ArNovatelGPS Class Reference
GPS subclass to support the NovAtel ProPak G2 and other NovAtel "OEM4" devices. More...
#include <ArNovatelGPS.h>
Inherits ArGPS.
Inherited by ArNovatelSPAN [virtual].
Protected Member Functions | |
| void | handleNovatelGPGGA (ArNMEAParser::Message msg) |
| virtual bool | initDevice () |
 Protected Member Functions inherited from ArGPS | |
| bool | waitForData (unsigned long timeout) |
| Block until data is read from GPS. More... | |
| bool | readFloatFromString (const std::string &str, double *target, double(*convf)(double)=NULL) const |
| bool | readUShortFromString (const std::string &str, unsigned short *target, unsigned short(*convf)(unsigned short)=NULL) const |
| bool | readFloatFromStringVec (const std::vector< std::string > *vec, size_t i, double *target, double(*convf)(double)=NULL) const |
| bool | readUShortFromStringVec (const std::vector< std::string > *vec, size_t i, unsigned short *target, unsigned short(*convf)(unsigned short)=NULL) const |
| void | handleGPRMC (ArNMEAParser::Message msg) |
| void | handleGPGGA (ArNMEAParser::Message msg) |
| void | handlePGRME (ArNMEAParser::Message msg) |
| void | handlePGRMZ (ArNMEAParser::Message msg) |
| void | handleHCHDx (ArNMEAParser::Message msg) |
| void | handleGPGSA (ArNMEAParser::Message msg) |
| void | handleGPGSV (ArNMEAParser::Message msg) |
| void | handleGPMSS (ArNMEAParser::Message msg) |
| void | handleGPGST (ArNMEAParser::Message msg) |
| bool | readTimeFromString (const std::string &s, ArTime *time) const |
| void | parseGPRMC (const ArNMEAParser::Message &msg, double &latitudeResult, double &longitudeResult, bool &qualityFlagResult, bool &gotPosition, ArTime &timeGotPositionResult, ArTime &gpsTimestampResult, bool &gotSpeedResult, double &speedResult) |
| Parse a GPRMC message (in msg) and place results in provided variables. More... | |
Protected Attributes | |
| ArFunctor1C< ArNovatelGPS, ArNMEAParser::Message > | myNovatelGPGGAHandler |
| Protected Attributes inherited from ArGPS | |
| Data | myData |
| ArMutex | myMutex |
| ArDeviceConnection * | myDevice |
| bool | myCreatedOwnDeviceCon |
| ArRetFunctorC< bool, ArGPS > | myParseArgsCallback |
| ArArgumentParser * | myArgParser |
| ArNMEAParser | myNMEAParser |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPRMCHandler |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPGGAHandler |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myPGRMEHandler |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myPGRMZHandler |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myHCHDxHandler |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPGSAHandler |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPGSVHandler |
| unsigned int | mySNRSum |
| unsigned short | mySNRNum |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPMSSHandler |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPGSTHandler |
Additional Inherited Members | |
| Public Types inherited from ArGPS | |
| enum | { ReadFinished = ArNMEAParser::ParseFinished, ReadError = ArNMEAParser::ParseError, ReadData = ArNMEAParser::ParseData, ReadUpdated = ArNMEAParser::ParseUpdated } |
| Flags to indicates what the read() method did. More... | |
| enum | FixType { NoFix, BadFix, GPSFix, DGPSFix, PPSFix, RTKinFix, FloatRTKinFix, DeadReckFix, ManualFix, SimulatedFix, UnknownFixType, OmnistarConverging = FloatRTKinFix, OmnistarConverged = RTKinFix } |
| Data accessors. More... | |
| Public Member Functions inherited from ArGPS | |
| bool | blockingConnect (unsigned long connectTimeout=20000) |
| Same as connect(). More... | |
| virtual bool | connect (unsigned long connectTimeout=20000) |
| Check that the device connection (e.g. More... | |
| ArDeviceConnection * | getDeviceConnection () const |
| Return device connection in use (or NULL if none) | |
| void | lock () |
