function

Estimation.FusionHorizon.packGps

Flatten one GPS sample into a queue row

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
input	`measurement`	`Avionics.GpsSample`
output	`row`	`Real`	`[GpsMeasurementLength]`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function packGps "Flatten one GPS sample into a queue row"
  input Avionics.GpsSample measurement;
  output Real row[GpsMeasurementLength];
algorithm
  // positionValid and velocityValid ARE carried, as one and zero. Unlike
  // valid and fresh they are not statements about delivery, they say which
  // half of the fix the solution actually contains, and the filter's
  // correction dispatch branches on them: dropping them would offer a
  // position-only fix as though it carried a velocity.
  row := cat(1,
    {measurement.timestamp_s,
     if measurement.positionValid then 1.0 else 0.0,
     if measurement.velocityValid then 1.0 else 0.0},
    measurement.geodetic_deg_m,
    measurement.positionWorldEnu_m,
    measurement.velocityWorldEnu_m_s,
    measurement.positionCovarianceWorld_m2[1, :],
    measurement.positionCovarianceWorld_m2[2, :],
    measurement.positionCovarianceWorld_m2[3, :],
    measurement.velocityCovarianceWorld_m2_s2[1, :],
    measurement.velocityCovarianceWorld_m2_s2[2, :],
    measurement.velocityCovarianceWorld_m2_s2[3, :]);
end packGps;