MiPad4/android_device_xiaomi_sdm660-common
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Merge "body frame uncertainty parameters in position report"

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Linux Build Service Account 2018-06-19 09:53:38 -07:00 committed by Gerrit - the friendly Code Review server
commit 9676e39aa9
1 changed files with 20 additions and 0 deletions
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20
utils/gps_extended_c.h
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@ -364,6 +364,16 @@ typedef uint32_t LocPosDataMask;
#define LOC_NAV_DATA_HAS_YAW_RATE ((LocPosDataMask)0x0008)
/* Bitmask to specify whether Navigation data has Body pitch */
#define LOC_NAV_DATA_HAS_PITCH ((LocPosDataMask)0x0010)
/* Bitmask to specify whether Navigation data has Forward Acceleration Unc */
#define LOC_NAV_DATA_HAS_LONG_ACCEL_UNC ((LocPosDataMask)0x0020)
/* Bitmask to specify whether Navigation data has Sideward Acceleration Unc*/
#define LOC_NAV_DATA_HAS_LAT_ACCEL_UNC ((LocPosDataMask)0x0040)
/* Bitmask to specify whether Navigation data has Vertical Acceleration Unc*/
#define LOC_NAV_DATA_HAS_VERT_ACCEL_UNC ((LocPosDataMask)0x0080)
/* Bitmask to specify whether Navigation data has Heading Rate Unc*/
#define LOC_NAV_DATA_HAS_YAW_RATE_UNC ((LocPosDataMask)0x0100)
/* Bitmask to specify whether Navigation data has Body pitch Unc*/
#define LOC_NAV_DATA_HAS_PITCH_UNC ((LocPosDataMask)0x0200)
/** GPS PRN Range */
#define GPS_SV_PRN_MIN 1
@ -417,14 +427,24 @@ typedef struct {
uint32_t bodyFrameDatamask;
/* Forward Acceleration in body frame (m/s2)*/
float longAccel;
/** Uncertainty of Forward Acceleration in body frame */
float longAccelUnc;
/* Sideward Acceleration in body frame (m/s2)*/
float latAccel;
/** Uncertainty of Side-ward Acceleration in body frame */
float latAccelUnc;
/* Vertical Acceleration in body frame (m/s2)*/
float vertAccel;
/** Uncertainty of Vertical Acceleration in body frame */
float vertAccelUnc;
/* Heading Rate (Radians/second) */
float yawRate;
/** Uncertainty of Heading Rate */
float yawRateUnc;
/* Body pitch (Radians) */
float pitch;
/** Uncertainty of Body pitch */
float pitchRadUnc;
}LocPositionDynamics;
typedef struct {