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
+const uint16_t UBX_NAV_PVAT_LEN = 116;
+
+typedef struct
+{
+  uint32_t iTOW; // GPS time of week of the navigation epoch: ms
+  uint8_t version; // Message version (0x00 for this version)
+  union
+  {
+    uint8_t all;
+    struct
+    {
+      uint8_t validDate : 1; // 1 = valid UTC Date
+      uint8_t validTime : 1; // 1 = valid UTC time of day
+      uint8_t fullyResolved : 1; // 1 = UTC time of day has been fully resolved (no seconds uncertainty).
+      uint8_t validMag : 1; // 1 = valid magnetic declination
+    } bits;
+  } valid;
+  uint16_t year; // Year (UTC)
+  uint8_t month; // Month, range 1..12 (UTC)
+  uint8_t day; // Day of month, range 1..31 (UTC)
+  uint8_t hour; // Hour of day, range 0..23 (UTC)
+  uint8_t min; // Minute of hour, range 0..59 (UTC)
+  uint8_t sec; // Seconds of minute, range 0..60 (UTC)
+  uint8_t reserved0;
+  uint8_t reserved1[2];
+  uint32_t tAcc; // Time accuracy estimate (UTC): ns
+  int32_t nano; // Fraction of second, range -1e9 .. 1e9 (UTC): ns
+  uint8_t fixType; // 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_t all;
+    struct
+    {
+      uint8_t gnssFixOK : 1; // 1 = valid fix (i.e within DOP & accuracy masks)
+      uint8_t diffSoln : 1; // 1 = differential corrections were applied
+      uint8_t reserved : 1;
+      uint8_t vehRollValid : 1; // 1 = roll of vehicle is valid, only set if the receiver is in sensor fusion mode
+      uint8_t vehPitchValid : 1; // 1 = pitch of vehicle is valid, only set if the receiver is in sensor fusion mode
+      uint8_t vehHeadingValid : 1; // 1 = heading of vehicle is valid, only set if the receiver is in sensor fusion mode
+      uint8_t carrSoln : 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_t all;
+    struct
+    {
+      uint8_t reserved : 5;
+      uint8_t confirmedAvai : 1; // 1 = information about UTC Date and Time of Day validity confirmation is available
+      uint8_t confirmedDate : 1; // 1 = UTC Date validity could be confirmed
+      uint8_t confirmedTime : 1; // 1 = UTC Time of Day could be confirmed
+    } bits;
+  } flags2;
+  uint8_t numSV; // Number of satellites used in Nav Solution
+  int32_t lon; // Longitude: deg * 1e-7
+  int32_t lat; // Latitude: deg * 1e-7
+  int32_t height; // Height above ellipsoid: mm
+  int32_t hMSL; // Height above mean sea level: mm
+  uint32_t hAcc; // Horizontal accuracy estimate: mm
+  uint32_t vAcc; // Vertical accuracy estimate: mm
+  int32_t velN; // NED north velocity: mm/s
+  int32_t velE; // NED east velocity: mm/s
+  int32_t velD; // NED down velocity: mm/s
+  int32_t gSpeed; // Ground Speed (2-D): mm/s
+  uint32_t sAcc; // Speed accuracy estimate: mm/s
+  int32_t vehRoll; // Vehicle roll: 1e-5 deg
+  int32_t vehPitch; // Vehicle pitch: 1e-5 deg
+  int32_t vehHeading; // Vehicle heading: 1e-5 deg
+  int32_t motHeading; // Motion heading.: 1e-5 deg
+  uint16_t accRoll; // Vehicle roll accuracy (if null, roll angle is not available): 1e-2 deg
+  uint16_t accPitch; // Vehicle pitch accuracy (if null, pitch angle is not available): 1e-2 deg
+  uint16_t accHeading; // Vehicle heading accuracy (if null, heading angle is not available): 1e-2 deg
+  int16_t magDec; // Magnetic declination: 1e-2 deg
+  uint16_t magAcc; // Magnetic declination accuracy: 1e-2 deg
+  uint16_t errEllipseOrient; // Orientation of semi-major axis of error ellipse (degrees from true north): 1e-2 deg
+  uint32_t errEllipseMajor; // Semi-major axis of error ellipse: mm
+  uint32_t errEllipseMinor; // Semi-minor axis of error ellipse: mm
+  uint8_t reserved2[4];
+  uint8_t reserved3[4];
+} UBX_NAV_PVAT_data_t;
+
+typedef struct
+{
+  union
+  {
+    uint32_t all;
+    struct
+    {
+      uint32_t all : 1;
+
+      uint32_t iTOW : 1;
+      uint32_t version : 1;
+
+      uint32_t validDate : 1;
+      uint32_t validTime : 1;
+      uint32_t fullyResolved : 1;
+      uint32_t validMag : 1;
+
+      uint32_t year : 1;
+      uint32_t month : 1;
+      uint32_t day : 1;
+      uint32_t hour : 1;
+      uint32_t min : 1;
+      uint32_t sec : 1;
+
+      uint32_t tAcc : 1;
+      uint32_t nano : 1;
+      uint32_t fixType : 1;
+
+      uint32_t gnssFixOK : 1;
+      uint32_t diffSoln : 1;
+      uint32_t vehRollValid : 1; 
+      uint32_t vehPitchValid : 1;
+      uint32_t vehHeadingValid : 1;
+      uint32_t carrSoln : 1;
+
+      uint32_t confirmedAvai : 1;
+      uint32_t confirmedDate : 1;
+      uint32_t confirmedTime : 1;
+
+      uint32_t numSV : 1;
+      uint32_t lon : 1;
+      uint32_t lat : 1;
+      uint32_t height : 1;
+      uint32_t hMSL : 1;
+      uint32_t hAcc : 1;
+      uint32_t vAcc : 1;
+    } bits;
+  }  moduleQueried1;
+  union
+  {
+    uint32_t all;
+    struct
+    {
+      uint32_t velN : 1;
+      uint32_t velE : 1;
+      uint32_t velD : 1;
+      uint32_t gSpeed : 1;
+      uint32_t sAcc : 1;
+      uint32_t vehRoll : 1;
+      uint32_t vehPitch : 1;
+      uint32_t vehHeading : 1;
+      uint32_t motHeading : 1;
+      uint32_t accRoll : 1;
+      uint32_t accPitch : 1;
+      uint32_t accHeading : 1;
+      uint32_t magDec : 1;
+      uint32_t magAcc : 1;
+      uint32_t errEllipseOrient : 1;
+      uint32_t errEllipseMajor : 1;
+      uint32_t errEllipseMinor : 1;
+    } bits;
+  } moduleQueried2;
+} UBX_NAV_PVAT_moduleQueried_t;
+
+typedef struct
+{
+	ubxAutomaticFlags automaticFlags;
+  UBX_NAV_PVAT_data_t data;
+  UBX_NAV_PVAT_moduleQueried_t moduleQueried;
+  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
 const uint16_t UBX_NAV_TIMEUTC_LEN = 20;