| | |
|---|
| | | l_stGPRMI.m_fNorthVelocity = vel_n; |
|---|
| | | l_stGPRMI.m_fEastVelocity = vel_e; |
|---|
| | | l_stGPRMI.m_fUpVelocity = (HIDO_FLOAT)(-vel_d); |
|---|
| | | l_stGPRMI.m_fRollAngle = roll; |
|---|
| | | l_stGPRMI.m_fPitchAngle = pitch; |
|---|
| | | l_stGPRMI.m_fHeadingAngle = heading; |
|---|
| | | /* IM23A协议中 roll/pitch/heading 均为弧度，需转换为角度 */ |
|---|
| | | l_stGPRMI.m_fRollAngle = roll * 57.29577951308232f; // RAD2DEG |
|---|
| | | l_stGPRMI.m_fPitchAngle = pitch * 57.29577951308232f; // RAD2DEG |
|---|
| | | l_stGPRMI.m_fHeadingAngle = heading * 57.29577951308232f; // RAD2DEG |
|---|
| | | |
|---|
| | | /* Heading 转换为 0-360 范围 */ |
|---|
| | | while (l_stGPRMI.m_fHeadingAngle < 0.0f) |
|---|
| | | { |
|---|
| | | l_stGPRMI.m_fHeadingAngle += 360.0f; |
|---|
| | | } |
|---|
| | | while (l_stGPRMI.m_fHeadingAngle >= 360.0f) |
|---|
| | | { |
|---|
| | | l_stGPRMI.m_fHeadingAngle -= 360.0f; |
|---|
| | | } |
|---|
| | | l_stGPRMI.m_fHorizontalVelStdDev = pos_accuracy; |
|---|
| | | l_stGPRMI.m_fAccelBiasX = accel_bias_x; |
|---|
| | | l_stGPRMI.m_fAccelBiasY = accel_bias_y; |
|---|
| | |
|---|
| | | * Author : www.hido-studio.com |
|---|
| | | * Modified Date: : 2025年12月4日 |
|---|
| | | *******************************************************************************/ |
|---|
| | | static HIDO_UINT32 GPS_FormatGGA(const ST_GPRMI *_pstGPRMI, const ST_GPGIG *_pstGPGIG, |
|---|
| | | HIDO_UINT32 GPS_FormatGGA(const ST_GPRMI *_pstGPRMI, const ST_GPGIG *_pstGPGIG, |
|---|
| | | HIDO_CHAR *_pcBuffer, HIDO_UINT32 _u32BufferSize) |
|---|
| | | { |
|---|
| | | if (_pstGPRMI == HIDO_NULL || _pstGPGIG == HIDO_NULL || _pcBuffer == HIDO_NULL) |
|---|
