mono_gps.vi
Description
Configure and reads the data stream for the GPS sensor.
For technical support contact us at monodrive.support@ni.com
Inputs
- error in (Error Cluster): Accepts error information wired from previously called VIs. This information can be used to decide if any functionality should be bypassed in the event of errors from other VIs.
Outputs
-
Raw data: Raw data output from server.
-
GPS Configuration: Settings to configure a GPS sensor
-
GPS Sample: Provides GPS coordinates for the sensor's location. The coordinates are based on the GPS anchor set for the current map
| Type | Name |
|---|---|
| U8 | preamble |
| U16 | MSG_POS_LLH |
| U16 | sensor_id |
| U8 | payload_length |
| DBL | latitude |
| DBL | longitude |
| DBL | elevation |
| SGL | WorldLocation_x |
| SGL | WorldLocation_y |
| SGL | forward_x |
| SGL | forward_y |
| SGL | forward_z |
| SGL | ego_yaw |
| SGL | ego_speed |
| U16 | horizontal_acceleration |
| U16 | vertical_acceleration |
| U8 | satellites |
| U8 | mode |
| U16 | CRC |
| --- |
-
latitude: Latitude of ego vehicle on the map
-
longitude: Longitude of ego vehicle on map.
-
elevation: Elevation of the ego vehicle on the map.
-
WorldLocation_x: Fix location for the map on the x axis.
-
WorldLocation_y: Fix location for the map on the y axis
-
forward_x: Forward (X) unit direction vector, in world space.
-
forward_y: Forward (Y) unit direction vector, in world space.
-
forward_z: Forward (Z) unit direction vector, in world space.
-
ego_yaw: Yaw for the ego vehicle with respect to the Z axis.
-
ego_speed: Ego's speed measured on m/s
-
error out (Error Cluster): Accepts error information wired from previously called VIs. This information can be used to decide if any functionality should be bypassed in the event of errors from other VIs.