# Copyright (C) 2015-2021 Swift Navigation Inc. # Contact: https://support.swiftnav.com # # This source is subject to the license found in the file 'LICENSE' which must # be distributed together with this source. All other rights reserved. # # THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, # EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED # WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. package: swiftnav.sbp.navigation description: > Geodetic navigation messages reporting GPS time, position, velocity, and baseline position solutions. For position solutions, these messages define several different position solutions: single-point (SPP), RTK, and pseudo-absolute position solutions. The SPP is the standalone, absolute GPS position solution using only a single receiver. The RTK solution is the differential GPS solution, which can use either a fixed/integer or floating carrier phase ambiguity. The pseudo-absolute position solution uses a user-provided, well-surveyed base station position (if available) and the RTK solution in tandem. When the inertial navigation mode indicates that the IMU is used, all messages are reported in the vehicle body frame as defined by device settings. By default, the vehicle body frame is configured to be coincident with the antenna phase center. When there is no inertial navigation, the solution will be reported at the phase center of the antenna. There is no inertial navigation capability on Piksi Multi or Duro. The tow field, when valid, is most often the Time of Measurement. When this is the case, the 5th bit of flags is set to the default value of 0. When this is not the case, the tow may be a time of arrival or a local system timestamp, irrespective of the time reference (GPS Week or else), but not a Time of Measurement. stable: True public: True include: - types.yaml definitions: - MSG_GPS_TIME: id: 0x0102 short_desc: GPS Time desc: > This message reports the GPS time, representing the time since the GPS epoch began on midnight January 6, 1980 UTC. GPS time counts the weeks and seconds of the week. The weeks begin at the Saturday/Sunday transition. GPS week 0 began at the beginning of the GPS time scale. Within each week number, the GPS time of the week is between between 0 and 604800 seconds (=60*60*24*7). Note that GPS time does not accumulate leap seconds, and as of now, has a small offset from UTC. In a message stream, this message precedes a set of other navigation messages referenced to the same time (but lacking the ns field) and indicates a more precise time of these messages. fields: - wn: type: u16 units: weeks desc: GPS week number - tow: type: u32 units: ms desc: GPS time of week rounded to the nearest millisecond - ns_residual: type: s32 units: ns desc: > Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000) - flags: type: u8 desc: Status flags (reserved) fields: - 3-7: desc: Reserved - 0-2: desc: Time source values: - 0: None (invalid) - 1: GNSS Solution - 2: Propagated - MSG_GPS_TIME_GNSS: id: 0x0104 short_desc: GPS Time desc: > This message reports the GPS time, representing the time since the GPS epoch began on midnight January 6, 1980 UTC. GPS time counts the weeks and seconds of the week. The weeks begin at the Saturday/Sunday transition. GPS week 0 began at the beginning of the GPS time scale. Within each week number, the GPS time of the week is between between 0 and 604800 seconds (=60*60*24*7). Note that GPS time does not accumulate leap seconds, and as of now, has a small offset from UTC. In a message stream, this message precedes a set of other navigation messages referenced to the same time (but lacking the ns field) and indicates a more precise time of these messages. fields: - wn: type: u16 units: weeks desc: GPS week number - tow: type: u32 units: ms desc: GPS time of week rounded to the nearest millisecond - ns_residual: type: s32 units: ns desc: > Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000) - flags: type: u8 desc: Status flags (reserved) fields: - 3-7: desc: Reserved - 0-2: desc: Time source values: - 0: None (invalid) - 1: GNSS Solution - 2: Propagated - MSG_UTC_TIME: id: 0x0103 short_desc: UTC Time desc: > This message reports the Universal Coordinated Time (UTC). Note the flags which indicate the source of the UTC offset value and source of the time fix. fields: - flags: type: u8 desc: Indicates source and time validity fields: - 5-7: desc: Reserved - 3-4: desc: UTC offset source values: - 0: Factory Default - 1: Non Volatile Memory - 2: Decoded this Session - 0-2: desc: Time source values: - 0: None (invalid) - 1: GNSS Solution - 2: Propagated - tow: type: u32 units: ms desc: GPS time of week rounded to the nearest millisecond - year: type: u16 units: year desc: Year - month: type: u8 units: months desc: Month (range 1 .. 12) - day: type: u8 units: day desc: days in the month (range 1-31) - hours: type: u8 units: hours desc: hours of day (range 0-23) - minutes: type: u8 units: minutes desc: minutes of hour (range 0-59) - seconds: type: u8 units: seconds desc: seconds of minute (range 0-60) rounded down - ns: type: u32 units: nanoseconds desc: nanoseconds of second (range 0-999999999) - MSG_UTC_TIME_GNSS: id: 0x0105 short_desc: UTC Time desc: > This message reports the Universal Coordinated Time (UTC). Note the flags which indicate the source of the UTC offset value and source of the time fix. fields: - flags: type: u8 desc: Indicates source and time validity fields: - 5-7: desc: Reserved - 3-4: desc: UTC offset source values: - 0: Factory Default - 1: Non Volatile Memory - 2: Decoded this Session - 0-2: desc: Time source values: - 0: None (invalid) - 1: GNSS Solution - 2: Propagated - tow: type: u32 units: ms desc: GPS time of week rounded to the nearest millisecond - year: type: u16 units: year desc: Year - month: type: u8 units: months desc: Month (range 1 .. 12) - day: type: u8 units: day desc: days in the month (range 1-31) - hours: type: u8 units: hours desc: hours of day (range 0-23) - minutes: type: u8 units: minutes desc: minutes of hour (range 0-59) - seconds: type: u8 units: seconds desc: seconds of minute (range 0-60) rounded down - ns: type: u32 units: nanoseconds desc: nanoseconds of second (range 0-999999999) - MSG_DOPS: id: 0x0208 short_desc: Dilution of Precision desc: > This dilution of precision (DOP) message describes the effect of navigation satellite geometry on positional measurement precision. The flags field indicated whether the DOP reported corresponds to differential or SPP solution. fields: - tow: type: u32 units: ms desc: GPS Time of Week - gdop: type: u16 units: 0.01 desc: Geometric Dilution of Precision - pdop: type: u16 units: 0.01 desc: Position Dilution of Precision - tdop: type: u16 units: 0.01 desc: Time Dilution of Precision - hdop: type: u16 units: 0.01 desc: Horizontal Dilution of Precision - vdop: type: u16 units: 0.01 desc: Vertical Dilution of Precision - flags: type: u8 desc: Indicates the position solution with which the DOPS message corresponds fields: - 7: desc: RAIM repair flag - 3-6: desc: Reserved - 0-2: desc: Fix mode values: - 0: Invalid - 1: Single Point Position (SPP) - 2: Differential GNSS (DGNSS) - 3: Float RTK - 4: Fixed RTK - 5: Undefined - 6: SBAS Position - MSG_POS_ECEF: id: 0x0209 short_desc: Single-point position in ECEF desc: > The position solution message reports absolute Earth Centered Earth Fixed (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. If the rover receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover's RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - x: type: double units: m desc: ECEF X coordinate - y: type: double units: m desc: ECEF Y coordinate - z: type: double units: m desc: ECEF Z coordinate - accuracy: type: u16 units: mm desc: Position estimated standard deviation - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 6-7: desc: Reserved - 5-5: desc: TOW type values: - 0: Time of Measurement - 1: Other - 3-4: desc: Inertial Navigation Mode values: - 0: None - 1: INS used - 0-2: desc: Fix mode values: - 0: Invalid - 1: Single Point Position (SPP) - 2: Differential GNSS (DGNSS) - 3: Float RTK - 4: Fixed RTK - 5: Dead Reckoning - 6: SBAS Position - MSG_POS_ECEF_COV: id: 0x0214 short_desc: Single-point position in ECEF desc: > The position solution message reports absolute Earth Centered Earth Fixed (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. The message also reports the upper triangular portion of the 3x3 covariance matrix. If the receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover's RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - x: type: double units: m desc: ECEF X coordinate - y: type: double units: m desc: ECEF Y coordinate - z: type: double units: m desc: ECEF Z coordinate - cov_x_x: type: float units: m^2 desc: Estimated variance of x - cov_x_y: type: float units: m^2 desc: Estimated covariance of x and y - cov_x_z: type: float units: m^2 desc: Estimated covariance of x and z - cov_y_y: type: float units: m^2 desc: Estimated variance of y - cov_y_z: type: float units: m^2 desc: Estimated covariance of y and z - cov_z_z: type: float units: m^2 desc: Estimated variance of z - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 6-7: desc: Reserved - 5-5: desc: Type of reported TOW values: - 0: Time of Measurement - 1: Other - 3-4: desc: Inertial Navigation Mode values: - 0: None - 1: INS used - 0-2: desc: Fix mode values: - 0: Invalid - 1: Single Point Position (SPP) - 2: Differential GNSS (DGNSS) - 3: Float RTK - 4: Fixed RTK - 5: Dead Reckoning - 6: SBAS Position - MSG_POS_LLH: id: 0x020A short_desc: Geodetic Position desc: > This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. If the rover receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover's RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - lat: type: double units: deg desc: Latitude - lon: type: double units: deg desc: Longitude - height: type: double units: m desc: Height above WGS84 ellipsoid - h_accuracy: type: u16 units: mm desc: Horizontal position estimated standard deviation - v_accuracy: type: u16 units: mm desc: Vertical position estimated standard deviation - n_sats: type: u8 desc: Number of satellites used in solution. - flags: type: u8 desc: Status flags fields: - 6-7: desc: Reserved - 5-5: desc: Type of reported TOW values: - 0: Time of Measurement - 1: Other - 3-4: desc: Inertial Navigation Mode values: - 0: None - 1: INS used - 0-2: desc: Fix mode values: - 0: Invalid - 1: Single Point Position (SPP) - 2: Differential GNSS (DGNSS) - 3: Float RTK - 4: Fixed RTK - 5: Dead Reckoning - 6: SBAS Position - MSG_POS_LLH_COV: id: 0x0211 short_desc: Geodetic Position desc: > This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution as well as the upper triangle of the 3x3 covariance matrix. The position information and Fix Mode flags follow the MSG_POS_LLH message. Since the covariance matrix is computed in the local-level North, East, Down frame, the covariance terms follow that convention. Thus, covariances are reported against the "downward" measurement and care should be taken with the sign convention. fields: - tow: type: u32 units: ms desc: GPS Time of Week - lat: type: double units: deg