# 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.tracking description: > Satellite code and carrier-phase tracking messages from the device. stable: False public: True include: - types.yaml - gnss.yaml definitions: - MSG_TRACKING_STATE_DETAILED_DEP_A: id: 0x0021 short_desc: Detailed signal tracking channel states. DEPRECATED public: False desc: > The tracking message returns a set tracking channel parameters for a single tracking channel useful for debugging issues. fields: - recv_time: type: u64 units: ns desc: Receiver clock time. - tot: type: GPSTime desc: > Time of transmission of signal from satellite. TOW only valid when TOW status is decoded or propagated. WN only valid when week number valid flag is set. - P: type: u32 units: 2 cm desc: > Pseudorange observation. Valid only when pseudorange valid flag is set. - P_std: type: u16 units: 2 cm desc: > Pseudorange observation standard deviation. Valid only when pseudorange valid flag is set. - L: type: CarrierPhase units: cycles desc: > Carrier phase observation with typical sign convention. Valid only when PLL pessimistic lock is achieved. - cn0: type: u8 units: dB Hz / 4 desc: Carrier-to-Noise density - lock: type: u16 desc: > Lock time. It is encoded according to DF402 from the RTCM 10403.2 Amendment 2 specification. Valid values range from 0 to 15. - sid: type: GnssSignal desc: GNSS signal identifier. - doppler: type: s32 units: Hz / 16 desc: Carrier Doppler frequency. - doppler_std: type: u16 units: Hz / 16 desc: Carrier Doppler frequency standard deviation. - uptime: type: u32 units: s desc: > Number of seconds of continuous tracking. Specifies how much time signal is in continuous track. - clock_offset: type: s16 units: s / (2 ^ 20) desc: > TCXO clock offset. Valid only when valid clock valid flag is set. - clock_drift: type: s16 units: (s / s) / (2 ^ 31) desc: > TCXO clock drift. Valid only when valid clock valid flag is set. - corr_spacing: type: u16 units: ns desc: Early-Prompt (EP) and Prompt-Late (PL) correlators spacing. - acceleration: type: s8 units: g / 8 desc: Acceleration. Valid only when acceleration valid flag is set. - sync_flags: type: u8 desc: Synchronization status flags. fields: - 3-7: desc: Reserved - 0-2: desc: Synchronization status. values: - 0: No synchronization - 1: Bit synchronization - 2: Word synchronization (L1 C/A only) - 3: > Sub-frame synchronization (L1 C/A) / message synchronization (L2C) - 4: Reserved - 5: Reserved - 6: Reserved - 7: Reserved - tow_flags: type: u8 desc: TOW status flags. fields: - 4-7: desc: Reserved - 3: desc: Week number validity status. values: - 0: Week number is not valid - 1: Week number is valid - 0-2: desc: TOW status. values: - 0: TOW is not available - 1: Decoded TOW is available - 2: Propagated TOW is available - 3: Reserved - 4: Reserved - 5: Reserved - 6: Reserved - 7: Reserved - track_flags: type: u8 desc: Tracking loop status flags. fields: - 5-7: desc: Reserved - 4: desc: FLL status. values: - 0: FLL is inactive - 1: FLL is active - 3: desc: PLL status. values: - 0: PLL is inactive - 1: PLL is active - 0-2: desc: Tracking loop status. values: - 0: No locks - 1: FLL/DLL lock - 2: PLL optimistic lock - 3: PLL pessimistic lock - 4: Reserved - 5: Reserved - 6: Reserved - 7: Reserved - nav_flags: type: u8 desc: Navigation data status flags. fields: - 5-7: desc: Reserved - 4: desc: Almanac availability status. values: - 0: Almanac is not available - 1: Almanac is available - 3: desc: Ephemeris availability status. values: - 0: Ephemeris is not available - 1: Ephemeris is available - 0-2: desc: Health status. values: - 0: Health is unknown - 1: Signal is unhealthy - 2: Signal is healthy - 3: Reserved - 4: Reserved - 5: Reserved - 6: Reserved - 7: Reserved - pset_flags: type: u8 desc: Parameters sets flags. fields: - 3-7: desc: Reserved - 0-2: desc: Parameter sets. values: - 0: 1 ms integration time - 1: 5 ms integration time - 2: 10 ms integration time - 3: 20 ms integration time - 4: Reserved - 5: Reserved - 6: Reserved - 7: Reserved - misc_flags: type: u8 desc: Miscellaneous flags. fields: - 6-7: desc: Reserved - 5: desc: Clock validity status. values: - 0: Clock offset and drift is not valid - 1: Clock offset and drift is valid - 4: desc: Pseudorange validity status. values: - 0: Pseudorange is not valid - 1: Pseudorange is valid - 3: desc: Acceleration validity status. values: - 0: Acceleration is not