Aria  2.8.0
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
void handleGPGGA (ArNMEAParser::Message msg)
 
void handleGPGSA (ArNMEAParser::Message msg)
 
void handleGPGST (ArNMEAParser::Message msg)
 
void handleGPGSV (ArNMEAParser::Message msg)
 
void handleGPMSS (ArNMEAParser::Message msg)
 
void handleGPRMC (ArNMEAParser::Message msg)
 
void handleHCHDx (ArNMEAParser::Message msg)
 
void handlePGRME (ArNMEAParser::Message msg)
 
void handlePGRMZ (ArNMEAParser::Message msg)
 
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...
 
bool readFloatFromString (const std::string &str, double *target, double(*convf)(double)=NULL) const
 
bool readFloatFromStringVec (const std::vector< std::string > *vec, size_t i, double *target, double(*convf)(double)=NULL) const
 
bool readTimeFromString (const std::string &s, ArTime *time) const
 
bool readUShortFromString (const std::string &str, unsigned short *target, unsigned short(*convf)(unsigned short)=NULL) const
 
bool readUShortFromStringVec (const std::vector< std::string > *vec, size_t i, unsigned short *target, unsigned short(*convf)(unsigned short)=NULL) const
 
bool waitForData (unsigned long timeout)
 Block until data is read from GPS. More...
 

Protected Attributes

ArFunctor1C< ArNovatelGPS, ArNMEAParser::MessagemyNovatelGPGGAHandler
 
- Protected Attributes inherited from ArGPS
ArArgumentParsermyArgParser
 
bool myCreatedOwnDeviceCon
 
Data myData
 
ArDeviceConnectionmyDevice
 
ArFunctor1C< ArGPS, ArNMEAParser::MessagemyGPGGAHandler
 
ArFunctor1C< ArGPS, ArNMEAParser::MessagemyGPGSAHandler
 
ArFunctor1C< ArGPS, ArNMEAParser::MessagemyGPGSTHandler
 
ArFunctor1C< ArGPS, ArNMEAParser::MessagemyGPGSVHandler
 
ArFunctor1C< ArGPS, ArNMEAParser::MessagemyGPMSSHandler
 
ArFunctor1C< ArGPS, ArNMEAParser::MessagemyGPRMCHandler
 
ArFunctor1C< ArGPS, ArNMEAParser::MessagemyHCHDxHandler
 
ArMutex myMutex
 
ArNMEAParser myNMEAParser
 
ArRetFunctorC< bool, ArGPSmyParseArgsCallback
 
ArFunctor1C< ArGPS, ArNMEAParser::MessagemyPGRMEHandler
 
ArFunctor1C< ArGPS, ArNMEAParser::MessagemyPGRMZHandler
 
unsigned short mySNRNum
 
unsigned int mySNRSum
 

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
void addNMEAHandler (const char *message, ArNMEAParser::Handler *handler)
 Set a handler for an NMEA message. More...
 
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...
 
double getAltimeter () const
 Some receivers may have an additional altitude from an altimiter (meters above sea level) (from PGRMZ, if receiver provides it)
 
double getAltitude () const
 Altitude above sea level (meters), calculated from satellite positions (see also getAltimiter()) (from NMEA GPGGA, if provided)
 
double getAltitudeError () const
 Standard deviation of altitude error, meters. (from NMEA GPGST, if provided)
 
unsigned short getBeaconChannel () const
 DGPS stationary beacon channel (from NMEA GPMSS)
 
double getBeaconFreq () const
 DGPS stationary beacon frequency (kHz) (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)
 
unsigned short getBecaonBPS () const
 DGPS stationary beacon bitrate (bits per second) (from NMEA GPMSS)
 
double getCompassHeadingMag () const
 Heading from magnetic north. More...
 
double getCompassHeadingTrue () const
 Heading from true north. More...
 
const ArGPS::Data & getCurrentDataRef () const
 Access all of the internally stored data directly. More...
 
