# 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.observation
description: Satellite observation messages from the device.
             The SBP sender ID of 0 indicates remote observations
             from a GNSS base station, correction network, or Skylark,
             Swift's cloud GNSS correction product.
stable: True
public: True
include:
  - types.yaml
  - gnss.yaml
definitions:

 - MSG_GLO_BIASES:
    id: 0x0075
    short_desc: GLONASS L1/L2 Code-Phase biases
    desc: >
      The GLONASS L1/L2 Code-Phase biases allows to perform
      GPS+GLONASS integer ambiguity resolution for baselines
      with mixed receiver types (e.g. receiver of different
      manufacturers).
    fields:
        - mask:
            type: u8
            units: boolean
            desc: GLONASS FDMA signals mask
        - l1ca_bias:
            type: s16
            units: m * 0.02
            desc: GLONASS L1 C/A Code-Phase Bias
        - l1p_bias:
            type: s16
            units: m * 0.02
            desc: GLONASS L1 P Code-Phase Bias
        - l2ca_bias:
            type: s16
            units: m * 0.02
            desc: GLONASS L2 C/A Code-Phase Bias
        - l2p_bias:
            type: s16
            units: m * 0.02
            desc: GLONASS L2 P Code-Phase Bias