GPS subclass to support the NovAtel SPAN GPS with integrated IMU. More...

#include <ArNovatelGPS.h>

Public Attributes
double	GPSLatitude

double	GPSLongitude

ArTime	GPSTimestamp

bool	GPSValidFlag

bool	haveGPSPosition

ArTime	timeGotGPSPosition

Public Attributes inherited from ArGPS
enum ArGPS:: { ... }	ReadFlags
	Flags to indicates what the read() method did. More...

Protected Member Functions
void	handleGPRMC (ArNMEAParser::Message msg)
	overrides ArNovatelGPS::handleGPRMC(), and keeps results of parsing the message in this class rather than ArGPS. More...

void	handleINGLL (ArNMEAParser::Message msg)

virtual bool	initDevice ()

Protected Member Functions inherited from ArNovatelGPS
void	handleNovatelGPGGA (ArNMEAParser::Message msg)

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< ArNovatelSPAN, ArNMEAParser::Message >	myGPRMCHandler

ArFunctor1C< ArNovatelSPAN, ArNMEAParser::Message >	myINGLLHandler

Protected Attributes inherited from ArNovatelGPS
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)

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 SPAN GPS with integrated IMU.

This subclass requests the INGLL NMEA message for combined IMU and GPS position, and updates the GPS position in ArGPS using this data. It replaces the normal GPRMC handler from ArGPS, and instead saves the uncorrected GPS data separately. (use dynamic_cast to cast an ArGPS object to an ArNovatelSPAN object to access this data).

Since: ARIA 2.7.2

Member Function Documentation

◆ handleGPRMC()

void ArNovatelSPAN::handleGPRMC ( ArNMEAParser::Message msg )

protected

overrides ArNovatelGPS::handleGPRMC(), and keeps results of parsing the message in this class rather than ArGPS.

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

ArNovatelGPS.h
ArNovatelGPS.cpp

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ handleGPRMC()