desc: Latitude - lon: type: double units: deg desc: Longitude - height: type: double units: m desc: Height above WGS84 ellipsoid - cov_n_n: type: float units: m^2 desc: Estimated variance of northing - cov_n_e: type: float units: m^2 desc: Covariance of northing and easting - cov_n_d: type: float units: m^2 desc: Covariance of northing and downward measurement - cov_e_e: type: float units: m^2 desc: Estimated variance of easting - cov_e_d: type: float units: m^2 desc: Covariance of easting and downward measurement - cov_d_d: type: float units: m^2 desc: Estimated variance of downward measurement - n_sats: type: u8 desc: Number of satellites used in solution. - flags: type: u8 desc: Status flags fields: - 6-7: desc: Reserved - 5-5: desc: Type of reported TOW values: - 0: Time of Measurement - 1: Other - 3-4: desc: Inertial Navigation Mode values: - 0: None - 1: INS used - 0-2: desc: Fix mode values: - 0: Invalid - 1: Single Point Position (SPP) - 2: Differential GNSS (DGNSS) - 3: Float RTK - 4: Fixed RTK - 5: Dead Reckoning - 6: SBAS Position - EstimatedHorizontalErrorEllipse: short_desc: Horizontal estimated error ellipse fields: - semi_major: type: float units: m desc: > The semi major axis of the estimated horizontal error ellipse at the user-configured confidence level; zero implies invalid. - semi_minor: type: float units: m desc: > The semi minor axis of the estimated horizontal error ellipse at the user-configured confidence level; zero implies invalid. - orientation: type: float units: deg desc: > The orientation of the semi major axis of the estimated horizontal error ellipse with respect to North. - MSG_POS_LLH_ACC: id: 0x0218 short_desc: Geodetic Position and Accuracy desc: > This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution as well as the estimated horizontal, vertical, cross-track and along-track errors. The position information and Fix Mode flags follow the MSG_POS_LLH message. Since the covariance matrix is computed in the local-level North, East, Down frame, the estimated error terms follow that convention. The estimated errors are reported at a user-configurable confidence level. The user-configured percentile is encoded in the percentile field. fields: - tow: type: u32 units: ms desc: GPS Time of Week - lat: type: double units: deg desc: Latitude - lon: type: double units: deg desc: Longitude - height: type: double units: m desc: Height above WGS84 ellipsoid - orthometric_height: type: double units: m desc: Height above the geoid (i.e. height above mean sea level). See confidence_and_geoid for geoid model used. - h_accuracy: type: float units: m desc: Estimated horizontal error at the user-configured confidence level; zero implies invalid. - v_accuracy: type: float units: m desc: Estimated vertical error at the user-configured confidence level; zero implies invalid. - ct_accuracy: type: float units: m desc: Estimated cross-track error at the user-configured confidence level; zero implies invalid. - at_accuracy: type: float units: m desc: Estimated along-track error at the user-configured confidence level; zero implies invalid. - h_ellipse: type: EstimatedHorizontalErrorEllipse desc: The estimated horizontal error ellipse at the user-configured confidence level. - confidence_and_geoid: type: u8 desc: The lower bits describe the configured confidence level for the estimated position error. The middle bits describe the geoid model used to calculate the orthometric height. fields: - 7-7: desc: Reserved - 4-6: desc: Geoid model values: - 0: No model - 1: EGM96 - 2: EGM2008 - 0-3: desc: Confidence level values: - 0: reserved - 1: 39.35% - 2: 68.27% - 3: 95.45% - n_sats: type: u8 desc: Number of satellites used in solution. - flags: type: u8 desc: Status flags fields: - 6-7: desc: Reserved - 5-5: desc: Type of reported TOW values: - 0: Time of Measurement - 1: Other - 3-4: desc: Inertial Navigation Mode values: - 0: None - 1: INS used - 0-2: desc: Fix mode values: - 0: Invalid - 1: Single Point Position (SPP) - 2: Differential GNSS (DGNSS) - 3: Float RTK - 4: Fixed RTK - 5: Dead Reckoning - 6: SBAS Position - MSG_BASELINE_ECEF: id: 0x020B short_desc: Baseline Position in ECEF desc: > This message reports the baseline solution in Earth Centered Earth Fixed (ECEF) coordinates. This baseline is the relative vector distance from the base station to the rover receiver. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - x: type: s32 units: mm desc: Baseline ECEF X coordinate - y: type: s32 units: mm desc: Baseline ECEF Y coordinate - z: type: s32 units: mm desc: Baseline ECEF Z coordinate - accuracy: type: u16 units: mm desc: Position estimated standard deviation - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 3-7: desc: Reserved - 0-2: desc: Fix mode values: - 0: Invalid - 1: Reserved - 2: Differential GNSS (DGNSS) - 3: Float RTK - 4: Fixed RTK - 5: Reserved - 6: Reserved - MSG_BASELINE_NED: id: 0x020C short_desc: Baseline in NED desc: > This message reports the baseline solution in North East Down (NED) coordinates. This baseline is the relative vector distance from the base station to the rover receiver, and NED coordinate system is defined at the local WGS84 tangent plane centered at the base station position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - n: type: s32 units: mm desc: Baseline North coordinate - e: type: s32 units: mm desc: Baseline East coordinate - d: type: s32 units: mm desc: Baseline Down coordinate - h_accuracy: type: u16 units: mm desc: Horizontal position estimated standard deviation - v_accuracy: type: u16 units: mm desc: Vertical position estimated standard deviation - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 3-7: desc: Reserved - 0-2: desc: Fix mode values: - 0: Invalid - 1: Reserved - 2: Differential GNSS (DGNSS) - 3: Float RTK - 4: Fixed RTK - 5: Reserved - 6: Reserved - MSG_VEL_ECEF: id: 0x020D short_desc: Velocity in ECEF desc: > This message reports the velocity in Earth Centered Earth Fixed (ECEF) coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - x: type: s32 units: mm/s desc: Velocity ECEF X coordinate - y: type: s32 units: mm/s desc: Velocity ECEF Y coordinate - z: type: s32 units: mm/s desc: Velocity ECEF Z coordinate - accuracy: type: u16 units: mm/s desc: > Velocity estimated standard deviation - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 6-7: desc: Reserved - 5-5: desc: Type of reported TOW values: - 0: Time of Measurement - 1: Other - 3-4: desc: INS Navigation Mode values: - 0: None - 1: INS used - 0-2: desc: Velocity mode values: - 0: Invalid - 1: Measured Doppler derived - 2: Computed Doppler derived - 3: Dead Reckoning - MSG_VEL_ECEF_COV: id: 0x0215 short_desc: Velocity in ECEF desc: > This message reports the velocity in Earth Centered Earth Fixed (ECEF) coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - x: type: s32 units: mm/s desc: Velocity ECEF X coordinate - y: type: s32 units: mm/s desc: Velocity ECEF Y coordinate - z: type: s32 units: mm/s desc: Velocity ECEF Z coordinate - cov_x_x: type: float units: m^2/s^2 desc: Estimated variance of x - cov_x_y: type: float units: m^2/s^2 desc: Estimated covariance of x and y - cov_x_z: type: float units: m^2/s^2 desc: Estimated covariance of x and z - cov_y_y: type: float units: m^2/s^2 desc: Estimated variance of y - cov_y_z: type: float units: m^2/s^2 desc: Estimated covariance of y and z - cov_z_z: type: float units: m^2/s^2 desc: Estimated variance of z - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 6-7: desc: Reserved - 5-5: desc: Type of reported TOW values: - 0: Time of Measurement - 1: Other - 3-4: desc: INS Navigation Mode values: - 0: None - 1: INS used - 0-2: desc: Velocity mode values: - 0: Invalid - 1: Measured Doppler derived - 2: Computed Doppler derived - 3: Dead Reckoning - MSG_VEL_NED: id: 0x020E short_desc: Velocity in NED desc: > This message reports the velocity in local North East Down (NED) coordinates. The NED coordinate system is defined as the local WGS84 tangent plane centered at the current position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - n: type: s32 units: mm/s desc: Velocity North coordinate - e: type: s32 units: mm/s desc: Velocity East coordinate - d: type: s32 units: mm/s desc: Velocity Down coordinate - h_accuracy: type: u16 units: mm/s desc: > Horizontal velocity estimated standard deviation - v_accuracy: type: u16 units: mm/s desc: > Vertical velocity estimated standard deviation - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 6-7: desc: Reserved - 5-5: desc: Type of reported TOW values: - 0: Time of Measurement - 1: Other - 3-4: desc: INS Navigation Mode values: - 0: None - 1: INS used - 0-2: desc: Velocity mode values: - 0: Invalid - 1: Measured Doppler derived - 2: Computed Doppler derived - 3: Dead Reckoning - MSG_VEL_NED_COV: id: 0x0212 short_desc: Velocity in NED desc: > This message reports the velocity in local North East Down (NED) coordinates. The NED coordinate system is defined as the local WGS84 tangent plane centered at the current position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). This message is similar to the MSG_VEL_NED, but it includes the upper triangular portion of the 3x3 covariance matrix. fields: - tow: type: u32 units: ms desc: GPS Time of Week - n: type: s32 units: mm/s desc: Velocity North coordinate - e: type: s32 units: mm/s desc: Velocity East coordinate - d: type: s32 units: mm/s desc: Velocity Down coordinate - cov_n_n: type: float units: m^2 desc: Estimated variance of northward measurement - cov_n_e: type: float units: m^2 desc: Covariance of northward and eastward measurement - cov_n_d: type: float units: m^2 desc: Covariance of northward and downward measurement - cov_e_e: type: float units: m^2 desc: Estimated variance of eastward measurement - cov_e_d: type: float units: m^2 desc: Covariance of eastward and downward measurement - cov_d_d: type: float units: m^2 desc: Estimated variance of downward measurement - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 6-7: desc: Reserved - 5-5: desc: Type of reported TOW values: - 0: Time of Measurement - 1: Other - 3-4: desc: INS Navigation Mode values: - 0: None - 1: INS used - 0-2: desc: Velocity mode values: - 0: Invalid - 1: Measured Doppler derived - 2: Computed Doppler derived - 3: Dead Reckoning - MSG_POS_ECEF_GNSS: id: 0x0229 short_desc: GNSS-only Position in ECEF desc: > The position solution message reports absolute Earth Centered Earth Fixed (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. If the rover receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover's RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - x: type: double units: m desc: ECEF X coordinate - y: type: double units: m desc: ECEF Y coordinate - z: type: double units: m desc: ECEF Z coordinate - accuracy: type: u16 units: mm desc: Position estimated standard deviation - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 3-7: desc: Reserved - 0-2: desc: Fix mode values: - 0: Invalid - 1: Single Point Position (SPP) - 2: Differential GNSS (DGNSS) - 3: Float RTK - 4: Fixed RTK - 5: Reserved - 6: SBAS Position - MSG_POS_ECEF_COV_GNSS: id: 0x0234 short_desc: GNSS-only Position in ECEF desc: > The position solution message reports absolute Earth Centered Earth Fixed (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. The message also reports the upper triangular portion of the 3x3 covariance matrix. If the receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover's RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - x: type: double units: m desc: ECEF X coordinate - y: type: double units: m desc: ECEF Y coordinate - z: type: double units: m desc: ECEF Z coordinate - cov_x_x: type: float units: m^2 desc: Estimated variance of x - cov_x_y: type: float units: m^2 desc: Estimated covariance of x and y - cov_x_z: type: float units: m^2 desc: Estimated covariance of x and z - cov_y_y: type: float units: m^2 desc: Estimated variance of y - cov_y_z: type: float units: m^2 desc: Estimated covariance of y and z - cov_z_z: type: float units: m^2 desc: Estimated variance of z - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 3-7: desc: Reserved - 0-2: desc: Fix mode values: - 0: Invalid - 1: Single Point Position (SPP) - 2: Differential GNSS (DGNSS) - 3: Float RTK - 4: Fixed RTK - 5: Reserved - 6: SBAS Position - MSG_POS_LLH_GNSS: id: 0x022A short_desc: GNSS-only Geodetic Position desc: > This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. If the rover receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover's RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - lat: type: double units: deg desc: Latitude - lon: type: double units: deg desc: Longitude - height: type: double units: m desc: Height above WGS84 ellipsoid - h_accuracy: type: u16 units: mm desc: Horizontal position estimated standard deviation - v_accuracy: type: u16 units: mm desc: Vertical position estimated standard deviation - n_sats: type: u8 desc: Number of satellites used in solution. - flags: type: u8 desc: Status flags fields: - 3-7: desc: Reserved - 0-2: desc: Fix mode values: - 0: Invalid - 1: Single Point Position (SPP) - 2: Differential GNSS (DGNSS) - 3: Float RTK - 4: Fixed RTK - 5: Reserved - 6: SBAS Position - MSG_POS_LLH_COV_GNSS: id: 0x0231 short_desc: GNSS-only Geodetic Position desc: > This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution as well as the upper triangle of the 3x3 covariance matrix. The position information and Fix Mode flags should follow the MSG_POS_LLH message. Since the covariance matrix is computed in the local-level North, East, Down frame, the covariance terms follow with that convention. Thus, covariances are reported against the "downward" measurement and care should be taken with the sign convention. fields: - tow: type: u32 units: ms desc: GPS Time of Week - lat: type: double units: deg desc: Latitude - lon: type: double units: deg desc: Longitude - height: type: double units: m desc: Height above WGS84 ellipsoid - cov_n_n: type: float units: m^2 desc: Estimated variance of northing - cov_n_e: type: float units: m^2 desc: Covariance of northing and easting - cov_n_d: type: float units: m^2 desc: Covariance of northing and downward measurement - cov_e_e: type: float units: m^2 desc: Estimated variance of easting - cov_e_d: type: float units: m^2 desc: Covariance of easting and downward measurement - cov_d_d: type: float units: m^2 desc: Estimated variance of downward measurement - n_sats: type: u8 desc: Number of satellites used in solution. - flags: type: u8 desc: Status flags fields: - 3-7: desc: Reserved - 0-2: desc: Fix mode values: - 0: Invalid - 1: Single Point Position (SPP) - 2: Differential GNSS (DGNSS) - 3: Float RTK - 4: Fixed RTK - 5: Dead Reckoning - 6: SBAS Position - MSG_VEL_ECEF_GNSS: id: 0x022D short_desc: GNSS-only Velocity in ECEF desc: > This message reports the velocity in Earth Centered Earth Fixed (ECEF) coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - x: type: s32 units: mm/s desc: Velocity ECEF X coordinate - y: type: s32 units: mm/s desc: Velocity ECEF Y coordinate - z: type: s32 units: mm/s desc: Velocity ECEF Z coordinate - accuracy: type: u16 units: mm/s desc: > Velocity estimated standard deviation - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 3-7: desc: Reserved - 0-2: desc: Velocity mode values: - 0: Invalid - 1: Measured Doppler derived - 2: Computed Doppler derived - 3: Reserved - MSG_VEL_ECEF_COV_GNSS: id: 0x0235 short_desc: GNSS-only Velocity in ECEF desc: > This message reports the velocity in Earth Centered Earth Fixed (ECEF) coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - x: type: s32 units: mm/s desc: Velocity ECEF X coordinate - y: type: s32 units: mm/s desc: Velocity ECEF Y coordinate - z: type: s32 units: mm/s desc: Velocity ECEF Z coordinate - cov_x_x: type: float units: m^2/s^2 desc: Estimated variance of x - cov_x_y: type: float units: m^2/s^2 desc: Estimated covariance of x and y - cov_x_z: type: float units: m^2/s^2 desc: Estimated covariance of x and z - cov_y_y: type: float units: m^2/s^2 desc: Estimated variance of y - cov_y_z: type: float units: m^2/s^2 desc: Estimated covariance of y and z - cov_z_z: type: float units: m^2/s^2 desc: Estimated variance of z - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 3-7: desc: Reserved - 0-2: desc: Velocity mode values: - 0: Invalid - 1: Measured Doppler derived - 2: Computed Doppler derived - 3: Reserved - MSG_VEL_NED_GNSS: id: 0x022E short_desc: GNSS-only Velocity in NED desc: > This message reports the velocity in local North East Down (NED) coordinates. The NED coordinate system is defined as the local WGS84 tangent plane centered at the current position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - n: type: s32 units: mm/s desc: Velocity North coordinate - e: type: s32 units: mm/s desc: Velocity East coordinate - d: type: s32 units: mm/s desc: Velocity Down coordinate - h_accuracy: type: u16 units: mm/s desc: > Horizontal velocity estimated standard deviation - v_accuracy: type: u16 units: mm/s desc: > Vertical velocity estimated standard deviation - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 3-7: desc: Reserved - 0-2: desc: Velocity mode values: - 0: Invalid - 1: Measured Doppler derived - 2: Computed Doppler derived - 3: Reserved - MSG_VEL_NED_COV_GNSS: id: 0x0232 short_desc: GNSS-only Velocity in NED desc: > This message reports the velocity in local North East Down (NED) coordinates. The NED coordinate system is defined as the local WGS84 tangent plane centered at the current position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). This message is similar to the MSG_VEL_NED, but it includes the upper triangular portion of the 3x3 covariance matrix. fields: - tow: type: u32 units: ms desc: GPS Time of Week - n: type: s32 units: mm/s desc: Velocity North coordinate - e: type: s32 units: mm/s desc: Velocity East coordinate - d: type: s32 units: mm/s desc: Velocity Down coordinate - cov_n_n: type: float units: m^2 desc: Estimated variance of northward measurement - cov_n_e: type: float units: m^2 desc: Covariance of northward and eastward measurement - cov_n_d: type: float units: m^2 desc: Covariance of northward and downward measurement - cov_e_e: type: float units: m^2 desc: Estimated variance of eastward measurement - cov_e_d: type: float units: m^2 desc: Covariance of eastward and downward measurement - cov_d_d: type: float units: m^2 desc: Estimated variance of downward measurement - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 3-7: desc: Reserved - 0-2: desc: Velocity mode values: - 0: Invalid - 1: Measured Doppler derived - 2: Computed Doppler derived - 3: Reserved - MSG_VEL_BODY: id: 0x0213 short_desc: Velocity in User Frame desc: > This message reports the velocity in the Vehicle Body Frame. By convention, the x-axis should point out the nose of the vehicle and represent the forward direction, while as the y-axis should point out the right hand side of the vehicle. Since this is a right handed system, z should point out the bottom of the vehicle. The orientation and origin of the Vehicle Body Frame are specified via the device settings. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). This message is only produced by inertial versions of Swift products and is not available from Piksi Multi or Duro. fields: - tow: type: u32 units: ms desc: GPS Time of Week - x: type: s32 units: mm/s desc: Velocity in x direction - y: type: s32 units: mm/s desc: Velocity in y direction - z: type: s32 units: mm/s desc: Velocity in z direction - cov_x_x: type: float units: m^2 desc: Estimated variance of x - cov_x_y: type: float units: m^2 desc: Covariance of x and y - cov_x_z: type: float units: m^2 desc: Covariance of x and z - cov_y_y: type: float units: m^2 desc: Estimated variance of y - cov_y_z: type: float units: m^2 desc: Covariance of y and z - cov_z_z: type: float units: m^2 desc: Estimated variance of z - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 5-7: desc: Reserved - 3-4: desc: INS Navigation Mode values: - 0: None - 1: INS used - 0-2: desc: Velocity mode values: - 0: Invalid - 1: Measured Doppler derived - 2: Computed Doppler derived - 3: Dead Reckoning - MSG_VEL_COG: id: 0x021C short_desc: Velocity expressed as course over ground desc: > This message reports the receiver course over ground (COG) and speed over ground (SOG) based on the horizontal (N-E) components of the NED velocity vector. It also includes the vertical velocity coordinate. A flag is provided to indicate whether the COG value has been frozen. When the flag is set to true, the COG field is set to its last valid value until the system exceeds a minimum velocity threshold. No other fields are affected by this flag. The NED coordinate system is defined as the local WGS84 tangent plane centered at the current position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). Note: course over ground represents the receiver's direction of travel, but not necessarily the device heading. fields: - tow: type: u32 units: ms desc: GPS Time of Week - cog: type: u32 units: microdegrees desc: Course over ground relative to north direction - sog: type: u32 units: mm/s desc: > Speed over ground (based on horizontal velocity) - v_up: type: s32 units: mm/s desc: Vertical velocity component (positive up) - cog_accuracy: type: u32 units: microdegrees desc: > Course over ground estimated standard deviation - sog_accuracy: type: u32 units: mm/s desc: > Speed over ground estimated standard deviation - v_up_accuracy: type: u32 units: mm/s desc: > Vertical velocity estimated standard deviation - flags: type: u16 desc: Status flags fields: - 10-15: desc: Reserved - 9: desc: COG frozen values: - 0: Not frozen - 1: Frozen - 8: desc: Vertical velocity validity values: - 0: Invalid - 1: Vertical velocity valid - 7: desc: SOG validity values: - 0: Invalid - 1: SOG valid - 6: desc: COG validity values: - 0: Invalid - 1: COG valid - 5: desc: Type of reported TOW values: - 0: Time of Measurement - 1: Other - 3-4: desc: INS Navigation Mode values: - 0: None - 1: INS used - 0-2: desc: Velocity mode values: - 0: Invalid - 1: Measured Doppler derived - 2: Computed Doppler derived - 3: Dead Reckoning - MSG_AGE_CORRECTIONS: id: 0x0210 short_desc: Age of corrections desc: > This message reports the Age of the corrections used for the current Differential solution. fields: - tow: type: u32 units: ms desc: GPS