Gps_ublox Class Reference

Driver for UBLOX GPS. More...

#include <gps_ublox.hpp>

Inheritance diagram for Gps_ublox:

Collaboration diagram for Gps_ublox:

List of all members.

Public Member Functions
	Gps_ublox (Serial &serial)
	Constructor.
bool	init (void)
	Initializes the gps.
bool	update (void)
	Main update function Reads new values from sensor.
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 global 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.
void	configure (void)
	Start configuration.

---

Detailed Description

Driver for UBLOX GPS.

---

Constructor & Destructor Documentation

Gps_ublox::Gps_ublox

(

Serial &

serial

)

Constructor.

Parameters:

serial

Reference to serial peripheral

---

Member Function Documentation

void Gps_ublox::configure

(

void

)

[virtual]

Start configuration.

The update function has to be called in order to proceed with the configuration

Implements Gps.

gps_fix_t Gps_ublox::fix

(

void

)

const [virtual]

Indicates whether fix are received.

Returns:

Value

Implements Gps.

float Gps_ublox::heading

(

void

)

const [virtual]

Get heading in degrees.

Returns:

heading

Implements Gps.

float Gps_ublox::heading_accuracy

(

void

)

const [virtual]

Get heading accuracy in degrees.

Returns:

accuracy

Implements Gps.

bool Gps_ublox::healthy

(

void

)

const [virtual]

Indicates whether the measurements can be trusted.

Returns:

Value

Implements Gps.

float Gps_ublox::horizontal_position_accuracy

(

void

)

const [virtual]

Get horizontal position accuracy in m.

Returns:

accuracy

Implements Gps.

bool Gps_ublox::init

(

void

)

[virtual]

Initializes the gps.

Returns:

Success

Implements Gps.

float Gps_ublox::last_position_update_us

(

void

)

const [virtual]

Get last position update time in microseconds.

Returns:

Update time

Implements Gps.

float Gps_ublox::last_update_us

(

void

)

const [virtual]

Get last update time in microseconds.

Returns:

Update time

Implements Gps.

float Gps_ublox::last_velocity_update_us

(

void

)

const [virtual]

Get last velocity update time in microseconds.

Returns:

Update time

Implements Gps.

uint8_t Gps_ublox::num_sats

(

void

)

const [virtual]

Get the number of satellites.

Returns:

Value

Implements Gps.

global_position_t Gps_ublox::position_gf

(

void

)

const [virtual]

Get position in global frame.

Returns:

position

Implements Gps.

bool Gps_ublox::update

(

void

)

[virtual]

Main update function Reads new values from sensor.

Returns:

Success

Implements Gps.

float Gps_ublox::velocity_accuracy

(

void

)

const [virtual]

Get velocity accuracy in m/s.

Returns:

velocity accuracy

Implements Gps.

std::array< float, 3 > Gps_ublox::velocity_lf

(

void

)

const [virtual]

Get velocity in global frame in m/s.

Returns:

3D velocity

Implements Gps.

float Gps_ublox::vertical_position_accuracy

(

void

)

const [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 files:

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