Menu
▾
▴
[Gearbox-commit] SF.net SVN: gearbox:[435] gearbox/trunk/src/gbxnovatelacfr
|
From: <rum...@us...> - 2009-08-14 06:46:46
|
Revision: 435
http://gearbox.svn.sourceforge.net/gearbox/?rev=435&view=rev
Author: rumataxyz
Date: 2009-08-14 06:46:34 +0000 (Fri, 14 Aug 2009)
Log Message:
-----------
Bugfix, applied Ian Mahon's patch (tracker: Novatel Driver Update - ID: 2828247): matches our gps statu/solution-type enums with novatels (adds a bunch of reservedValueXX);
adds toStrings()s for those enums.
Added history to docu, to reflect this (and older gear).
Modified Paths:
--------------
gearbox/trunk/src/gbxnovatelacfr/driver.cpp
gearbox/trunk/src/gbxnovatelacfr/driver.h
gearbox/trunk/src/gbxnovatelacfr/novatel.dox
Modified: gearbox/trunk/src/gbxnovatelacfr/driver.cpp
===================================================================
--- gearbox/trunk/src/gbxnovatelacfr/driver.cpp 2009-08-14 05:02:58 UTC (rev 434)
+++ gearbox/trunk/src/gbxnovatelacfr/driver.cpp 2009-08-14 06:46:34 UTC (rev 435)
@@ -89,7 +89,7 @@
// helper functions for the toString() gear
std::string statusToString(gna::StatusMessageType statusMessageType, std::string statusMessage);
- std::string doubleVectorToString(vector<double > &vec, std::string seperator = std::string(" "));
+ std::string doubleVectorToString(const vector<double > &vec, const std::string seperator = std::string(" "));
}
namespace gbxnovatelacfr
@@ -741,7 +741,7 @@
}
std::string
-Config::toString(){
+Config::toString() const{
std::stringstream ss;
ss << "serialDevice_: " << serialDevice_ << " ";
ss << "baudRate_: " << baudRate_ << " ";
@@ -787,7 +787,7 @@
}
std::string
-SimpleConfig::toString(){
+SimpleConfig::toString() const{
std::stringstream ss;
ss << "serialDevice_: " << serialDevice_ << " ";
ss << "baudRate_: " << baudRate_ << " ";
@@ -808,7 +808,7 @@
}
std::string
-GpsOnlyConfig::toString(){
+GpsOnlyConfig::toString() const{
std::stringstream ss;
ss << "serialDevice_: " << serialDevice_ << " ";
ss << "baudRate_: " << baudRate_;
@@ -816,7 +816,7 @@
}
std::string
-InsPvaData::toString(){
+InsPvaData::toString() const{
std::stringstream ss;
ss << "InsPvaData ";
ss << "timeStampSec " << timeStampSec << " ";
@@ -837,7 +837,7 @@
};
std::string
-BestGpsPosData::toString(){
+BestGpsPosData::toString() const{
std::stringstream ss;
ss << "BestGpsPosData ";
ss << "timeStampSec " << timeStampSec << " ";
@@ -871,7 +871,7 @@
};
std::string
-BestGpsVelData::toString(){
+BestGpsVelData::toString() const{
std::stringstream ss;
ss << "BestGpsVelData ";
ss << "timeStampSec " << timeStampSec << " ";
@@ -890,7 +890,7 @@
};
std::string
-RawImuData::toString(){
+RawImuData::toString() const{
std::stringstream ss;
ss << "RawImuData ";
ss << "timeStampSec " << timeStampSec << " ";
@@ -907,6 +907,100 @@
return ss.str();
};
+std::string
+toString( StatusMessageType type ){
+ switch( type )
+ {
+ case NoMsg : return "None";
+ case Initialising: return "Initialising";
+ case Ok : return "Ok";
+ case Warning : return "Warning";
+ case Fault : return "Fault";
+ default: return "Unknown";
+ }
+}
+
+std::string
+toString( GpsSolutionStatusType type ){
+ switch( type ){
+ case SolComputed : return "SolComputed";
+ case InsufficientObs : return "InsufficientObs";
+ case NoConvergence : return "NoConvergence";
+ case Singularity : return "Singularity";
+ case CovTrace : return "CovTrace";
+ case TestDist : return "TestDist";
+ case ColdStart : return "ColdStart";
+ case VHLimit : return "VHLimit";
+ case Variance : return "Variance";
+ case Residuals : return "Residuals";
+ case DeltaPos : return "DeltaPos";
+ case NegativeVar : return "NegativeVar";
+ case ReservedGpsSolutionStatusType12: return "Reserved";
+ case IntegrityWarning : return "IntegrityWarning";
+ case InsInactive : return "InsInactive";