Time of Week - age: type: u16 units: deciseconds desc: Age of the corrections (0xFFFF indicates invalid) - MSG_GPS_TIME_DEP_A: public: false id: 0x0100 short_desc: GPS Time (v1.0) desc: > This message reports the GPS time, representing the time since the GPS epoch began on midnight January 6, 1980 UTC. GPS time counts the weeks and seconds of the week. The weeks begin at the Saturday/Sunday transition. GPS week 0 began at the beginning of the GPS time scale. Within each week number, the GPS time of the week is between between 0 and 604800 seconds (=60*60*24*7). Note that GPS time does not accumulate leap seconds, and as of now, has a small offset from UTC. In a message stream, this message precedes a set of other navigation messages referenced to the same time (but lacking the ns field) and indicates a more precise time of these messages. fields: - wn: type: u16 units: weeks desc: GPS week number - tow: type: u32 units: ms desc: GPS time of week rounded to the nearest millisecond - ns_residual: type: s32 units: ns desc: > Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000) - flags: type: u8 desc: Status flags (reserved) - MSG_DOPS_DEP_A: id: 0x0206 public: false short_desc: Dilution of Precision desc: > This dilution of precision (DOP) message describes the effect of navigation satellite geometry on positional measurement precision. fields: - tow: type: u32 units: ms desc: GPS Time of Week - gdop: type: u16 units: 0.01 desc: Geometric Dilution of Precision - pdop: type: u16 units: 0.01 desc: Position Dilution of Precision - tdop: type: u16 units: 0.01 desc: Time Dilution of Precision - hdop: type: u16 units: 0.01 desc: Horizontal Dilution of Precision - vdop: type: u16 units: 0.01 desc: Vertical Dilution of Precision - MSG_POS_ECEF_DEP_A: id: 0x0200 public: false short_desc: Single-point position in ECEF desc: > The position solution message reports absolute Earth Centered Earth Fixed (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. If the rover receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover's RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - x: type: double units: m desc: ECEF X coordinate - y: type: double units: m desc: ECEF Y coordinate - z: type: double units: m desc: ECEF Z coordinate - accuracy: type: u16 units: mm desc: > Position accuracy estimate (not implemented). Defaults to 0. - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 5-7: desc: Reserved - 4: desc: RAIM repair flag values: - 0: No repair - 1: Solution came from RAIM repair - 3: desc: RAIM availability flag values: - 0: RAIM check was explicitly disabled or unavailable - 1: RAIM check was available - 0-2: desc: Fix mode values: - 0: Single Point Positioning (SPP) - 1: Fixed RTK - 2: Float RTK - MSG_POS_LLH_DEP_A: id: 0x0201 public: false short_desc: Geodetic Position desc: > This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. If the rover receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover's RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - lat: type: double units: deg desc: Latitude - lon: type: double units: deg desc: Longitude - height: type: double units: m desc: Height - h_accuracy: type: u16 units: mm desc: > Horizontal position accuracy estimate (not implemented). Defaults to 0. - v_accuracy: type: u16 units: mm desc: > Vertical position accuracy estimate (not implemented). Defaults to 0. - n_sats: type: u8 desc: Number of satellites used in solution. - flags: type: u8 desc: Status flags fields: - 6-7: desc: Reserved - 5: desc: RAIM repair flag values: - 0: No repair - 1: Solution came from RAIM repair - 4: desc: RAIM availability flag values: - 0: RAIM check was explicitly disabled or unavailable - 1: RAIM check was available - 3: desc: Height Mode values: - 0: Height above WGS84 ellipsoid - 1: Height above mean sea level - 0-2: desc: Fix mode values: - 0: Single Point Positioning (SPP) - 1: Fixed RTK - 2: Float RTK - MSG_BASELINE_ECEF_DEP_A: id: 0x0202 public: false short_desc: Baseline Position in ECEF desc: > This message reports the baseline solution in Earth Centered Earth Fixed (ECEF) coordinates. This baseline is the relative vector distance from the base station to the rover receiver. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - x: type: s32 units: mm desc: Baseline ECEF X coordinate - y: type: s32 units: mm desc: Baseline ECEF Y coordinate - z: type: s32 units: mm desc: Baseline ECEF Z coordinate - accuracy: type: u16 units: mm desc: > Position accuracy estimate - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 5-7: desc: Reserved - 4: desc: RAIM repair flag values: - 0: No repair - 1: Solution came from RAIM repair - 3: desc: RAIM availability flag values: - 0: RAIM check was explicitly disabled or unavailable - 1: RAIM check was available - 0-2: desc: Fix mode values: - 0: Float RTK - 1: Fixed RTK - MSG_BASELINE_NED_DEP_A: id: 0x0203 public: false short_desc: Baseline in NED desc: > This message reports the baseline solution in North East Down (NED) coordinates. This baseline is the relative vector distance from the base station to the rover receiver, and NED coordinate system is defined at the local WGS84 tangent plane centered at the base station position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - n: type: s32 units: mm desc: Baseline North coordinate - e: type: s32 units: mm desc: Baseline East coordinate - d: type: s32 units: mm desc: Baseline Down coordinate - h_accuracy: type: u16 units: mm desc: > Horizontal position accuracy estimate (not implemented). Defaults to 0. - v_accuracy: type: u16 units: mm desc: > Vertical position accuracy