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| 19 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
19 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
| 20 | 01-02 NAV - POSLLH |
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| 21 | 01-06 Nav - SOL |
20 | 01-02 NAV - POSLLH |
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| 22 | 01-08 NAV - POSUTM |
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| 23 | 01-12 NAV - VELNED */ |
21 | 01-06 Nav - SOL |
| 24 | 22 | 01-12 NAV - VELNED */ |
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| - | 23 | ||
| 25 | 24 | typedef struct |
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| 26 | typedef struct |
25 | { |
| 27 | { |
26 | uint8_t status; // status of data: invalid | valid |
| 28 | uint8_t satnum; // number of satelites |
27 | uint8_t satnum; // number of satelites |
| 29 | uint8_t satfix; // type of satfix |
28 | uint8_t satfix; // type of satfix |
| 30 | int32_t utmnorth; // in cm (+ = north) |
29 | int32_t longitude; // in 1e-07 deg |
| 31 | int32_t utmeast; // in cm (+ = east) |
30 | int32_t latitude; // in 1e-07 deg |
| 32 | int32_t utmalt; // in cm (+ = top) |
31 | int32_t altitude; // in mm |
| 33 | uint32_t PAcc; // in cm 3d position accuracy |
32 | uint32_t PAcc; // in cm 3d position accuracy |
| 34 | int32_t velnorth; // in cm/s |
33 | int32_t velnorth; // in cm/s |
| 35 | int32_t veleast; // in cm/s |
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| 36 | int32_t veltop; // in cm/s |
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| 37 | uint32_t VAcc; // in cm/s 3d velocity accuracy |
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| 38 | int32_t longitude; // in 1e-07 deg |
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| 39 | int32_t latitude; // in 1e-07 deg |
34 | int32_t veleast; // in cm/s |
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| 40 | int32_t altitude; // in mm |
35 | int32_t veltop; // in cm/s |
| 41 | uint8_t status; // status of data: invalid | valid |
36 | uint32_t VAcc; // in cm/s 3d velocity accuracy |