40 #ifndef LIBSBP_NAVIGATION_MESSAGES_H
41 #define LIBSBP_NAVIGATION_MESSAGES_H
64 #define SBP_MSG_GPS_TIME 0x0102
65 typedef struct SBP_ATTR_PACKED {
80 #define SBP_MSG_UTC_TIME 0x0103
81 typedef struct SBP_ATTR_PACKED {
101 #define SBP_MSG_DOPS 0x0208
102 typedef struct SBP_ATTR_PACKED {
124 #define SBP_MSG_POS_ECEF 0x0209
125 typedef struct SBP_ATTR_PACKED {
148 #define SBP_MSG_POS_ECEF_COV 0x0214
149 typedef struct SBP_ATTR_PACKED {
176 #define SBP_MSG_POS_LLH 0x020A
177 typedef struct SBP_ATTR_PACKED {
200 #define SBP_MSG_POS_LLH_COV 0x0211
201 typedef struct SBP_ATTR_PACKED {
225 #define SBP_MSG_BASELINE_ECEF 0x020B
226 typedef struct SBP_ATTR_PACKED {
246 #define SBP_MSG_BASELINE_NED 0x020C
247 typedef struct SBP_ATTR_PACKED {
265 #define SBP_MSG_VEL_ECEF 0x020D
266 typedef struct SBP_ATTR_PACKED {
284 #define SBP_MSG_VEL_ECEF_COV 0x0215
285 typedef struct SBP_ATTR_PACKED {
308 #define SBP_MSG_VEL_NED 0x020E
309 typedef struct SBP_ATTR_PACKED {
332 #define SBP_MSG_VEL_NED_COV 0x0212
333 typedef struct SBP_ATTR_PACKED {
360 #define SBP_MSG_VEL_BODY 0x0213
361 typedef struct SBP_ATTR_PACKED {
382 #define SBP_MSG_AGE_CORRECTIONS 0x0210
383 typedef struct SBP_ATTR_PACKED {
405 #define SBP_MSG_GPS_TIME_DEP_A 0x0100
406 typedef struct SBP_ATTR_PACKED {
422 #define SBP_MSG_DOPS_DEP_A 0x0206
423 typedef struct SBP_ATTR_PACKED {
444 #define SBP_MSG_POS_ECEF_DEP_A 0x0200
445 typedef struct SBP_ATTR_PACKED {
469 #define SBP_MSG_POS_LLH_DEP_A 0x0201
470 typedef struct SBP_ATTR_PACKED {
494 #define SBP_MSG_BASELINE_ECEF_DEP_A 0x0202
495 typedef struct SBP_ATTR_PACKED {
516 #define SBP_MSG_BASELINE_NED_DEP_A 0x0203
517 typedef struct SBP_ATTR_PACKED {
539 #define SBP_MSG_VEL_ECEF_DEP_A 0x0204
540 typedef struct SBP_ATTR_PACKED {
560 #define SBP_MSG_VEL_NED_DEP_A 0x0205
561 typedef struct SBP_ATTR_PACKED {
583 #define SBP_MSG_BASELINE_HEADING_DEP_A 0x0207
584 typedef struct SBP_ATTR_PACKED {
s32 n
Velocity North coordinate [mm/s].
u32 tow
GPS Time of Week [ms].
double lon
Longitude [deg].
s32 ns_residual
Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000) [ns].
s32 y
Baseline ECEF Y coordinate [mm].
u16 h_accuracy
Horizontal position accuracy estimate (not implemented).
u32 tow
GPS Time of Week [ms].
s32 z
Velocity in z direction [mm/s].
u8 n_sats
Number of satellites used in solution.
u8 flags
Status flags (reserved)
u16 pdop
Position Dilution of Precision [0.01].
u32 tow
GPS Time of Week [ms].
s32 x
Velocity ECEF X coordinate [mm/s].
u32 tow
GPS Time of Week [ms].
s32 y
Velocity in y direction [mm/s].
u32 tow
GPS time of week rounded to the nearest millisecond [ms].
s32 e
Velocity East coordinate [mm/s].
u8 n_sats
Number of satellites used in solution.
float cov_x_y
Estimated covariance of x and y [m^2/s^2].
u16 gdop
Geometric Dilution of Precision [0.01].
