Diff: GPSUBX_UART.hpp

Revision:

10:a90d07e4c34d

Parent:

9:874d7633e358

Child:

11:6890b7b749c7

--- a/GPSUBX_UART.hpp	Mon Sep 20 14:42:08 2021 +0000
+++ b/GPSUBX_UART.hpp	Mon Nov 01 16:18:41 2021 +0000
@@ -6,6 +6,7 @@
 
 #define POSECEF_LEN 20
 #define POSLLH_LEN 28
+#define RELPOSNED_LEN 40
 #define TIMEUTC_LEN 20
 #define VELECEF_LEN 20
 #define VELNED_LEN 36
@@ -53,6 +54,30 @@
     } data;
 };
 
+// 0x01 0x3c
+union RELPOSNED
+{
+    char byte_data[RELPOSNED_LEN];
+    struct
+    {
+        unsigned char version;
+        unsigned char reserved1;
+        unsigned short refStationId;
+        unsigned int iTOW;
+        int relPosN;
+        int relPosE;
+        int relPosD;
+        char relPosHPN;
+        char relPosHPE;
+        char relPosHPD;
+        unsigned char reserved2;
+        unsigned int accN;
+        unsigned int accE;
+        unsigned int accD;
+        int flags;
+    } data;
+};
+
 // 0x01 0x21
 union TIMEUTC
 {
@@ -187,6 +212,15 @@
     /**iTOW of VELNED [ms]*/
     volatile int iTOW_VELNED;
     
+    /**Reference Station ID (0~4095)*/
+    volatile int RefStationID;
+    /**iTOW of RELPOSNED [ms]*/
+    volatile int iTOW_RELPOSNED;
+    /**Relative Position [m]*/
+    volatile Vector3 RelPosNED;
+    
+    
+    
     /**Time zone*/
     volatile int TimeZone;