NavPVT7
This is a ROS message definition.
Source
# NAV-PVT (0x01 0x07)
# Navigation Position Velocity Time Solution Firmware version 7
#
# Note that during a leap second there may be more (or less) than 60 seconds in
# a minute; see the description of leap seconds for details.
#
# This message combines Position, velocity and time solution in LLH,
# including accuracy figures
#
# WARNING: For firmware version 7, this message is a different length.
#
uint8 CLASS_ID = 1
uint8 MESSAGE_ID = 7
uint32 i_tow # GPS Millisecond time of week [ms]
uint16 year # Year (UTC)
uint8 month # Month, range 1..12 (UTC)
uint8 day # Day of month, range 1..31 (UTC)
uint8 hour # Hour of day, range 0..23 (UTC)
uint8 min # Minute of hour, range 0..59 (UTC)
uint8 sec # Seconds of minute, range 0..60 (UTC)
uint8 valid # Validity flags
uint8 VALID_DATE = 1 # Valid UTC Date
uint8 VALID_TIME = 2 # Valid
uint8 VALID_FULLY_RESOLVED = 4 # UTC time of day has been fully resolved
# (no seconds uncertainty)
uint8 VALID_MAG = 8 # Valid Magnetic Declination
uint32 t_acc # time accuracy estimate [ns] (UTC)
int32 nano # fraction of a second [ns], range -1e9 .. 1e9 (UTC)
uint8 fix_type # GNSS fix Type, range 0..5
uint8 FIX_TYPE_NO_FIX = 0
uint8 FIX_TYPE_DEAD_RECKONING_ONLY = 1
uint8 FIX_TYPE_2D = 2 # Signal from only 3 SVs,
# constant altitude assumed
uint8 FIX_TYPE_3D = 3
uint8 FIX_TYPE_GNSS_DEAD_RECKONING_COMBINED = 4 # GNSS + Dead reckoning
uint8 FIX_TYPE_TIME_ONLY = 5 # Time only fix (High precision
# devices)
uint8 flags # Fix Status Flags
uint8 FLAGS_GNSS_FIX_OK = 1 # i.e. within DOP & accuracy masks
uint8 FLAGS_DIFF_SOLN = 2 # DGPS used
uint8 FLAGS_PSM_MASK = 28 # Power Save Mode
uint8 PSM_OFF = 0 # PSM is off
uint8 PSM_ENABLED = 4 # Enabled (state before acquisition)
uint8 PSM_ACQUIRED = 8 # Acquisition
uint8 PSM_TRACKING = 12 # Tracking
uint8 PSM_POWER_OPTIMIZED_TRACKING = 16 # Power Optimized Tracking
uint8 PSM_INACTIVE = 20 # Inactive
uint8 FLAGS_HEAD_VEH_VALID = 32 # heading of vehicle is valid
uint8 FLAGS_CARRIER_PHASE_MASK = 192 # Carrier Phase Range Solution Status
uint8 CARRIER_PHASE_NO_SOLUTION = 0 # no carrier phase range solution
uint8 CARRIER_PHASE_FLOAT = 64 # carrier phase float solution (no fixed
# integer measurements have been used to
# calculate the solution)
uint8 CARRIER_PHASE_FIXED = 128 # fixed solution (>=1 fixed integer
# carrier phase range measurements have
# been used to calculate the solution)
uint8 flags2 # Additional Flags
uint8 FLAGS2_CONFIRMED_AVAILABLE = 32 # information about UTC Date and Time of
# Day validity confirmation is available
uint8 FLAGS2_CONFIRMED_DATE = 64 # UTC Date validity could be confirmed
uint8 FLAGS2_CONFIRMED_TIME = 128 # UTC Time of Day could be confirmed
uint8 num_sv # Number of SVs used in Nav Solution
int32 lon # Longitude [deg / 1e-7]
int32 lat # Latitude [deg / 1e-7]
int32 height # Height above Ellipsoid [mm]
int32 h_msl # Height above mean sea level [mm]
uint32 h_acc # Horizontal Accuracy Estimate [mm]
uint32 v_acc # Vertical Accuracy Estimate [mm]
int32 vel_n # NED north velocity [mm/s]
int32 vel_e # NED east velocity [mm/s]
int32 vel_d # NED down velocity [mm/s]
int32 g_speed # Ground Speed (2-D) [mm/s]
int32 heading # Heading of motion 2-D [deg / 1e-5]
uint32 s_acc # Speed Accuracy Estimate [mm/s]
uint32 head_acc # Heading Accuracy Estimate (both motion & vehicle)
# [deg / 1e-5]
uint16 p_dop # Position DOP [1 / 0.01]
uint8[6] reserved1 # Reserved