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sinsapi.h

+/* sinsapi c++ hearder file sinsapi.h */
+/*
+	By     : shilei ,Starcar Lt. Guangzhou China
+	Date   : 2019-08-01
+*/
+#ifndef _SINSAPI_H_
+#define _SINSAPI_H_
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+typedef struct{
+	double time; //系统时间,开机为0，单位是s，保留三位小数。
+	double Accel[3];//Accel X,Y,Z
+	double Temp;//温度 待加入
+	double Gyro[3];//Gyro X,Y,Z
+	double Mag[3];	//Mag X,Y,Z	
+}MPU_Data_value;
+typedef struct
+{
+	bool gps_flag;
+	int hour;
+	int min;
+	double sec;
+	int lon_d;//dd
+	double lon_m;//mm.mmmm
+	char NS;
+	int lat_d;//dd
+	double lat_m;//mm.mmmm
+	char EW;
+	int fix;
+	int num_satellite;
+	double h_DOP;//0.5-99.9
+	double altitude;
+	double age;
+}gga_t;
+
+typedef struct
+{
+	double cogt;
+	double cogm;
+	double knots;
+	double kph;
+}vtg_t;
+
+//"$CCDHV,102741.000,2.631,2.468,-0.856,0.310,2.612,,,,,M*27"
+typedef struct
+{
+	double time;//UTC hhmmss.sss 
+	double vel_norm;//  m/s 
+	double vel_e, vel_n, vel_u;// m/s  $$´Ë´¦Èý¸öÁ¿ ²ÎÓëÔËËã$$ 
+	double vel_ground;//¶ÔµØËÙ¶È m/s
+}dhv_t;
+
+typedef struct{
+ double timestamp;
+ double Frame_head;
+ double OUT_cnt;
+ double Gyro[3];
+ double Accel[3];
+ double Magn[3];//magnetic
+ double mBar;//barometer
+ double Att[3];
+ double Vn[3];
+ double Pos[5];
+ double GPS_Vn[3];
+ double GPS_Pos[5];
+ double GPS_status;
+ double GPS_delay;
+ double Temp;//temprature
+
+}Out_Data;
+
+double GetAveStdRMS(const double *a, int n, int opt);
+
+Out_Data* SINS_API(MPU_Data_value *mpu_Data_value, gga_t *gga, vtg_t *vtg, dhv_t *hdv, double gga_delay, int gps_ok_flag);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif