sensor_gps_format_t

Updated: May 06, 2022

Data payload format for data of type SENSOR_FORMAT_GPS

Synopsis:

#include <sensor/sensor_gps_imu.h>
typedef struct sensor_gps_format_t {
    sensor_gps_fix_t fix_type;
    double latitude;
    double longitude;
    int32_t altitude;
    int32_t velocity[3];
    uint32_t velocity_time_offset;
    uint32_t time_offset;
    uint32_t time_accuracy;
    uint16_t gdop;
    uint16_t pdop;
    uint16_t tdop;
    uint16_t vdop;
    uint16_t hdop;
    uint32_t latitude_std_deviation;
    uint32_t longitude_std_deviation;
    uint32_t altitude_std_deviation;
    uint32_t speed_std_deviation;
    sensor_utc_time_t utc;
} sensor_gps_format_t;

Data:

sensor_gps_fix_t fix_type
GPS fix of type sensor_gps_fix_t that specifies the status of the GPS fix.
double latitude
Latitude, in degrees, based on WGS84 ellipsoidal coordinate system.
double longitude
Longitude, in degrees, based on WGS84 ellipsoidal coordinate system.
int32_t altitude
Altitude (height above ellipsoid), in millimeters, based on WGS84 ellipsoidal coordinate system.
int32_t velocity[3]
Velocity in the east[0], north[1], and up[2] directions, in millimeters per second (mm/s).
uint32_t velocity_time_offset
Offset from the timestamp in sensor_buffer_t to apply for the velocity field only.

The time is in microseconds and will be zero when the velocity is in sync with the GPS data.

uint32_t time_offset
Offset from the timestamp in sensor_buffer_t to apply for this data point.
uint32_t time_accuracy
Time accuracy estimate, in nanoseconds.
uint16_t gdop
Geometric degree of precision.
uint16_t pdop
Position degree of precision.
uint16_t tdop
Time degree of precision.
uint16_t vdop
Vertical degree of precision.
uint16_t hdop
Horizontal degree of precision.
uint32_t latitude_std_deviation
Latitude standard deviation, in millimeters (mm).
uint32_t longitude_std_deviation
Longitude standard deviation, in millimeters (mm).
uint32_t altitude_std_deviation
Altitude standard deviation, in millimeters (mm).
uint32_t speed_std_deviation
Speed standard deviation, in millimeters per second (mm/s).
sensor_utc_time_t utc
Universal Time Coordinated (UTC) current time.

Library:

libsensor

Description:

The data payload in the sensor_buffer_t data field is an array of these structures.