ArDeviceConnectiongetDeviceConnection () const
 Return device connection in use (or NULL if none)
 
unsigned short getDGPSStationID () const
 (from NMEA GPGGA)
 
ArPose getErrorEllipse () const
 Standard deviation of position error (latitude and longitude), meters. More...
 
FixType getFixType () const
 (from NMEA GPGGA)
 
const char * getFixTypeName () const
 (from NMEA GPGGA)
 
double getGarminPositionError () const
 GPS device's error estimation in meters (from a Garmin-specific message PGRME, most GPS receivers will not provide this)
 
double getGarminVerticalPositionError () const
 
ArTime getGPSPositionTimestamp () const
 Timestamp provided by GPS device along with position. More...
 
double getHDOP () const
 (from NMEA GPGGA)
 
double getInputsRMS () const
 (from NMEA GPGST)
 
double getLatitude () const
 
double getLatitudeError () const
 Standard deviation of latitude and longitude error, meters. More...
 
ArPose getLatLonError () const
 Standard deviation of latitude and longitude error, meters. More...
 
double getLongitude () const
 
double getLongitudeError () const
 Standard deviation of latitude and longitude error, meters. More...
 
double getMeanSNR () const
 dB (from NMEA GPGSV)
 
int getNumSatellitesTracked () const
 
double getPDOP () const
 (from NMEA GPGGA)
 
double getSpeed () const
 
ArTime getTimeReceivedPosition () const
 
double getVDOP () const
 (from NMEA GPGGA)
 
bool haveAltimeter () const
 Some receivers may have an additional altitude from an altimiter (meters above sea level) (from PGRMZ, if receiver provides it)
 
bool haveAltitude () const
 Altitude above sea level calculated from satellite positions (see also haveAltimiter()) (from NMEA GPGGA, if provided)
 
bool haveAltitudeError () const
 
bool haveBeaconInfo () const
 Whether we have any DGPS stationary beacon info (from NMEA GPMSS)
 
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...
 
bool haveDGPSStation () const
 (from NMEA GPGGA)
 
bool haveErrorEllipse () const
 Whether we have a position error estimate (as standard deviations in latitude and longitude) (from NMEA GPGST)
 
bool haveGarminPositionError () const
 
bool haveGarminVerticalPositionError () const
 
bool haveHDOP () const
 (from NMEA GPGGA)
 
bool haveInputsRMS () const
 (from NMEA GPGST)
 
bool haveLatitude () const
 (from NMEA GPRMC)
 
bool haveLatLonError () const
 Whether we have latitude or longitude error estimates (from NMEA GPGST)
 
bool haveLongitude () const
 (from NMEA GPRMC)
 
bool havePDOP () const
 (from NMEA GPGGA)
 
bool havePosition () const
 (from NMEA GPRMC)
 
bool haveSNR () const
 (from NMEA GPGSV)
 
bool haveSpeed () const
 (from NMEA GPRMC)
 
bool haveVDOP () const
 (from NMEA GPGGA)
 
void lock ()
 Locks a mutex object contained by this class. More...
 
void logData () const
 Log last received data using ArLog.
 
void printData (bool labels=true) const
 Print basic navigation data on one line to standard output, with no newline at end.
 
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 removeNMEAHandler (const char *message)
 
void replaceNMEAHandler (const char *message, ArNMEAParser::Handler *handler)
 
void setCompassHeadingMag (double val)
 Manually set compass value.
 
void setCompassHeadingMagWithLock (double val)
 Manually set compass value.
 
void setCompassHeadingTrue (double val)
 Manually set compass value.
 
void setCompassHeadingTrueWithLock (double val)
 Manually set compass value.
 
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...
 
- 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 feetToMeters (double f)
 
static double gpsDegminToDegrees (double degmin)
 
static double knotsToMPS (double knots)
 
static double metersToFeet (double m)
 
static double mpsToMph (const double mps)
 Convert meters per second to miles per hour.
 

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: