C++ header about the data struct of FMI IM19.

im19_data.h

#ifndef IM19_DATA_H
#define IM19_DATA_H
#include <cstdint>

struct __attribute__((packed)) IMUData {
  char   header[4] = {'f', 'm', 'i', 'm'};
  double hhmmss_ss;
  float  acc_x;
  float  acc_y;
  float  acc_z;
  float  gyro_x;
  float  gyro_y;
  float  gyro_z;

  float reserved[3];

  uint16_t checksum;
  char     footer[2] = {'e', 'd'};
};

struct __attribute__((packed)) GNSSData {
  char     header[4] = {'f', 'm', 'i', 'g'};
  double   hhmmss_ss;
  double   BLH[3];
  float    vel_n;
  float    vel_e;
  float    vel_d;
  float    pos_cov_n;
  float    pos_cov_e;
  float    pos_cov_d;
  float    reserved[2];
  float    dual_antenna_heading;
  float    hrms;
  float    vrms;
  float    hdop;
  float    vdop;
  uint8_t  satellite_count;
  uint8_t  status;
  uint8_t  diff_age;
  uint16_t checksum;
  char     footer[2] = {'e', 'd'};
};

struct __attribute__((packed)) NAVIData {
  char     header[4] = {'f', 'm', 'i', 'n'};
  double   hhmmss_ss;
  double   BLH[3];
  float    vel_n;
  float    vel_e;
  float    vel_d;
  float    roll;
  float    pitch;
  float    yaw;
  float    precision;
  float    acc_bias_x;
  float    acc_bias_y;
  float    acc_bias_z;
  float    gyro_bias_x;
  float    gyro_bias_y;
  float    gyro_bias_z;
  float    temperature;
  uint32_t status;
  uint16_t checksum;
  char     footer[2] = {'e', 'd'};
};

#endif  // IM19_DATA_H

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