From 071c9f585d6f41aa76479aa6b31d3cb838e6a01a Mon Sep 17 00:00:00 2001 From: Comma Device Date: Mon, 28 Mar 2022 15:21:49 -0700 Subject: [PATCH] rawgps: add comments to satelite struct old-commit-hash: c095e7b153a7e8c2af02ee15afc5d914f9fa3fff --- selfdrive/sensord/rawgps/structs.py | 40 ++++++++++++++--------------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/selfdrive/sensord/rawgps/structs.py b/selfdrive/sensord/rawgps/structs.py index ed6c49af1a..c18fe6a135 100644 --- a/selfdrive/sensord/rawgps/structs.py +++ b/selfdrive/sensord/rawgps/structs.py @@ -72,31 +72,31 @@ gps_measurement_report = """ """ gps_measurement_report_sv = """ - uint8_t sv_id; - uint8_t observation_state; // SVObservationStates - uint8_t observations; - uint8_t good_observations; - uint16_t parity_error_count; - uint8_t filter_stages; - uint16_t carrier_noise; - int16_t latency; - uint8_t predetect_interval; - uint16_t postdetections; - uint32_t unfiltered_measurement_integral; - float unfiltered_measurement_fraction; - float unfiltered_time_uncertainty; - float unfiltered_speed; - float unfiltered_speed_uncertainty; + uint8_t sv_id; // SV PRN + uint8_t observation_state; // SV Observation state + uint8_t observations; // Count of all observation (both success and failure) + uint8_t good_observations; // Count of Good observations + uint16_t parity_error_count; // Carrier to Code filtering N count + uint8_t filter_stages; // Pre-Detection (Coherent) Interval (msecs) + uint16_t carrier_noise; // CNo. Units of 0.1 dB + int16_t latency; // Age of the measurement in msecs (+ve meas Meas precedes ref time) + uint8_t predetect_interval; // Pre-Detection (Coherent) Interval (msecs) + uint16_t postdetections; // Num Post-Detections (uints of PreInts + uint32_t unfiltered_measurement_integral; // Range of 0 thru (WEEK_MSECS-1) [msecs] + float unfiltered_measurement_fraction; // Range of 0 thru 0.99999 [msecs] + float unfiltered_time_uncertainty; // Time uncertainty (msec) + float unfiltered_speed; // Speed estimate (meters/sec) + float unfiltered_speed_uncertainty; // Speed uncertainty estimate (meters/sec) uint32_t measurement_status; uint8_t misc_status; uint32_t multipath_estimate; - float azimuth; - float elevation; + float azimuth; // Azimuth (radians) + float elevation; // Elevation (radians) int32_t carrier_phase_cycles_integral; uint16_t carrier_phase_cycles_fraction; - float fine_speed; - float fine_speed_uncertainty; - uint8_t cycle_slip_count; + float fine_speed; // Carrier phase derived speed + float fine_speed_uncertainty; // Carrier phase derived speed UNC + uint8_t cycle_slip_count; // Increments when a CSlip is detected uint32_t pad; """