+ case InsAligning : return "InsAligning";
+ case InsBad : return "InsBad";
+ case ImuUnplugged : return "ImuUnplugged";
+ case Pending : return "Pending";
+ case InvalidFix : return "InvalidFix";
+ default: return "Unknown";
+ }
+}
+
+std::string
+toString( GpsPosVelType type ){
+ switch( type ){
+ case None : return "None";
+ case FixedPos : return "FixedPos";
+ case FixedHeight : return "FixedHeight";
+ case ReservedGpsPosVelType3 : return "Reserved";
+ case FloatConv : return "FloatConv";
+ case WideLane : return "WideLane";
+ case NarrowLane : return "NarrowLane";
+ case ReservedGpsPosVelType7 : return "Reserved";
+ case DopplerVelocity : return "DopplerVelocity";
+ case ReservedGpsPosVelType9 : return "Reserved";
+ case ReservedGpsPosVelType10: return "Reserved";
+ case ReservedGpsPosVelType11: return "Reserved";
+ case ReservedGpsPosVelType12: return "Reserved";
+ case ReservedGpsPosVelType13: return "Reserved";
+ case ReservedGpsPosVelType14: return "Reserved";
+ case ReservedGpsPosVelType15: return "Reserved";
+ case Single : return "Single";
+ case PsrDiff : return "PsrDiff";
+ case Waas : return "Waas";
+ case Propagated : return "Propagated";
+ case Omnistar : return "Omnistar";
+ case ReservedGpsPosVelType21: return "Reserved";
+ case ReservedGpsPosVelType22: return "Reserved";
+ case ReservedGpsPosVelType23: return "Reserved";
+ case ReservedGpsPosVelType24: return "Reserved";
+ case ReservedGpsPosVelType25: return "Reserved";
+ case ReservedGpsPosVelType26: return "Reserved";
+ case ReservedGpsPosVelType27: return "Reserved";
+ case ReservedGpsPosVelType28: return "Reserved";
+ case ReservedGpsPosVelType29: return "Reserved";
+ case ReservedGpsPosVelType30: return "Reserved";
+ case ReservedGpsPosVelType31: return "Reserved";
+ case L1Float : return "L1Float";
+ case IonoFreeFloat : return "IonoFreeFloat";
+ case NarrowFloat : return "NarrowFloat";
+ case L1Int : return "L1Int";
+ case WideInt : return "WideInt";
+ case NarrowInt : return "NarrowInt";
+ case RtkDirectIns : return "RtkDirectIns";
+ case Ins : return "Ins";
+ case InsPsrSp : return "InsPsrSp";
+ case InsPsrDiff : return "InsPsrDiff";
+ case InsRtkFloat : return "InsRtkFloat";
+ case InsRtkFixed : return "InsRtkFixed";
+ case OmniStarHp : return "OmniStarHp";
+ case OmniStarXp : return "OmniStarXp";
+ case CdGps : return "CdGps";
+ default: return "Unknown";
+ }
+}
+
} //namespace
namespace{
@@ -1285,77 +1379,23 @@
}
enum gna::GpsSolutionStatusType externalGpsSolutionStatus(uint32_t novatelGpsSolutionStatus){
- enum gna::GpsSolutionStatusType external;
- switch(novatelGpsSolutionStatus){
- case 0: external = gna::SolComputed; break;
- case 1: external = gna::InsufficientObs; break;
- case 2: external = gna::NoConvergence; break;
- case 3: external = gna::Singularity; break;
- case 4: external = gna::CovTrace; break;
- case 5: external = gna::TestDist; break;
- case 6: external = gna::ColdStart; break;
- case 7: external = gna::VHLimit; break;
- case 8: external = gna::Variance; break;
- case 9: external = gna::Residuals; break;
- case 10: external = gna::DeltaPos; break;
- case 11: external = gna::NegativeVar; break;
- case 13: external = gna::IntegrityWarning; break;
- case 14: external = gna::InsInactive; break;
- case 15: external = gna::InsAligning; break;
- case 16: external = gna::InsBad; break;
- case 17: external = gna::ImuUnplugged; break;
- case 18: external = gna::Pending; break;
- case 19: external = gna::InvalidFix; break;
-
- case 12: external = gna::ReservedGpsSolutionStatusType; break;
- default: external = gna::UnknownGpsSolutionStatusType; break;
- }
- return external;
+ if( novatelGpsSolutionStatus>=0 && novatelGpsSolutionStatus<=19 )
+ return static_cast<gna::GpsSolutionStatusType>(novatelGpsSolutionStatus);
