Apollo 10.0
自动驾驶开放平台
broadgnss_message.h
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4 * Licensed under the Apache License, Version 2.0 (the "License");
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16#pragma once
17
18#include <cstdint>
19#include <string>
20
21#include "modules/common_msgs/sensor_msgs/gnss.pb.h"
22#include "modules/common_msgs/sensor_msgs/gnss_best_pose.pb.h"
23
24namespace apollo {
25namespace drivers {
26namespace gnss {
27
28constexpr uint32_t Message101B_ID = 0x553ACE02;
29
30struct BroadGnssTextProtocol {
31 std::string GIAVP = "$GIAVP";
32 size_t GIAVP_SIZE = 24;
33 std::string GPINS = "$GPINS";
34 size_t GPINS_SIZE = 27;
35};
36
37struct BraodGnss101BMessage {
38 uint16_t gps_week;
39 double gps_time;
40 float heading;
41 float pitch;
42 float roll;
43 double latitude;
44 double longitude;
45 float altitude;
46 float ve;
47 float vn;
48 float vu;
49 float baseline;
50 uint8_t nsv1;
51 uint8_t nsv2;
52 uint8_t gps_status;
53 uint8_t heading_status;
54 uint8_t sys_status;
55 uint8_t vehicle_align;
56 uint8_t rtcm_status;
57 uint8_t reserved;
58 uint8_t speed_status;
59 float vehicle_speed;
60 float acc_x;
61 float acc_y;
62 float acc_z;
63 float gyro_x;
64 float gyro_y;
65 float gyro_z;
66 uint16_t check_sum;
67};
68
69struct BroadGnssMessage {
70 double gps_timestamp_sec = 0;
71 double heading;
72 double pitch;
73 double roll;
74 double gyro_x;
75 double gyro_y;
76 double gyro_z;
77 double acc_x;
78 double acc_y;
79 double acc_z;
80 double latitude;
81 double longitude;
82 double altitude;
83 double ve;
84 double vn;
85 double vu;
86 double lat_std = 0.0;
87 double lon_std = 0.0;
88 double alti_std = 0.0;
89 double vn_std = 0.0;
90 double ve_std = 0.0;
91 double vu_std = 0.0;
92 double roll_std = 0.0;
93 double pitch_std = 0.0;
94 double yaw_std = 0.0;
95 uint8_t satellites_num = 0;
96 double age;
97 SolutionStatus solution_status;
98 SolutionType solution_type;
99};
100
101} // namespace gnss
102} // namespace drivers
103} // namespace apollo
apollo::drivers::gnss::Message101B_ID
constexpr uint32_t Message101B_ID
Definition broadgnss_message.h:28
apollo
class register implement
Definition arena_queue.h:37