src/marnav/nmea/gst.hpp

   1 #ifndef __NMEA__GST__HPP__
   2 #define __NMEA__GST__HPP__
   3
   4 #include <marnav/nmea/sentence.hpp>
   5 #include <marnav/nmea/time.hpp>
   6 #include <marnav/utils/optional.hpp>
   7
   8 namespace marnav
   9 {
  10 namespace nmea
  11 {
  12 MARNAV_NMEA_DECLARE_SENTENCE_PARSE_FUNC(gst)
  13
  14 /// @brief GST - GPS Pseudorange Noise Statistics
  15 ///
  16 /// @code
  17 ///        1         2 3 4 5 6 7 8
  18 ///        |         | | | | | | |
  19 /// $--GST,hhmmss.ss,x,x,x,x,x,x,x*hh<CR><LF>
  20 /// @endcode
  21 ///
  22 /// Field Number:
  23 /// 1. TC time of associated GGA fix
  24 /// 2. Total RMS standard deviation of ranges inputs to the navigation solution
  25 /// 3. Standard deviation (meters) of semi-major axis of error ellipse
  26 /// 4. Standard deviation (meters) of semi-minor axis of error ellipse
  27 /// 5. Orientation of semi-major axis of error ellipse (true north degrees)
  28 /// 6. Standard deviation (meters) of latitude error
  29 /// 7. Standard deviation (meters) of longitude error
  30 /// 8. Standard deviation (meters) of altitude error
  31 ///
  32 class gst : public sentence
  33 {
  34         MARNAV_NMEA_SENTENCE_FRIENDS(gst)
  35
  36 public:
  37         constexpr static const sentence_id ID = sentence_id::GST;
  38         constexpr static const char * TAG = "GST";
  39
  40         virtual ~gst() {}
  41
  42         gst();
  43         gst(const gst &) = default;
  44         gst & operator=(const gst &) = default;
  45
  46 protected:
  47         gst(const std::string & talker, fields::const_iterator first, fields::const_iterator last);
  48         virtual std::vector<std::string> get_data() const override;
  49
  50 private:
  51         nmea::time time_utc;
  52         double total_rms = 0.0;
  53         double dev_semi_major = 0.0;
  54         double dev_semi_minor = 0.0;
  55         double orientation = 0.0;
  56         double dev_lat = 0.0;
  57         double dev_lon = 0.0;
  58         double dev_alt = 0.0;
  59
  60 public:
  61         NMEA_GETTER(time_utc)
  62         NMEA_GETTER(total_rms)
  63         NMEA_GETTER(dev_semi_major)
  64         NMEA_GETTER(dev_semi_minor)
  65         NMEA_GETTER(orientation)
  66         NMEA_GETTER(dev_lat)
  67         NMEA_GETTER(dev_lon)
  68         NMEA_GETTER(dev_alt)
  69
  70         void set_time_utc(const nmea::time & t) noexcept { time_utc = t; }
  71         void set_total_rms(double t) noexcept { total_rms = t; }
  72         void set_dev_semi_major(double t) noexcept { dev_semi_major = t; }
  73         void set_dev_semi_minor(double t) noexcept { dev_semi_minor = t; }
  74         void set_orientation(double t) noexcept { orientation = t; }
  75         void set_dev_lat(double t) noexcept { dev_lat = t; }
  76         void set_dev_lon(double t) noexcept { dev_lon = t; }
  77         void set_dev_alt(double t) noexcept { dev_alt = t; }
  78 };
  79 }
  80 }
  81
  82 #endif