# Copyright (C) 2017-2021 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.mag
description: Magnetometer (mag) messages.
stable: True
public: True
include:
  - types.yaml
definitions:

 - MSG_MAG_RAW:
    id: 0x0902
    short_desc: Raw magnetometer data
    desc: >
      Raw data from the magnetometer.
    fields:
        - tow:
            type: u32
            units: ms
            desc: >
              Milliseconds since start of GPS week. If the high bit is set, the
              time is unknown or invalid.
        - tow_f:
            type: u8
            units: ms / 256
            desc: >
              Milliseconds since start of GPS week, fractional part
        - mag_x:
            type: s16
            units: microteslas
            desc: Magnetic field in the body frame X axis
        - mag_y:
            type: s16
            units: microteslas
            desc: Magnetic field in the body frame Y axis
        - mag_z:
            type: s16
            units: microteslas
            desc: Magnetic field in the body frame Z axis