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

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added uncertainty parameters for longAccel, latAccel, vertAccel,
yawRate and pitch.

Change-Id: I804dc0b370dd78402a6641f5a16e5ee7a53ff9a1
CRs-Fixed: 2262454
This commit is contained in:
Bhavna Sharma 2018-06-18 16:51:41 +05:30
parent 7574a7d4fd
commit aac86a158a
1 changed files with 20 additions and 0 deletions
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20
utils/gps_extended_c.h
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@ -359,6 +359,16 @@ typedef uint32_t LocPosDataMask;
#define LOC_NAV_DATA_HAS_YAW_RATE ((LocPosDataMask)0x0008) #define LOC_NAV_DATA_HAS_YAW_RATE ((LocPosDataMask)0x0008)
/* Bitmask to specify whether Navigation data has Body pitch */ /* Bitmask to specify whether Navigation data has Body pitch */
#define LOC_NAV_DATA_HAS_PITCH ((LocPosDataMask)0x0010) #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 */ /** GPS PRN Range */
#define GPS_SV_PRN_MIN 1 #define GPS_SV_PRN_MIN 1
@ -412,14 +422,24 @@ typedef struct {
uint32_t bodyFrameDatamask; uint32_t bodyFrameDatamask;
/* Forward Acceleration in body frame (m/s2)*/ /* Forward Acceleration in body frame (m/s2)*/
float longAccel; float longAccel;
/** Uncertainty of Forward Acceleration in body frame */
float longAccelUnc;
/* Sideward Acceleration in body frame (m/s2)*/ /* Sideward Acceleration in body frame (m/s2)*/
float latAccel; float latAccel;
/** Uncertainty of Side-ward Acceleration in body frame */
float latAccelUnc;
/* Vertical Acceleration in body frame (m/s2)*/ /* Vertical Acceleration in body frame (m/s2)*/
float vertAccel; float vertAccel;
/** Uncertainty of Vertical Acceleration in body frame */
float vertAccelUnc;
/* Heading Rate (Radians/second) */ /* Heading Rate (Radians/second) */
float yawRate; float yawRate;
/** Uncertainty of Heading Rate */
float yawRateUnc;
/* Body pitch (Radians) */ /* Body pitch (Radians) */
float pitch; float pitch;
/** Uncertainty of Body pitch */
float pitchRadUnc;
}LocPositionDynamics; }LocPositionDynamics;
typedef struct { typedef struct {