u32 tow
GPS time of week rounded to the nearest millisecond [ms].
u32 tow
GPS Time of Week [ms].
u16 accuracy
Position estimated standard deviation [mm].
s32 d
Velocity Down coordinate [mm/s].
u16 tdop
Time Dilution of Precision [0.01].
float cov_e_d
Covariance of eastward and downward measurement [m^2].
u16 hdop
Horizontal Dilution of Precision [0.01].
double lat
Latitude [deg].
u16 h_accuracy
Horizontal velocity estimated standard deviation [mm/s].
u16 wn
GPS week number [weeks].
float cov_y_z
Estimated covariance of y and z [m^2].
double y
ECEF Y coordinate [m].
s32 z
Baseline ECEF Z coordinate [mm].
s32 x
Velocity in x direction [mm/s].
s32 ns_residual
Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000) [ns].
u8 hours
hours of day (range 0-23) [hours]
u8 n_sats
Number of satellites used in solution.
double height
Height above WGS84 ellipsoid [m].
float cov_y_y
Estimated variance of y [m^2].
s32 d
Velocity Down coordinate [mm/s].
u8 minutes
minutes of hour (range 0-59) [minutes]
s32 y
Velocity ECEF Y coordinate [mm/s].
u32 tow
GPS Time of Week [ms].
u16 h_accuracy
Horizontal velocity accuracy estimate (not implemented).
u32 tow
GPS Time of Week [ms].
float cov_n_n
Estimated variance of northward measurement [m^2].
u16 vdop
Vertical Dilution of Precision [0.01].
u32 tow
GPS Time of Week [ms].
s32 x
Velocity ECEF X coordinate [mm/s].
s32 z
Velocity ECEF Z coordinate [mm/s].
u16 tdop
Time Dilution of Precision [0.01].
u16 pdop
Position Dilution of Precision [0.01].
s32 y
Baseline ECEF Y coordinate [mm].
float cov_e_d
Covariance of easting and downward measurement [m^2].
s32 z
Velocity ECEF Z coordinate [mm/s].
double x
ECEF X coordinate [m].
u8 n_sats
Number of satellites used in solution.
u8 flags
Status flags (reserved)
s32 e
Velocity East coordinate [mm/s].
float cov_x_z
Covariance of x and z [m^2].
double z
ECEF Z coordinate [m].
u16 age
Age of the corrections (0xFFFF indicates invalid) [deciseconds].
float cov_y_y
Estimated variance of y [m^2/s^2].
double x
ECEF X coordinate [m].
uint8_t u8
Unsigned 8-bit integer.
s32 y
Velocity ECEF Y coordinate [mm/s].
u8 n_sats
Number of satellites used in solution.
u8 n_sats
Number of satellites used in solution.
float cov_y_z
Covariance of y and z [m^2].
float cov_x_z
Estimated covariance of x and z [m^2/s^2].
u8 n_sats
Number of satellites used in solution.
s32 x
Velocity ECEF X coordinate [mm/s].
u16 h_accuracy
Horizontal position estimated standard deviation [mm].
double y
ECEF Y coordinate [m].
s32 d
Velocity Down coordinate [mm/s].
float cov_n_d
Covariance of northing and downward measurement [m^2].
s32 x
Baseline ECEF X coordinate [mm].
u8 n_sats
Number of satellites used in solution.
u16 accuracy
Position estimated standard deviation [mm].
float cov_x_z
Estimated covariance of x and z [m^2].
u8 n_sats
Number of satellites used in solution.
u16 v_accuracy
Vertical position estimated standard deviation [mm].
u8 flags
Indicates the position solution with which the DOPS message corresponds.
u32 tow
GPS Time of Week [ms].
u16 gdop
Geometric Dilution of Precision [0.01].
float cov_n_d
Covariance of northward and downward measurement [m^2].
u16 accuracy
Position accuracy estimate [mm].
u8 n_sats
Number of satellites used in solution.
s32 n
Velocity North coordinate [mm/s].
float cov_x_y
Covariance of x and y [m^2].
u32 tow
GPS Time of Week [ms].
s32 n
Baseline North coordinate [mm].
s32 x
Baseline ECEF X coordinate [mm].
u32 tow
GPS Time of Week [ms].
u32 tow
GPS Time of Week [ms].