estimate (not implemented). Defaults to 0. - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 5-7: desc: Reserved - 4: desc: RAIM repair flag values: - 0: No repair - 1: Solution came from RAIM repair - 3: desc: RAIM availability flag values: - 0: RAIM check was explicitly disabled or unavailable - 1: RAIM check was available - 0-2: desc: Fix mode values: - 0: Float RTK - 1: Fixed RTK - MSG_VEL_ECEF_DEP_A: id: 0x0204 public: false short_desc: Velocity in ECEF desc: > This message reports the velocity in Earth Centered Earth Fixed (ECEF) coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - x: type: s32 units: mm/s desc: Velocity ECEF X coordinate - y: type: s32 units: mm/s desc: Velocity ECEF Y coordinate - z: type: s32 units: mm/s desc: Velocity ECEF Z coordinate - accuracy: type: u16 units: mm/s desc: > Velocity accuracy estimate (not implemented). Defaults to 0. - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags (reserved) - MSG_VEL_NED_DEP_A: id: 0x0205 short_desc: Velocity in NED public: False desc: > This message reports the velocity in local North East Down (NED) coordinates. The NED coordinate system is defined as the local WGS84 tangent plane centered at the current position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - n: type: s32 units: mm/s desc: Velocity North coordinate - e: type: s32 units: mm/s desc: Velocity East coordinate - d: type: s32 units: mm/s desc: Velocity Down coordinate - h_accuracy: type: u16 units: mm/s desc: > Horizontal velocity accuracy estimate (not implemented). Defaults to 0. - v_accuracy: type: u16 units: mm/s desc: > Vertical velocity accuracy estimate (not implemented). Defaults to 0. - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags (reserved) - MSG_BASELINE_HEADING_DEP_A: public: false id: 0x0207 short_desc: Heading relative to True North desc: > This message reports the baseline heading pointing from the base station to the rover relative to True North. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - heading: type: u32 units: mdeg desc: Heading - n_sats: type: u8 desc: Number of satellites used in solution - flags: type: u8 desc: Status flags fields: - 5-7: desc: Reserved - 4: desc: RAIM repair flag values: - 0: No repair - 1: Solution came from RAIM repair - 3: desc: RAIM availability flag values: - 0: RAIM check was explicitly disabled or unavailable - 1: RAIM check was available - 0-2: desc: Fix mode values: - 0: Float RTK - 1: Fixed RTK - MSG_PROTECTION_LEVEL_DEP_A: public: false id: 0x0216 short_desc: Computed Position and Protection Level desc: > This message reports the local vertical and horizontal protection levels associated with a given LLH position solution. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - vpl: type: u16 units: cm desc: Vertical protection level - hpl: type: u16 units: cm desc: Horizontal protection level - lat: type: double units: deg desc: Latitude - lon: type: double units: deg desc: Longitude - height: type: double units: m desc: Height - flags: type: u8 desc: Status flags fields: - 0-2: desc: Target Integrity Risk (TIR) Level values: - 0: Safe state, protection level shall not be used for safety-critical application - 1: TIR Level 1 - 2: TIR Level 2 - 3: TIR Level 3 - 3-7: desc: Reserved - MSG_PROTECTION_LEVEL: public: false id: 0x0217 short_desc: Computed state and Protection Levels desc: > This message reports the protection levels associated to the given state estimate. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). fields: - tow: type: u32 units: ms desc: GPS Time of Week - wn: type: s16 units: weeks desc: GPS week number - hpl: type: u16 units: cm desc: Horizontal protection level - vpl: type: u16 units: cm desc: Vertical protection level - atpl: type: u16 units: cm desc: Along-track position error protection level - ctpl: type: u16 units: cm desc: Cross-track position error protection level - hvpl: type: u16 units: mm/s desc: > Protection level for the error vector between estimated and true along/cross track velocity vector - vvpl: type: u16 units: mm/s desc: > Protection level for the velocity in vehicle upright direction (different from vertical direction if on a slope) - hopl: type: u16 units: mdeg desc: Heading orientation protection level - popl: type: u16 units: mdeg desc: Pitch orientation protection level - ropl: type: u16 units: mdeg desc: Roll orientation protection level - lat: type: double units: deg desc: Latitude - lon: type: double units: deg desc: Longitude - height: type: double units: m desc: Height - v_x: type: s32 units: mm/s desc: Velocity in vehicle x direction - v_y: type: s32 units: mm/s desc: Velocity in vehicle y direction - v_z: type: s32 units: mm/s desc: Velocity in vehicle z direction - roll: type: s32 units: udeg desc: Roll angle - pitch: type: s32 units: udeg desc: Pitch angle - heading: type: s32 units: udeg desc: Heading angle - flags: type: u32 desc: Status flags fields: - 0-2: desc: Target Integrity Risk (TIR) Level - 3-14: desc: Reserved - 15-17: desc: Fix mode values: - 0: Invalid - 1: Single Point Position (SPP) - 2: Differential GNSS (DGNSS) - 3: Float RTK - 4: Fixed RTK - 5: Dead Reckoning - 6: SBAS Position - 18-19: desc: Inertial Navigation Mode values: - 0: None - 1: INS used - 20: desc: Time status values: - 0: GNSS time of validity - 1: Other - 21: desc: Velocity valid - 22: desc: Attitude valid - 23: desc: Safe state HPL - 24: desc: Safe state VPL - 25: desc: Safe state ATPL - 26: desc: Safe state CTPL - 27: desc: Safe state HVPL - 28: desc: Safe state VVPL - 29: desc: Safe state HOPL - 30: desc: Safe state POPL - 31: desc: Safe state ROPL