| Locks a mutex object contained by this class. More... | |
| void | logData () const |
| Log last received data using ArLog. More... | |
| void | printData (bool labels=true) const |
| Print basic navigation data on one line to standard output, with no newline at end. More... | |
| void | printDataLabelsHeader () const |
| virtual int | read (unsigned long maxTime=0) |
| Read some data from the device connection, and update stored data as complete messages are received. More... | |
| int | readWithLock (unsigned int maxTime) |
| Calls lock(), calls read(maxTime), then calls unlock(). More... | |
| void | setDeviceConnection (ArDeviceConnection *deviceConn) |
| Set device connection to use. | |
| void | setIgnoreChecksum (bool ignore) |
| Set whether checksum sent with NMEA messages is ignored. | |
| void | unlock () |
| Unlocks a mutex object contained by this class. More... | |
| const ArGPS::Data & | getCurrentDataRef () const |
| Access all of the internally stored data directly. More... | |
| FixType | getFixType () const |
| (from NMEA GPGGA) | |
| const char * | getFixTypeName () const |
| (from NMEA GPGGA) | |
| bool | havePosition () const |
| (from NMEA GPRMC) | |
| bool | haveLatitude () const |
| (from NMEA GPRMC) | |
| bool | haveLongitude () const |
| (from NMEA GPRMC) | |
| double | getLatitude () const |
| double | getLongitude () const |
| ArTime | getTimeReceivedPosition () const |
| bool | haveSpeed () const |
| (from NMEA GPRMC) | |
| double | getSpeed () const |
| ArTime | getGPSPositionTimestamp () const |
| Timestamp provided by GPS device along with position. More... | |
| int | getNumSatellitesTracked () const |
| bool | haveDGPSStation () const |
| (from NMEA GPGGA) | |
| unsigned short | getDGPSStationID () const |
| (from NMEA GPGGA) | |
| bool | haveGarminPositionError () const |
| double | getGarminPositionError () const |
| GPS device's error estimation in meters (from a Garmin-specific message PGRME, most GPS receivers will not provide this) | |
| bool | haveGarminVerticalPositionError () const |
| double | getGarminVerticalPositionError () const |
| bool | haveCompassHeadingMag () const |
| Have a compass heading value relative to magnetic north. More... | |
| bool | haveCompassHeadingTrue () const |
| Have a compass heading value relative to true north (using GPS/compass device's configured declination). More... | |
| double | getCompassHeadingMag () const |
| Heading from magnetic north. More... | |
| double | getCompassHeadingTrue () const |
| Heading from true north. More... | |
| void | setCompassHeadingMag (double val) |
| Manually set compass value. More... | |
| void | setCompassHeadingTrue (double val) |
| Manually set compass value. More... | |
| void | setCompassHeadingMagWithLock (double val) |
| Manually set compass value. More... | |
| void | setCompassHeadingTrueWithLock (double val) |
| Manually set compass value. More... | |
| bool | haveAltitude () const |
| Altitude above sea level calculated from satellite positions (see also haveAltimiter()) (from NMEA GPGGA, if provided) | |
| double | getAltitude () const |
| Altitude above sea level (meters), calculated from satellite positions (see also getAltimiter()) (from NMEA GPGGA, if provided) | |
| bool | haveAltimeter () const |
| Some receivers may have an additional altitude from an altimiter (meters above sea level) (from PGRMZ, if receiver provides it) | |
| double | getAltimeter () const |
| Some receivers may have an additional altitude from an altimiter (meters above sea level) (from PGRMZ, if receiver provides it) | |
| bool | haveHDOP () const |
| (from NMEA GPGGA) | |
| double | getHDOP () const |
| (from NMEA GPGGA) | |
| bool | haveVDOP () const |
| (from NMEA GPGGA) | |
| double | getVDOP () const |
| (from NMEA GPGGA) | |
| bool | havePDOP () const |
| (from NMEA GPGGA) | |