+ else
+ return gna::UnknownGpsSolutionStatusType;
}
enum gna::GpsPosVelType externalGpsPosVelType(uint32_t novatelGpsPosVelType){
- enum gna::GpsPosVelType external;
- switch(novatelGpsPosVelType){
- case 0: external = gna::None; break;
- case 1: external = gna::FixedPos; break;
- case 2: external = gna::FixedHeight; break;
- case 4: external = gna::FloatConv; break;
- case 5: external = gna::WideLane; break;
- case 6: external = gna::NarrowLane; break;
- case 8: external = gna::DopplerVelocity; break;
- case 16: external = gna::Single; break;
- case 17: external = gna::PsrDiff; break;
- case 18: external = gna::Waas; break;
- case 19: external = gna::Propagated; break;
- case 20: external = gna::Omnistar; break;
- case 32: external = gna::L1Float; break;
- case 33: external = gna::IonoFreeFloat; break;
- case 34: external = gna::NarrowFloat; break;
- case 48: external = gna::L1Int; break;
- case 49: external = gna::WideInt; break;
- case 50: external = gna::NarrowInt; break;
- case 51: external = gna::RtkDirectIns; break;
- case 52: external = gna::Ins; break;
- case 53: external = gna::InsPsrSp; break;
- case 54: external = gna::InsPsrDiff; break;
- case 55: external = gna::InsRtkFloat; break;
- case 56: external = gna::InsRtkFixed; break;
- case 64: external = gna::OmniStarHp; break;
- case 65: external = gna::OmniStarXp; break;
- case 66: external = gna::CdGps; break;
-
- case 3: //fallthrough
- case 7: //fallthrough
- case 9: case 10: case 11: case 12: case 13: case 14: case 15: //fallthrough
- case 21: case 22: case 23: case 24: case 25: case 26: case 27: case 28: case 29: case 30: case 31: //fallthrough
- // these guys are _not_ named as reserved in the manual case 34: case 35: case 36: case 37: case 38: case 38: case 39: case 40: case 41: case 42: case 43: case 44: case 45: case 46: case 47:
- external = gna::ReservedGpsPosVelType; break;
- default: external = gna::UnknownGpsPosVelType; break;
- }
- return external;
+ // There are unused values between (and including) 35 to 47 and 57 to 63
+ if( (novatelGpsPosVelType>=0 && novatelGpsPosVelType<=34 ) ||
+ (novatelGpsPosVelType>=48 && novatelGpsPosVelType<=56 ) ||
+ (novatelGpsPosVelType>=64 && novatelGpsPosVelType<=66 ) )
+ return static_cast<gna::GpsPosVelType>(novatelGpsPosVelType);
+ else
+ return gna::UnknownGpsPosVelType;
}
- std::string doubleVectorToString(vector<double > &vec, std::string seperator){
+ std::string doubleVectorToString(const vector<double > &vec, const std::string seperator){
std::stringstream ss;
int max = vec.size();
ss << "[";
Modified: gearbox/trunk/src/gbxnovatelacfr/driver.h
===================================================================
--- gearbox/trunk/src/gbxnovatelacfr/driver.h 2009-08-14 05:02:58 UTC (rev 434)
+++ gearbox/trunk/src/gbxnovatelacfr/driver.h 2009-08-14 06:46:34 UTC (rev 435)
@@ -52,7 +52,7 @@
//! - offset has size 3
bool isValid() const;
//! Dumps the config in human readable form
- std::string toString();
+ std::string toString() const;
std::string serialDevice_;
int baudRate_;
@@ -73,7 +73,7 @@
//! - a non-empty device name
//! - baud rate is supported by device (9600, 19200, 38400, 115200, 230400)
bool isValid() const;
- std::string toString();
+ std::string toString() const;
std::string serialDevice_;
int baudRate_;
@@ -108,7 +108,7 @@
//! - not const, since it has limited self-fixing capabilities (for incorrect message-rates)
bool isValid();
//! Dumps the config in human readable form
- std::string toString();
+ std::string toString() const;
//!@name Serial settings
//
@@ -196,68 +196,96 @@
Fault //!< Problem, probably fatal
};
+//! Convert a StatusMessageType into a string
+std::string toString( StatusMessageType type );
+
+
//! Novatel's different solution status types.