uint16_t u16
Unsigned 16-bit integer.
double height
Height above WGS84 ellipsoid [m].
u16 v_accuracy
Vertical position accuracy estimate (not implemented).
float cov_e_e
Estimated variance of eastward measurement [m^2].
s32 e
Velocity East coordinate [mm/s].
u8 flags
Status flags (reserved)
s32 y
Velocity ECEF Y coordinate [mm/s].
u8 n_sats
Number of satellites used in solution.
u16 h_accuracy
Horizontal position accuracy estimate (not implemented).
u16 wn
GPS week number [weeks].
u16 v_accuracy
Vertical velocity accuracy estimate (not implemented).
double z
ECEF Z coordinate [m].
uint32_t u32
Unsigned 32-bit integer.
u32 tow
GPS Time of Week [ms].
u16 h_accuracy
Horizontal position estimated standard deviation [mm].
s32 d
Baseline Down coordinate [mm].
double lon
Longitude [deg].
u32 tow
GPS Time of Week [ms].
u16 vdop
Vertical Dilution of Precision [0.01].
s32 z
Baseline ECEF Z coordinate [mm].
u8 n_sats
Number of satellites used in solution.
u8 n_sats
Number of satellites used in solution.
s32 d
Baseline Down coordinate [mm].
u8 n_sats
Number of satellites used in solution.
u8 flags
Indicates source and time validity.
u32 tow
GPS Time of Week [ms].
float cov_x_x
Estimated variance of x [m^2].
float cov_n_e
Covariance of northward and eastward measurement [m^2].
u8 n_sats
Number of satellites used in solution.
u16 v_accuracy
Vertical velocity estimated standard deviation [mm/s].
u8 n_sats
Number of satellites used in solution.
u8 flags
Status flags (reserved)
s32 n
Baseline North coordinate [mm].
float cov_z_z
Estimated variance of z [m^2].
u16 v_accuracy
Vertical position estimated standard deviation [mm].
float cov_x_x
Estimated variance of x [m^2].
u16 hdop
Horizontal Dilution of Precision [0.01].
float cov_d_d
Estimated variance of downward measurement [m^2].
double y
ECEF Y coordinate [m].
u32 ns
nanoseconds of second (range 0-999999999) [nanoseconds]
float cov_y_y
Estimated variance of y [m^2].
double lon
Longitude [deg].
double x
ECEF X coordinate [m].
float cov_y_z
Estimated covariance of y and z [m^2/s^2].
float cov_z_z
Estimated variance of z [m^2].
u32 tow
GPS Time of Week [ms].
u8 day
days in the month (range 1-31) [day]
u32 tow
GPS Time of Week [ms].
u32 tow
GPS time of week rounded to the nearest millisecond [ms].
float cov_n_n
Estimated variance of northing [m^2].
u8 n_sats
Number of satellites used in solution.
u32 tow
GPS Time of Week [ms].
float cov_n_e
Covariance of northing and easting [m^2].
float cov_z_z
Estimated variance of z [m^2/s^2].
u8 n_sats
Number of satellites used in solution.
u8 seconds
seconds of minute (range 0-60) rounded down [seconds]
float cov_x_x
Estimated variance of x [m^2/s^2].
u16 accuracy
Velocity accuracy estimate (not implemented).
float cov_e_e
Estimated variance of easting [m^2].
u16 v_accuracy
Vertical position accuracy estimate (not implemented).
u32 tow
GPS Time of Week [ms].
u32 heading
Heading [mdeg].
s32 n
Velocity North coordinate [mm/s].
int32_t s32
Signed 32-bit integer.
s32 e
Baseline East coordinate [mm].
double lat
Latitude [deg].
double z
ECEF Z coordinate [m].
double lat
Latitude [deg].
u16 accuracy
Position accuracy estimate (not implemented).
u32 tow
GPS Time of Week [ms].
u32 tow
GPS Time of Week [ms].
s32 e
Baseline East coordinate [mm].
float cov_x_y
Estimated covariance of x and y [m^2].
float cov_d_d
Estimated variance of downward measurement [m^2].
s32 z
Velocity ECEF Z coordinate [mm/s].
u16 accuracy
Velocity estimated standard deviation [mm/s].
1.8.9.1 
