gdu_positioning.h
6.9 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
/**
********************************************************************
* @file gdu_positioning.h
* @brief This is the header file for "gdu_positioning.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2021 GDU. All rights reserved.
*
* All information contained herein is, and remains, the property of GDU.
* The intellectual and technical concepts contained herein are proprietary
* to GDU and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of GDU.
*
* If you receive this source code without GDU’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify GDU of its removal. GDU reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef GDU_POSITIONING_H
#define GDU_POSITIONING_H
/* Includes ------------------------------------------------------------------*/
#include "gdu_typedef.h"
#include "gdu_time_sync.h"
#include "gdu_fc_subscription.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/**
* @brief Data structure that describes a positioning event.
*/
typedef struct {
/*! Index of event set in which positioning event is located. The item will be written to mark file in aircraft for
* some post-precess work. If not needed, fill in 0. */
uint16_t eventSetIndex;
/*! Index of target point in payload whose position user is requesting. The item will be written to mark file in
* aircraft for some post-precess work. If not needed, fill in 0. */
uint8_t targetPointIndex;
/*! Timestamp in aircraft time system when the positioning event occur. Users should transfer time in local time
* system to time in aircraft time system by GduTimeSync_TransferToAircraftTime() interface in time
* synchronization module. */
T_GduTimeSyncAircraftTime eventTime;
} T_GduPositioningEventInfo;
/**
* @brief Data structure that describes position of a point.
*/
typedef struct {
gdu_f64_t longitude; /*!< Specifies longitude, unit: degree. */
gdu_f64_t latitude; /*!< Specifies latitude, unit: degree. */
gdu_f64_t height; /*!< Specifies height above sea level, unit: m. */
} T_GduPositioningPosition;
/**
* @brief Position value standard deviation.
*/
typedef struct {
gdu_f32_t longitude; /*!< Specifies longitude standard deviation, unit: degree. */
gdu_f32_t latitude; /*!< Specifies latitude standard deviation， unit: degree. */
gdu_f32_t height; /*!< Specifies height standard deviation， unit: m. */
} T_GduPositioningPositionStandardDeviation;
/**
* @brief Position of target point and other details returned by interface of requesting position.
*/
typedef struct {
E_GduFcSubscriptionPositionSolutionProperty positionSolutionProperty; /*!< Property of position solution. */
T_GduAttitude3d uavAttitude; /*!< Specifies UAV attitude, unit: degree. */
T_GduVector3d offsetBetweenMainAntennaAndTargetPoint; /*!< Specifies position offset from RTK main antenna to target points in NED coordinate system, unit: mm. */
T_GduPositioningPosition targetPointPosition; /*!< Specifies position of target points in GROUND coordinate system. */
T_GduPositioningPositionStandardDeviation targetPointPositionStandardDeviation; /*!< Specifies position standard deviation of target points. */
} T_GduPositioningPositionInfo;
/* Exported functions --------------------------------------------------------*/
/**
* @brief Initialise positioning module in blocking mode. User should call this function before all other positioning
* operations, just like setting task index, register callback function and requesting positions.
* @note Max execution time of this function is slightly larger than 500ms.
* @note This function has to be called in user task, rather than main() function, and after scheduler being started.
* @return Execution result.
*/
T_GduReturnCode GduPositioning_Init(void);
/**
* @brief Set task index, specifying a sequence number of operations, using to write to mark the file for some post-process
* flows.
* @details One operation may be a precise surveying and mapping task or ten exposures of camera. The default task index
* is 0.
* @param index: task index.
*/
void GduPositioning_SetTaskIndex(uint8_t index);
/**
* @brief The interface is used to get the position of target points and other information (refer to
* ::T_GduPositioningPositionInfo) based on the timestamp in aircraft time system when some events (positioning events) are
* triggered. The function uses blocking mode.
* @details Users can request positions for multiple events (event set) conveniently, such as sync exposure of
* multiple cameras. User must register callback function used to get the newest PPS triggered timestamp (refer to
* GduPositioning_RegGetNewestPpsTriggerTimeCallback()) before requesting position. When users have set structure
* parameters of payload and interest points (the points whose position user hope to get, e.g. center point of the camera
* image sensor), the target points are interest points, otherwise the target points are main gimbal interface center.
* Users can use position information of gimbal interface center, position offset between gimbal interface center and
* RTK main antenna, UAV attitude, gimbal structure parameters ,and gimbal attitude to calculate the position of interest
* points in the payload.
* @note Max execution time of this function is slightly larger than 600ms.
* @note All requested timestamp have to be between the time point 2 seconds earlier than the newest synchronized
* timestamp and the time point 1 seconds earlier than the newest synchronized timestamp.
* @param eventCount: count of positioning event set specified by eventInfo parameter. Please ensure the count is less
* than 5.
* @param eventInfo: pointer to positioning event information array.
* @param positionInfo: the position of target points. In Matrice 210 RTK V2 and Matrice 300 RTK aircraft system, it is
* the position of the main gimbal interface always.
* @return Execution result.
*/
T_GduReturnCode GduPositioning_GetPositionInformationSync(uint8_t eventCount, T_GduPositioningEventInfo *eventInfo,
T_GduPositioningPositionInfo *positionInfo);
#ifdef __cplusplus
}
#endif
#endif //GDU_POSITIONING_H
/************************ (C) COPYRIGHT GDU Innovations *******END OF FILE******/