid : 1;
+uint32_tvehHeadingValid : 1;
+uint32_tcarrSoln : 1;
+
+uint32_tconfirmedAvai : 1;
+uint32_tconfirmedDate : 1;
+uint32_tconfirmedTime : 1;
+
+uint32_tnumSV : 1;
+uint32_tlon : 1;
+uint32_tlat : 1;
+uint32_theight : 1;
+uint32_thMSL : 1;
+uint32_thAcc : 1;
+uint32_tvAcc : 1;
+ } bits;
+ } moduleQueried1;
+union
+ {
+uint32_tall;
+struct
+ {
+uint32_tvelN : 1;
+uint32_tvelE : 1;
+uint32_tvelD : 1;
+uint32_tgSpeed : 1;
+uint32_tsAcc : 1;
+uint32_tvehRoll : 1;
+uint32_tvehPitch : 1;
+uint32_tvehHeading : 1;
+uint32_tmotHeading : 1;
+uint32_taccRoll : 1;
+uint32_taccPitch : 1;
+uint32_taccHeading : 1;
+uint32_tmagDec : 1;
+uint32_tmagAcc : 1;
+uint32_terrEllipseOrient : 1;
+uint32_terrEllipseMajor : 1;
+uint32_terrEllipseMinor : 1;
+ } bits;
+ } moduleQueried2;
+} UBX_NAV_PVAT_moduleQueried_t;
+
+typedefstruct
+{
+ubxAutomaticFlagsautomaticFlags;
+UBX_NAV_PVAT_data_tdata;
+UBX_NAV_PVAT_moduleQueried_tmoduleQueried;
+void (*callbackPointer)(UBX_NAV_PVAT_data_t);
+UBX_NAV_PVAT_data_t*callbackData;
+} UBX_NAV_PVAT_t;
+
 // UBX-NAV-TIMEUTC (0x01 0x21): UTC time solution
 constuint16_tUBX_NAV_TIMEUTC_LEN=20;