From 3578606a90641decad8cf07a1ff15f2e33dbe3c6 Mon Sep 17 00:00:00 2001
From: Bryan Godbolt <godbolt@ualberta.ca>
Date: Wed, 25 Aug 2010 10:58:30 -0600
Subject: [PATCH] added opalrt namespace file

---
 src/comm/OpalRT.h | 48 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 48 insertions(+)
 create mode 100644 src/comm/OpalRT.h

diff --git a/src/comm/OpalRT.h b/src/comm/OpalRT.h
new file mode 100644
index 000000000..f26a727c1
--- /dev/null
+++ b/src/comm/OpalRT.h
@@ -0,0 +1,48 @@
+#ifndef OPALRT_H
+#define OPALRT_H
+
+namespace OpalRT
+{
+    /*  ------------------------------ Outputs ------------------------------
+    *
+    *    Copied from Mag_GPS_aided_INS.c Aug 20, 2010
+    *      Port 1: Navigation state estimates
+    *      1       t   [s]     time elapsed since INS mode started
+    *      2-4     p^n [m]     navigation frame position (N,E,D)
+    *      5-7     v^n [m/s]   navigation frame velocity (N,E,D)
+    *      8-10    Euler angles [rad] (roll, pitch, yaw)
+    *     11-13    b_f [m/s^2] accelerometer biases
+    *     14-16    b_w [rad/s] gyro biases
+    *
+    *      Port 2: Navigation system status
+    *      1       mode    (0: initialization, 1: INS)
+    *      2       t_GPS   time elapsed since last valid GPS measurement
+    *      3       solution status (0: SOL_COMPUTED, 1: INSUFFICIENT_OBS)
+    *      4       position solution type ( 0: NONE, 34: NARROW_FLOAT,
+    *                                      49: WIDE_INT, 50: NARROW_INT)
+    *      5       # obs (number of visible satellites)
+    *
+    *      Port 3: Covariance matrix diagonal
+    *      1-15    diagonal elements of estimation error covariance matrix P
+    */
+    enum SignalPort
+    {
+        T_ELAPSED,
+        X_POS,
+        Y_POS,
+        Z_POS,
+        X_VEL,
+        Y_VEL,
+        Z_VEL,
+        ROLL,
+        PITCH,
+        YAW,
+        B_F_0,
+        B_F_1,
+        B_F_2,
+        B_W_0,
+        B_W_1,
+        B_W_2
+    };
+}
+#endif // OPALRT_H
-- 
2.22.0