valid - 1: Acceleration is valid - 2: desc: Carrier half cycle ambiguity status. values: - 0: Unresolved - 1: Resolved - 0-1: desc: Tracking channel status. values: - 0: Re-acquisition - 1: Running - 2: Reserved - 3: Reserved - MSG_TRACKING_STATE_DETAILED_DEP: id: 0x0011 short_desc: Deprecated desc: Deprecated. public: False replaced_by: - MSG_TRACKING_STATE_DETAILED fields: - recv_time: type: u64 units: ns desc: Receiver clock time. - tot: type: GPSTimeDep desc: > Time of transmission of signal from satellite. TOW only valid when TOW status is decoded or propagated. WN only valid when week number valid flag is set. - P: type: u32 units: 2 cm desc: > Pseudorange observation. Valid only when pseudorange valid flag is set. - P_std: type: u16 units: 2 cm desc: > Pseudorange observation standard deviation. Valid only when pseudorange valid flag is set. - L: type: CarrierPhase units: cycles desc: > Carrier phase observation with typical sign convention. Valid only when PLL pessimistic lock is achieved. - cn0: type: u8 units: dB Hz / 4 desc: Carrier-to-Noise density - lock: type: u16 desc: > Lock time. It is encoded according to DF402 from the RTCM 10403.2 Amendment 2 specification. Valid values range from 0 to 15. - sid: type: GnssSignalDep desc: GNSS signal identifier. - doppler: type: s32 units: Hz / 16 desc: Carrier Doppler frequency. - doppler_std: type: u16 units: Hz / 16 desc: Carrier Doppler frequency standard deviation. - uptime: type: u32 units: s desc: > Number of seconds of continuous tracking. Specifies how much time signal is in continuous track. - clock_offset: type: s16 units: s / (2 ^ 20) desc: > TCXO clock offset. Valid only when valid clock valid flag is set. - clock_drift: type: s16 units: (s / s) / (2 ^ 31) desc: > TCXO clock drift. Valid only when valid clock valid flag is set. - corr_spacing: type: u16 units: ns desc: Early-Prompt (EP) and Prompt-Late (PL) correlators spacing. - acceleration: type: s8 units: g / 8 desc: Acceleration. Valid only when acceleration valid flag is set. - sync_flags: type: u8 desc: Synchronization status flags. fields: - 3-7: desc: Reserved - 0-2: desc: Synchronization status. values: - 0: No synchronization - 1: Bit synchronization - 2: Word synchronization (L1 C/A only) - 3: > Sub-frame synchronization (L1 C/A) / message synchronization (L2C) - 4: Reserved - 5: Reserved - 6: Reserved - 7: Reserved - tow_flags: type: u8 desc: TOW status flags. fields: - 4-7: desc: Reserved - 3: desc: Week number validity status. values: - 0: Week number is not valid - 1: Week number is valid - 0-2: desc: TOW status. values: - 0: TOW is not available - 1: Decoded TOW is available - 2: Propagated TOW is available - 3: Reserved - 4: Reserved - 5: Reserved - 6: Reserved - 7: Reserved - track_flags: type: u8 desc: Tracking loop status flags. fields: - 5-7: desc: Reserved - 4: desc: FLL status. values: - 0: FLL is inactive - 1: FLL is active - 3: desc: PLL status. values: - 0: PLL is inactive - 1: PLL is active - 0-2: desc: Tracking loop status. values: - 0: No locks - 1: FLL/DLL lock - 2: PLL optimistic lock - 3: PLL pessimistic lock - 4: Reserved - 5: Reserved - 6: Reserved - 7: Reserved - nav_flags: type: u8 desc: Navigation data status flags. fields: - 5-7: desc: Reserved - 4: desc: Almanac availability status. values: - 0: Almanac is not available - 1: Almanac is available - 3: desc: Ephemeris availability status. values: - 0: Ephemeris is not available - 1: Ephemeris is available - 0-2: desc: Health status. values: - 0: Health is unknown - 1: Signal is unhealthy - 2: Signal is healthy - 3: Reserved - 4: Reserved - 5: Reserved - 6: Reserved - 7: Reserved - pset_flags: type: u8 desc: Parameters sets flags. fields: - 3-7: desc: Reserved - 0-2: desc: Parameter sets. values: - 0: 1 ms integration time - 1: 5 ms integration time - 2: 10 ms integration time - 3: 20 ms integration time - 4: Reserved - 5: Reserved - 6: Reserved - 7: Reserved - misc_flags: type: u8 desc: Miscellaneous flags. fields: - 6-7: desc: Reserved - 5: desc: Clock validity status. values: - 0: Clock offset and drift is not valid - 1: Clock offset and drift is valid - 4: desc: Pseudorange validity status. values: - 0: Pseudorange is not valid - 1: Pseudorange is valid - 3: desc: Acceleration validity status. values: - 0: Acceleration is not valid - 1: Acceleration is valid - 2: desc: Carrier half cycle ambiguity status. values: - 0: Unresolved - 1: Resolved - 0-1: desc: Tracking channel status. values: - 0: Re-acquisition - 1: Running - 2: Reserved - 3: Reserved - TrackingChannelState: short_desc: Signal tracking channel state desc: > Tracking channel state for a specific satellite signal and measured signal power. fields: - sid: type: GnssSignal desc: GNSS signal being tracked - fcn: type: u8 desc: Frequency channel number (GLONASS only) - cn0: type: u8 units: dB Hz / 4 desc: Carrier-to-Noise density. Zero implies invalid cn0. - MSG_TRACKING_STATE: id: 0x0041 short_desc: Signal tracking channel states desc: > The tracking message returns a variable-length array of tracking channel states. It reports status and carrier-to-noise density measurements for all tracked satellites. fields: - states: type: array fill: TrackingChannelState desc: Signal tracking channel state - MeasurementState: short_desc: Measurement Engine signal tracking channel state desc: > Measurement Engine tracking channel state for a specific satellite signal and measured signal power. The mesid field for Glonass can either carry the FCN as 100 + FCN where FCN is in [-7, +6] or the Slot ID (from 1 to 28). fields: - mesid: type: GnssSignal desc: Measurement Engine GNSS signal being tracked (carries either Glonass FCN or SLOT) - cn0: type: u8 units: dB Hz / 4 desc: Carrier-to-Noise density. Zero implies invalid cn0. - MSG_MEASUREMENT_STATE: id: 0x0061 short_desc: Measurement Engine signal tracking channel states desc: > The tracking message returns a variable-length array of tracking channel states. It reports status and carrier-to-noise density measurements for all tracked satellites. fields: - states: type: array fill: MeasurementState desc: ME signal tracking channel state - TrackingChannelCorrelation: short_desc: Complex correlation structure desc: > Structure containing in-phase and quadrature correlation components. fields: - I: type: s16 desc: In-phase correlation - Q: type: s16 desc: Quadrature correlation - MSG_TRACKING_IQ: id: 0x002D short_desc: Tracking channel correlations desc: > When enabled, a tracking channel can output the correlations at each update interval. fields: - channel: type: u8 desc: Tracking channel of origin - sid: type: GnssSignal desc: GNSS signal identifier - corrs: type: array fill: TrackingChannelCorrelation size: 3 desc: Early, Prompt and Late correlations - TrackingChannelCorrelationDep: short_desc: Complex correlation structure desc: > Structure containing in-phase and quadrature correlation components. fields: - I: type: s32 desc: In-phase correlation - Q: type: s32 desc: Quadrature correlation - MSG_TRACKING_IQ_DEP_B: id: 0x002C short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_TRACKING_IQ fields: - channel: type: u8 desc: Tracking channel of origin - sid: type: GnssSignal desc: GNSS signal identifier - corrs: type: array fill: TrackingChannelCorrelationDep size: 3 desc: Early, Prompt and Late correlations - MSG_TRACKING_IQ_DEP_A: id: 0x001C short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_TRACKING_IQ fields: - channel: type: u8 desc: Tracking channel of origin - sid: type: GnssSignalDep desc: GNSS signal identifier - corrs: type: array fill: TrackingChannelCorrelationDep size: 3 desc: Early, Prompt and Late correlations - TrackingChannelStateDepA: short_desc: Deprecated desc: Deprecated. replaced_by: - TrackingChannelState fields: - state: type: u8 desc: Status of tracking channel fields: - 2-7: desc: Reserved - 0-1: desc: Tracking mode values: - 0: Disabled - 1: Running - prn: type: u8 desc: PRN-1 being tracked - cn0: type: float units: dB Hz desc: Carrier-to-noise density - MSG_TRACKING_STATE_DEP_A: id: 0x0016 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_TRACKING_STATE fields: - states: type: array fill: TrackingChannelStateDepA desc: Satellite tracking channel state - TrackingChannelStateDepB: short_desc: Deprecated desc: Deprecated. replaced_by: - TrackingChannelState fields: - state: type: u8 desc: Status of tracking channel fields: - 2-7: desc: Reserved - 0-1: desc: Tracking mode values: - 0: Disabled - 1: Running - sid: type: GnssSignalDep desc: GNSS signal being tracked - cn0: type: float units: dB Hz desc: Carrier-to-noise density - MSG_TRACKING_STATE_DEP_B: id: 0x0013 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_TRACKING_STATE fields: - states: type: array fill: TrackingChannelStateDepB desc: Signal tracking channel state