# Copyright (C) 2016-2021 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.orientation description: Orientation Messages stable: False public: True definitions: - MSG_BASELINE_HEADING: id: 0x020F 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). It is intended that time-matched RTK mode is used when the base station is moving. 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: - 3-7: desc: Reserved - 0-2: desc: Fix mode values: - 0: Invalid - 1: Reserved - 2: Differential GNSS (DGNSS) - 3: Float RTK - 4: Fixed RTK - MSG_ORIENT_QUAT: id: 0x0220 short_desc: Quaternion 4 component vector desc: > This message reports the quaternion vector describing the vehicle body frame's orientation with respect to a local-level NED frame. The components of the vector should sum to a unit vector assuming that the LSB of each component as a value of 2^-31. This message will only be available in future INS versions of Swift Products and is not produced by Piksi Multi or Duro. fields: - tow: type: u32 units: ms desc: GPS Time of Week - w: type: s32 units: 2^-31 desc: Real component - x: type: s32 units: 2^-31 desc: 1st imaginary component - y: type: s32 units: 2^-31 desc: 2nd imaginary component - z: type: s32 units: 2^-31 desc: 3rd imaginary component - w_accuracy: type: float units: N/A desc: Estimated standard deviation of w - x_accuracy: type: float units: N/A desc: Estimated standard deviation of x - y_accuracy: type: float units: N/A desc: Estimated standard deviation of y - z_accuracy: type: float units: N/A desc: Estimated standard deviation of z - flags: type: u8 desc: Status flags fields: - 3-7: desc: Reserved - 0-2: desc: INS Navigation mode values: - 0: Invalid - 1: Valid - MSG_ORIENT_EULER: id: 0x0221 short_desc: Euler angles desc: > This message reports the yaw, pitch, and roll angles of the vehicle body frame. The rotations should applied intrinsically in the order yaw, pitch, and roll in order to rotate the from a frame aligned with the local-level NED frame to the vehicle body frame. This message will only be available in future INS versions of Swift Products and is not produced by Piksi Multi or Duro. fields: - tow: type: u32 units: ms desc: GPS Time of Week - roll: type: s32 units: microdegrees desc: rotation about the forward axis of the vehicle - pitch: type: s32 units: microdegrees desc: rotation about the rightward axis of the vehicle - yaw: type: s32 units: microdegrees desc: rotation about the downward axis of the vehicle - roll_accuracy: type: float units: degrees desc: Estimated standard deviation of roll - pitch_accuracy: type: float units: degrees desc: Estimated standard deviation of pitch - yaw_accuracy: type: float units: degrees desc: Estimated standard deviation of yaw - flags: type: u8 desc: Status flags fields: - 3-7: desc: Reserved - 0-2: desc: INS Navigation mode values: - 0: Invalid - 1: Valid - MSG_ANGULAR_RATE: id: 0x0222 short_desc: Vehicle Body Frame instantaneous angular rates desc: > This message reports the orientation rates in the vehicle body frame. The values represent the measurements a strapped down gyroscope would make and are not equivalent to the time derivative of the Euler angles. The orientation and origin of the user frame is specified via device settings. By convention, the vehicle x-axis is expected to be aligned with the forward direction, while the vehicle y-axis is expected to be aligned with the right direction, and the vehicle z-axis should be aligned with the down direction. This message will only be available in future INS versions of Swift Products and is not produced by Piksi Multi or Duro. fields: - tow: type: u32 units: ms desc: GPS Time of Week - x: type: s32 units: microdegrees/s desc: angular rate about x axis - y: type: s32 units: microdegrees/s desc: angular rate about y axis - z: type: s32 units: microdegrees/s desc: angular rate about z axis - flags: type: u8 desc: Status flags fields: - 2-7: desc: Reserved - 0-2: desc: INS Navigation mode values: - 0: Invalid - 1: Valid - MSG_ORIENT_QUAT_COV: id: 0x0223 short_desc: Quaternion 4 component vector with full attitude covariance desc: > This message reports the orientation as a unit quaternion together with the upper triangle of the symmetric 3x3 attitude covariance matrix and a GPS time-of-week time-tag. The reference frame of the quaternion and the parameterization of the covariance matrix are both encoded in the flags field, allowing additional frames or parameterizations to be added later without introducing a new message. By default the quaternion describes the orientation of the vehicle body frame with respect to a local-level NED frame (matching MSG_ORIENT_QUAT) and the covariance is expressed as small-angle rotation errors about the axes of that NED frame; in this default case the cov_x_x, cov_y_y, cov_z_z diagonal entries correspond to the variance of the rotation error about North, East, and Down respectively. The components of the quaternion sum to a unit vector assuming that the LSB of each component has a value of 2^-31. fields: - tow: type: u32 units: ms desc: GPS Time of Week - w: type: s32 units: 2^-31 desc: Real component - x: type: s32 units: 2^-31 desc: 1st imaginary component - y: type: s32 units: 2^-31 desc: 2nd imaginary component - z: type: s32 units: 2^-31 desc: 3rd imaginary component - cov_x_x: type: float units: rad^2 desc: Estimated variance of the rotation error about the 1st axis of the covariance frame - cov_x_y: type: float units: rad^2 desc: Estimated covariance of the rotation errors about the 1st and 2nd axes of the covariance frame - cov_x_z: type: float units: rad^2 desc: Estimated covariance of the rotation errors about the 1st and 3rd axes of the covariance frame - cov_y_y: type: float units: rad^2 desc: Estimated variance of the rotation error about the 2nd axis of the covariance frame - cov_y_z: type: float units: rad^2 desc: Estimated covariance of the rotation errors about the 2nd and 3rd axes of the covariance frame - cov_z_z: type: float units: rad^2 desc: Estimated variance of the rotation error about the 3rd axis of the covariance frame - flags: type: u8 desc: Status flags fields: - 7-7: desc: Reserved - 5-6: desc: Covariance parameterization values: - 0: Small-angle rotation errors about the axes of the global frame given by the quaternion frame field - 1: Small-angle rotation errors about the body/vehicle frame axes - 2: Roll/pitch/yaw Euler-angle covariance (radians) - 3: Reserved - 3-4: desc: Quaternion reference frame values: - 0: Local-level NED - 1: Local-level ENU - 2: ECEF - 3: Reserved - 0-2: desc: INS Navigation mode values: - 0: Invalid - 1: Valid