MGC GPS

= General Description =

This component interfaces with the GPS device, returning relative and global coordinates of the vehicle and waypoints. These waypoints exist in a given file, such as the Minigrand09 example file.


 * Interfacing with GPS (Through GearBox
 * Load GPS waypoints
 * Return current vehicle position
 * Return current waypoint ID
 * Return current waypoint position
 * Return current waypoint distance
 * Return how many waypoints left

Owners

 * Rich

= Performance Requirements =

This component must complete a cycle of localization with the GPS device within a second.

= Input =


 * From config file
 * The series of target GPS waypoints
 * Name: GPSWaypoint
 * Data type: array of vector2 of type float


 * Garmin GPS Device (Not formal dependency)
 * Provides the current GPS position
 * Name: GPSPos
 * Data type: vector2 of type float

= Output =


 * Current vehicle position
 * Data type name: VehiclePosition
 * Actual Type: Two doubles that are the GPS positions as lat/long pairs
 * Note: None


 * Current target waypoint
 * Data type name: WaypointTarget
 * Actual Type: An integer of the index of the current target waypoint
 * Note: None


 * Current waypoint position
 * Data type name: WaypointPosition
 * Actual Type: Two doubles that are the GPS positions as lat/long pairs
 * Note: None


 * Current waypoint distance
 * Data type name: WaypointDistance
 * Actual Type:A single double that is the meters away from the target waypoint
 * Note: None


 * Waypoints left to reach
 * Data type name: WaypointLeft
 * Actual Type: An integer of the number of waypoints left
 * Note: None

= Related Links =
 * Can someone please place the GPS device info we are using here?
 * Garmin Device

= Developer Discussion =
 * Most of the high-level logic is already done from previous years work. Check out the IGVC code from 2009 JBridon 21:57, 3 October 2009 (UTC)