| double | getPDOP () const |
| (from NMEA GPGGA) | |
| bool | haveSNR () const |
| (from NMEA GPGSV) | |
| double | getMeanSNR () const |
| dB (from NMEA GPGSV) | |
| bool | haveBeaconInfo () const |
| Whether we have any DGPS stationary beacon info (from NMEA GPMSS) | |
| double | getBeaconSignalStrength () const |
| DGPS stationary beacon signal strength (dB) (from NMEA GPMSS) | |
| double | getBeaconSNR () const |
| DGPS stationary beacon signal to noise (dB) (from NMEA GPMSS) | |
| double | getBeaconFreq () const |
| DGPS stationary beacon frequency (kHz) (from NMEA GPMSS) | |
| unsigned short | getBecaonBPS () const |
| DGPS stationary beacon bitrate (bits per second) (from NMEA GPMSS) | |
| unsigned short | getBeaconChannel () const |
| DGPS stationary beacon channel (from NMEA GPMSS) | |
| bool | haveErrorEllipse () const |
| Whether we have a position error estimate (as standard deviations in latitude and longitude) (from NMEA GPGST) | |
| ArPose | getErrorEllipse () const |
| Standard deviation of position error (latitude and longitude), meters. More... | |
| bool | haveLatLonError () const |
| Whether we have latitude or longitude error estimates (from NMEA GPGST) | |
| ArPose | getLatLonError () const |
| Standard deviation of latitude and longitude error, meters. More... | |
| double | getLatitudeError () const |
| Standard deviation of latitude and longitude error, meters. More... | |
| double | getLongitudeError () const |
| Standard deviation of latitude and longitude error, meters. More... | |
| bool | haveAltitudeError () const |
| double | getAltitudeError () const |
| Standard deviation of altitude error, meters. (from NMEA GPGST, if provided) | |
| bool | haveInputsRMS () const |
| (from NMEA GPGST) | |
| double | getInputsRMS () const |
| (from NMEA GPGST) | |
| void | addNMEAHandler (const char *message, ArNMEAParser::Handler *handler) |
| Set a handler for an NMEA message. More... | |
| void | removeNMEAHandler (const char *message) |
| void | replaceNMEAHandler (const char *message, ArNMEAParser::Handler *handler) |
| Static Public Member Functions inherited from ArGPS | |
| static const char * | getFixTypeName (FixType type) |
| Public Attributes inherited from ArGPS | |
| enum ArGPS:: { ... } | ReadFlags |
| Flags to indicates what the read() method did. More... | |
| Static Protected Member Functions inherited from ArGPS | |
| static double | gpsDegminToDegrees (double degmin) |
| static double | knotsToMPS (double knots) |
| static double | mpsToMph (const double mps) |
| Convert meters per second to miles per hour. | |
| static double | metersToFeet (double m) |
| static double | feetToMeters (double f) |
Detailed Description
GPS subclass to support the NovAtel ProPak G2 and other NovAtel "OEM4" devices.
This subclass overrides initDevice() to send initialization commands specific to NovAtel GPS devices. On connect, it initiazes SBAS (satellite-based augmentation) to "auto", which uses WAAS, EGNOS, or MSAS if available, and then requests NMEA messages to be interpreted by ArGPS.
It does not initialize corrections sent by your own DGPS fixed base station over radio, or the wide-area L-Band services such as OmniStar or the Canada-wide DGPS (supported by the NovaTel ProPak LBplus). To configure DGPS, you must connect to the GPS with a terminal program (e.g. "minicom" in Linux), configure the device for your specific service, region and radio settings, and save with the "saveconfig" command. See the GPS setup notes at http://robots.mobilerobots.com/tech_notes/GPS_Setup_Notes.txt and the NovAtel GPS Reference Manual Volume 1, Sections 4.3 and 4.5 for ("Transmitting and Receiving Corrections" and "Enabling L-Band Positioning") for more information on doing this.
The documentation for this class was generated from the following files:
- ArNovatelGPS.h
- ArNovatelGPS.cpp