//
//! Explanations from the manual.
enum GpsSolutionStatusType{
- SolComputed, //!< Solution computed
- InsufficientObs, //!< Insufficient observations
- NoConvergence, //!< No convergence
- Singularity, //!< Singularity at parameters matrix
- CovTrace, //!< Covariance trace exceeds maximum (trace > 1000 m)
- TestDist, //!< Test distance exceeded (maximum of 3 rejections if distance > 10 km)
- ColdStart, //!< Not yet converged from cold start
- VHLimit, //!< Height or velocity limits exceeded (in accordance with COCOM export licensing restrictions)
- Variance, //!< Variance exceeds limits
- Residuals, //!< Residuals are too large
- DeltaPos, //!< Delta position is too large
- NegativeVar, //!< Negative variance
- IntegrityWarning, //!< Large residuals make position unreliable
- InsInactive, //!< INS has not started yet
- InsAligning, //!< INS doing its coarse alignment
- InsBad, //!< INS position is bad
- ImuUnplugged, //!< No IMU detected
- Pending, //!< When a FIX POSITION command is entered, the receiver computes its own position and determines if the fixed position is valid
- InvalidFix, //!< The fixed position, entered using the FIX POSITION command, is not valid
- ReservedGpsSolutionStatusType,
+ SolComputed=0, //!< Solution computed
+ InsufficientObs=1, //!< Insufficient observations
+ NoConvergence=2, //!< No convergence
+ Singularity=3, //!< Singularity at parameters matrix
+ CovTrace=4, //!< Covariance trace exceeds maximum (trace > 1000 m)
+ TestDist=5, //!< Test distance exceeded (maximum of 3 rejections if distance > 10 km)
+ ColdStart=6, //!< Not yet converged from cold start
+ VHLimit=7, //!< Height or velocity limits exceeded (in accordance with COCOM export licensing restrictions)
+ Variance=8, //!< Variance exceeds limits
+ Residuals=9, //!< Residuals are too large
+ DeltaPos=10, //!< Delta position is too large
+ NegativeVar=11, //!< Negative variance
+ ReservedGpsSolutionStatusType12=12, //!< Value Reserved for future use
+ IntegrityWarning=13, //!< Large residuals make position unreliable
+ InsInactive=14, //!< INS has not started yet
+ InsAligning=15, //!< INS doing its coarse alignment
+ InsBad=16, //!< INS position is bad
+ ImuUnplugged=17, //!< No IMU detected
+ Pending=18, //!< When a FIX POSITION command is entered, the receiver computes its own position and determines if the fixed position is valid
+ InvalidFix=19, //!< The fixed position, entered using the FIX POSITION command, is not valid
UnknownGpsSolutionStatusType
};
+//! Convert a GpsSolutionStatusType into a string
+std::string toString( GpsSolutionStatusType type );
+
//! Novatel's different fix types.
//
//! Sadly mixed for position/velocity with some INS gear thrown in; explanations from the manual.
