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128 | u32 SAcc; // cm/s Speed Accuracy Estimate |
128 | u32 SAcc; // cm/s Speed Accuracy Estimate |
129 | u16 PDOP; // 0.01 Position DOP |
129 | u16 PDOP; // 0.01 Position DOP |
130 | u8 res1; // reserved |
130 | u8 res1; // reserved |
131 | u8 numSV; // Number of SVs used in navigation solution |
131 | u8 numSV; // Number of SVs used in navigation solution |
132 | u32 res2; // reserved |
132 | u32 res2; // reserved |
133 | Status_t Status; // invalid/newdata/processed |
133 | u8 Status; // invalid/newdata/processed |
134 | } __attribute__((packed)) ubx_nav_sol_t; |
134 | } __attribute__((packed)) ubx_nav_sol_t; |
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135 | 135 | ||
136 | 136 | ||
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143 | u32 Speed; // cm/s Speed (3-D) |
143 | u32 Speed; // cm/s Speed (3-D) |
144 | u32 GSpeed; // cm/s Ground Speed (2-D) |
144 | u32 GSpeed; // cm/s Ground Speed (2-D) |
145 | s32 Heading; // 1e-05 deg Heading 2-D |
145 | s32 Heading; // 1e-05 deg Heading 2-D |
146 | u32 SAcc; // cm/s Speed Accuracy Estimate |
146 | u32 SAcc; // cm/s Speed Accuracy Estimate |
147 | u32 CAcc; // deg Course / Heading Accuracy Estimate |
147 | u32 CAcc; // deg Course / Heading Accuracy Estimate |
148 | Status_t Status; // invalid/newdata/processed |
148 | u8 Status; // invalid/newdata/processed |
149 | } __attribute__((packed)) ubx_nav_velned_t; |
149 | } __attribute__((packed)) ubx_nav_velned_t; |
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150 | 150 | ||
151 | typedef struct |
151 | typedef struct |
152 | { |
152 | { |
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155 | s32 LAT; // 1e-07 deg Latitude |
155 | s32 LAT; // 1e-07 deg Latitude |
156 | s32 HEIGHT; // mm Height above Ellipsoid |
156 | s32 HEIGHT; // mm Height above Ellipsoid |
157 | s32 HMSL; // mm Height above mean sea level |
157 | s32 HMSL; // mm Height above mean sea level |
158 | u32 Hacc; // mm Horizontal Accuracy Estimate |
158 | u32 Hacc; // mm Horizontal Accuracy Estimate |
159 | u32 Vacc; // mm Vertical Accuracy Estimate |
159 | u32 Vacc; // mm Vertical Accuracy Estimate |
160 | Status_t Status; // invalid/newdata/processed |
160 | u8 Status; // invalid/newdata/processed |
161 | } __attribute__((packed)) ubx_nav_posllh_t; |
161 | } __attribute__((packed)) ubx_nav_posllh_t; |
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162 | 162 |