Gps_hub< N > Class Template Reference

Hub for GPS redundancy. More...

#include <gps_hub.hpp>

Inheritance diagram for Gps_hub< N >:

Collaboration diagram for Gps_hub< N >:

List of all members.

Public Member Functions
	static_assert (N >=1,"Need at least one GPS")
	Gps_hub (std::array< Gps *, N > gps_list)
	Constructor.
bool	update (void)
	Main update function Reads new values from sensor.
bool	init (void)
	Initializes the gps.
void	configure (void)
	(re)Configure the GPS
float	last_update_us (void) const
	Get last update time in microseconds.
float	last_position_update_us (void) const
	Get last position update time in microseconds.
float	last_velocity_update_us (void) const
	Get last velocity update time in microseconds.
global_position_t	position_gf (void) const
	Get position in global frame.
float	horizontal_position_accuracy (void) const
	Get horizontal position accuracy in m.
float	vertical_position_accuracy (void) const
	Get vertical position accuracy in m.
std::array< float, 3 >	velocity_lf (void) const
	Get velocity in local frame in m/s.
float	velocity_accuracy (void) const
	Get velocity accuracy in m/s.
float	heading (void) const
	Get heading in degrees.
float	heading_accuracy (void) const
	Get heading accuracy in degrees.
uint8_t	num_sats (void) const
	Get the number of satellites.
gps_fix_t	fix (void) const
	Indicates whether fix are received.
bool	healthy (void) const
	Indicates whether the measurements can be trusted.
Protected Attributes
std::array< Gps *, N >	gps_list_
Gps *	current_gps_

---

Detailed Description

template<uint32_t N>
class Gps_hub< N >

Hub for GPS redundancy.

Template Parameters:

N	Number of GPS connected to hub

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Member Function Documentation

template<uint32_t N>

gps_fix_t Gps_hub< N >::fix

(

void

)

const [inline, virtual]

Indicates whether fix are received.

Returns:

Value

Implements Gps.

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template<uint32_t N>

float Gps_hub< N >::heading

(

void

)

const [inline, virtual]

Get heading in degrees.

Returns:

heading

Implements Gps.

template<uint32_t N>

float Gps_hub< N >::heading_accuracy

(

void

)

const [inline, virtual]

Get heading accuracy in degrees.

Returns:

accuracy

Implements Gps.

template<uint32_t N>

bool Gps_hub< N >::healthy

(

void

)

const [inline, virtual]

Indicates whether the measurements can be trusted.

Returns:

Value

Implements Gps.

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template<uint32_t N>

float Gps_hub< N >::horizontal_position_accuracy

(

void

)

const [inline, virtual]

Get horizontal position accuracy in m.

Returns:

accuracy

Implements Gps.

template<uint32_t N>

bool Gps_hub< N >::init

(

void

)

[inline, virtual]

Initializes the gps.

Returns:

Success

Implements Gps.

template<uint32_t N>

float Gps_hub< N >::last_position_update_us

(

void

)

const [inline, virtual]

Get last position update time in microseconds.

Returns:

Update time

Implements Gps.

template<uint32_t N>

float Gps_hub< N >::last_update_us

(

void

)

const [inline, virtual]

Get last update time in microseconds.

Returns:

Update time

Implements Gps.

template<uint32_t N>

float Gps_hub< N >::last_velocity_update_us

(

void

)

const [inline, virtual]

Get last velocity update time in microseconds.

Returns:

Update time

Implements Gps.

template<uint32_t N>

uint8_t Gps_hub< N >::num_sats

(

void

)

const [inline, virtual]

Get the number of satellites.

Returns:

Value

Implements Gps.

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template<uint32_t N>

global_position_t Gps_hub< N >::position_gf

(

void

)

const [inline, virtual]

Get position in global frame.

Returns:

position

Implements Gps.

template<uint32_t N>

bool Gps_hub< N >::update

(

void

)

[inline, virtual]

Main update function Reads new values from sensor.

Returns:

Success

Implements Gps.

template<uint32_t N>

float Gps_hub< N >::velocity_accuracy

(

void

)

const [inline, virtual]

Get velocity accuracy in m/s.

Returns:

velocity accuracy

Implements Gps.

template<uint32_t N>

std::array<float, 3> Gps_hub< N >::velocity_lf

(

void

)

const [inline, virtual]

Get velocity in local frame in m/s.

Returns:

3D velocity

Implements Gps.

template<uint32_t N>

float Gps_hub< N >::vertical_position_accuracy

(

void

)

const [inline, virtual]

Get vertical position accuracy in m.

Returns:

accuracy

Implements Gps.

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The documentation for this class was generated from the following file:

• /home/travis/build/lis-epfl/MAVRIC_Library/drivers/gps_hub.hpp