enum GpsPosVelType{
- None, //!< No solution
- FixedPos, //!< Position has been fixed by the FIX POSITION command or by position averaging
- FixedHeight, //!< Position has been fixed by the FIX HEIGHT, or FIX AUTO, command or by position averaging
- FloatConv, //!< Solution from floating point carrier phase ambiguities
- WideLane, //!< Solution from wide-lane ambiguities
- NarrowLane, //!< Solution from narrow-lane ambiguities
- DopplerVelocity, //!< Velocity computed using instantaneous Doppler
- Single, //!< Single point position
- PsrDiff, //!< Pseudorange differential solution
- Waas, //!< Solution calculated using corrections from an SBAS
- Propagated, //!< Propagated by a Kalman filter without new observations
- Omnistar, //!< OmniSTAR VBS position (L1 sub-meter) a
- L1Float, //!< Floating L1 ambiguity solution
- IonoFreeFloat, //!< Floating ionospheric-free ambiguity solution
- NarrowFloat, //!< Floating narrow-lane ambiguity solution
- L1Int, //!< Integer L1 ambiguity solution
- WideInt, //!< Integer wide-lane ambiguity solution
- NarrowInt, //!< Integer narrow-lane ambiguity solution
- RtkDirectIns, //!< RTK status where the RTK filter is directly initialized from the INS filter. b
- Ins, //!< INS calculated position corrected for the antenna b
- InsPsrSp, //!< INS pseudorange single point solution - no DGPS corrections b
- InsPsrDiff, //!< INS pseudorange differential solution b
- InsRtkFloat, //!< INS RTK floating point ambiguities solution b
- InsRtkFixed, //!< INS RTK fixed ambiguities solution b
- OmniStarHp, //!< OmniSTAR high precision a
- OmniStarXp, //!< OmniSTAR extra precision a
- CdGps, //!< Position solution using CDGPS corrections
- ReservedGpsPosVelType,
+ None=0, //!< No solution
+ FixedPos=1, //!< Position has been fixed by the FIX POSITION command or by position averaging
+ FixedHeight=2, //!< Position has been fixed by the FIX HEIGHT, or FIX AUTO, command or by position averaging
+ ReservedGpsPosVelType3=3, //!< Value Reserved for future use
+ FloatConv=4, //!< Solution from floating point carrier phase ambiguities
+ WideLane=5, //!< Solution from wide-lane ambiguities
+ NarrowLane=6, //!< Solution from narrow-lane ambiguities
+ ReservedGpsPosVelType7=7, //!< Value Reserved for future use
+ DopplerVelocity=8, //!< Velocity computed using instantaneous Doppler
+ ReservedGpsPosVelType9=9, //!< Value Reserved for future use
+ ReservedGpsPosVelType10=10, //!< Value Reserved for future use
+ ReservedGpsPosVelType11=11, //!< Value Reserved for future use
+ ReservedGpsPosVelType12=12, //!< Value Reserved for future use
+ ReservedGpsPosVelType13=13, //!< Value Reserved for future use
+ ReservedGpsPosVelType14=14, //!< Value Reserved for future use
+ ReservedGpsPosVelType15=15, //!< Value Reserved for future use
+ Single=16, //!< Single point position
+ PsrDiff=17, //!< Pseudorange differential solution
+ Waas=18, //!< Solution calculated using corrections from an SBAS
+ Propagated=19, //!< Propagated by a Kalman filter without new observations
+ Omnistar=20, //!< OmniSTAR VBS position (L1 sub-meter) a
+ ReservedGpsPosVelType21=21, //!< Value Reserved for future use
+ ReservedGpsPosVelType22=22, //!< Value Reserved for future use
+ ReservedGpsPosVelType23=23, //!< Value Reserved for future use
+ ReservedGpsPosVelType24=24, //!< Value Reserved for future use
+ ReservedGpsPosVelType25=25, //!< Value Reserved for future use
+ ReservedGpsPosVelType26=26, //!< Value Reserved for future use
+ ReservedGpsPosVelType27=27, //!< Value Reserved for future use
+ ReservedGpsPosVelType28=28, //!< Value Reserved for future use
+ ReservedGpsPosVelType29=29, //!< Value Reserved for future use
+ ReservedGpsPosVelType30=30, //!< Value Reserved for future use
+ ReservedGpsPosVelType31=31, //!< Value Reserved for future use
+ L1Float=32, //!< Floating L1 ambiguity solution
+ IonoFreeFloat=33, //!< Floating ionospheric-free ambiguity solution
+ NarrowFloat=34, //!< Floating narrow-lane ambiguity solution
+ L1Int=48, //!< Integer L1 ambiguity solution
+ WideInt=49, //!< Integer wide-lane ambiguity solution
+ NarrowInt=50, //!< Integer narrow-lane ambiguity solution
+ RtkDirectIns=51, //!< RTK status where the RTK filter is directly initialized from the INS filter. b
+ Ins=52, //!< INS calculated position corrected for the antenna b
+ InsPsrSp=53, //!< INS pseudorange single point solution - no DGPS corrections b
+ InsPsrDiff=54, //!< INS pseudorange differential solution b
+ InsRtkFloat=55, //!< INS RTK floating point ambiguities solution b
+ InsRtkFixed=56, //!< INS RTK fixed ambiguities solution b
+ OmniStarHp=64, //!< OmniSTAR high precision a
+ OmniStarXp=65, //!< OmniSTAR extra precision a
+ CdGps=66, //!< Position solution using CDGPS corrections
UnknownGpsPosVelType
};
+//! Convert a GpsPosVelType into a string
+std::string toString( GpsPosVelType type );
//! possible types GenericData can contain
enum DataType {
@@ -276,7 +304,7 @@
public:
virtual ~GenericData(){};
virtual DataType type() const=0;
- virtual std::string toString()=0;
+ virtual std::string toString() const=0;
private:
};
@@ -286,7 +314,7 @@
DataType type() const {
return InsPva;
}
- std::string toString();
+ std::string toString() const;
int gpsWeekNr; //!< number of full weeks since midnight 05/Jan/1980 (UTC)
double secIntoWeek; //!< yields GPS-time (together with @ref gpsWeekNr); continous (contrary to UTC which uses leapseconds)
double latitude; //!< [deg] north positive WGS84
@@ -326,7 +354,7 @@
DataType type() const {
return BestGpsPos;
}
- std::string toString();
+ std::string toString() const;
int gpsWeekNr; //!< number of full weeks since midnight 05/Jan/1980 (UTC)
unsigned int msIntoWeek; //!< yields GPS-time (together with @ref gpsWeekNr); continous (contrary to UTC which uses leapseconds)
GpsSolutionStatusType solutionStatus; //
@@ -360,7 +388,7 @@
DataType type() const {
return BestGpsVel;
}
- std::string toString();
+ std::string toString() const;
int gpsWeekNr; //!< number of full weeks since midnight 05/Jan/1980 (UTC)
unsigned int msIntoWeek; //!< yields GPS-time (together with @ref gpsWeekNr); continous (contrary to UTC which uses leapseconds)
GpsSolutionStatusType solutionStatus; //
@@ -384,7 +412,7 @@
DataType type() const {
return RawImu;
}
- std::string toString();
+ std::string toString() const;
int gpsWeekNr; //!< number of full weeks since midnight 05/Jan/1980 (UTC)
double secIntoWeek; //!< yields GPS-time (together with @ref gpsWeekNr); continous (contrary to UTC which uses leapseconds)
//!@name Change in speed
Modified: gearbox/trunk/src/gbxnovatelacfr/novatel.dox
===================================================================
--- gearbox/trunk/src/gbxnovatelacfr/novatel.dox 2009-08-14 05:02:58 UTC (rev 434)
+++ gearbox/trunk/src/gbxnovatelacfr/novatel.dox 2009-08-14 06:46:34 UTC (rev 435)
@@ -19,7 +19,7 @@
NovatelSPAN is a proprietary Novatel navigation system.
It minimally consists out of a Novatel OEMV GPS receiver (OEM4 receivers should be compatible).
If combined with an IMU, a SPAN system can provide an INS navigation solution at high rate (up to 100Hz).
-The driver initialises the hardware and reports navigation data continuously.
+The driver initializes the hardware and reports navigation data continuously.
for a full list of functions see @ref gbxnovatelacfr
@@ -176,6 +176,17 @@
use the receiver's 'freset' command to bring it back to factory-defaults. The driver itself does not do this,
on the grounds that it also might delete settings that were made persistent with good reason and purpose.
If you are sharing equipment, check with everybody involved, before you use this approach.
+
+@par History
+
+- August 2009: Bugfix (patch by Ian Mahon), driver's GPS status/solution-type enums matched to Novatel's.
+Note: This will create mismatches with old log-files (not data, status/solution-type only)!
+- January 2009: Accepted into distribution after second hardware review.
+- January 2009: Second hardware review, @ref gbxnovatelacfr_hw_reviews_alen
+- August 2008: First hardware review, @ref gbxnovatelacfr_hw_reviews_michael
+- July/August 2008: Code reviews by AlexB and GeoffB (see developer mailing-list archives)
+- June 2008: Started moving functionality from Orca/Hydro's insgps component to gearbox.
+
*/
/*!
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|