navigation.h

/*
 * Copyright (C) 2015-2018 Swift Navigation Inc.
 * Contact: Swift Navigation <dev@swiftnav.com>
 *
 * This source is subject to the license found in the file 'LICENSE' which must
 * be 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.
 */

/*****************************************************************************
 * Automatically generated from yaml/swiftnav/sbp/navigation.yaml
 * with generate.py. Please do not hand edit!
 *****************************************************************************/

/** \defgroup navigation Navigation
 *
 *  * Geodetic navigation messages reporting GPS time, position, velocity,
 * and baseline position solutions. For position solutions, these
 * messages define several different position solutions: single-point
 * (SPP), RTK, and pseudo-absolute position solutions.
 *
 * The SPP is the standalone, absolute GPS position solution using only
 * a single receiver. The RTK solution is the differential GPS
 * solution, which can use either a fixed/integer or floating carrier
 * phase ambiguity. The pseudo-absolute position solution uses a
 * user-provided, well-surveyed base station position (if available)
 * and the RTK solution in tandem.
 *
 * When the inertial navigation mode indicates that the IMU is used,
 * all messages are reported in the vehicle body frame as defined by
 * device settings.  By default, the vehicle body frame is configured to be
 * coincident with the antenna phase center.  When there is no inertial
 * navigation, the solution will be reported at the phase center of the antenna.
 * \{ */

#ifndef LIBSBP_NAVIGATION_MESSAGES_H
#define LIBSBP_NAVIGATION_MESSAGES_H

#include "common.h"

/** GPS Time
 *
 * This message reports the GPS time, representing the time since
 * the GPS epoch began on midnight January 6, 1980 UTC. GPS time
 * counts the weeks and seconds of the week. The weeks begin at the
 * Saturday/Sunday transition. GPS week 0 began at the beginning of
 * the GPS time scale.
 *
 * Within each week number, the GPS time of the week is between
 * between 0 and 604800 seconds (=60*60*24*7). Note that GPS time
 * does not accumulate leap seconds, and as of now, has a small
 * offset from UTC. In a message stream, this message precedes a
 * set of other navigation messages referenced to the same time
 * (but lacking the ns field) and indicates a more precise time of
 * these messages.
 */
#define SBP_MSG_GPS_TIME 0x0102

typedef struct {
        u16 wn; /**< GPS week number [weeks] */
        u32 tow; /**< GPS time of week rounded to the nearest millisecond [ms] */
        s32 ns_residual; /**< Nanosecond residual of millisecond-rounded TOW (ranges
from -500000 to 500000)
[ns] */
        u8 flags; /**< Status flags (reserved) */
} msg_gps_time_t;

/** UTC Time
 *
 * This message reports the Universal Coordinated Time (UTC).  Note the flags
 * which indicate the source of the UTC offset value and source of the time fix.
 */
#define SBP_MSG_UTC_TIME 0x0103

typedef struct {
        u8 flags; /**< Indicates source and time validity */
        u32 tow; /**< GPS time of week rounded to the nearest millisecond [ms] */
        u16 year; /**< Year [year] */
        u8 month; /**< Month (range 1 .. 12) [months] */
        u8 day; /**< days in the month (range 1-31) [day] */
        u8 hours; /**< hours of day (range 0-23) [hours] */
        u8 minutes; /**< minutes of hour (range 0-59) [minutes] */
        u8 seconds; /**< seconds of minute (range 0-60) rounded down [seconds] */
        u32 ns; /**< nanoseconds of second (range 0-999999999) [nanoseconds] */
} msg_utc_time_t;

/** Dilution of Precision
 *
 * This dilution of precision (DOP) message describes the effect of
 * navigation satellite geometry on positional measurement
 * precision.  The flags field indicated whether the DOP reported
 * corresponds to differential or SPP solution.
 */
#define SBP_MSG_DOPS 0x0208

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        u16 gdop; /**< Geometric Dilution of Precision [0.01] */
        u16 pdop; /**< Position Dilution of Precision [0.01] */
        u16 tdop; /**< Time Dilution of Precision [0.01] */
        u16 hdop; /**< Horizontal Dilution of Precision [0.01] */
        u16 vdop; /**< Vertical Dilution of Precision [0.01] */
        u8 flags; /**< Indicates the position solution with which the DOPS message corresponds */
} msg_dops_t;

/** Single-point position in ECEF
 *
 * The position solution message reports absolute Earth Centered
 * Earth Fixed (ECEF) coordinates and the status (single point vs
 * pseudo-absolute RTK) of the position solution. If the rover
 * receiver knows the surveyed position of the base station and has
 * an RTK solution, this reports a pseudo-absolute position
 * solution using the base station position and the rover's RTK
 * baseline vector. The full GPS time is given by the preceding
 * MSG_GPS_TIME with the matching time-of-week (tow).
 */
#define SBP_MSG_POS_ECEF 0x0209

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        double x; /**< ECEF X coordinate [m] */
        double y; /**< ECEF Y coordinate [m] */
        double z; /**< ECEF Z coordinate [m] */
        u16 accuracy; /**< Position estimated standard deviation [mm] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags */
} msg_pos_ecef_t;

/** Single-point position in ECEF
 *
 * The position solution message reports absolute Earth Centered
 * Earth Fixed (ECEF) coordinates and the status (single point vs
 * pseudo-absolute RTK) of the position solution. The message also
 * reports the upper triangular portion of the 3x3 covariance matrix.
 * If the receiver knows the surveyed position of the base station and has
 * an RTK solution, this reports a pseudo-absolute position
 * solution using the base station position and the rover's RTK
 * baseline vector. The full GPS time is given by the preceding
 * MSG_GPS_TIME with the matching time-of-week (tow).
 */
#define SBP_MSG_POS_ECEF_COV 0x0214

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        double x; /**< ECEF X coordinate [m] */
        double y; /**< ECEF Y coordinate [m] */
        double z; /**< ECEF Z coordinate [m] */
        float cov_x_x; /**< Estimated variance of x [m^2] */
        float cov_x_y; /**< Estimated covariance of x and y [m^2] */
        float cov_x_z; /**< Estimated covariance of x and z [m^2] */
        float cov_y_y; /**< Estimated variance of y [m^2] */
        float cov_y_z; /**< Estimated covariance of y and z [m^2] */
        float cov_z_z; /**< Estimated variance of z [m^2] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags */
} msg_pos_ecef_cov_t;

/** Geodetic Position
 *
 * This position solution message reports the absolute geodetic
 * coordinates and the status (single point vs pseudo-absolute RTK)
 * of the position solution. If the rover receiver knows the
 * surveyed position of the base station and has an RTK solution,
 * this reports a pseudo-absolute position solution using the base
 * station position and the rover's RTK baseline vector. The full
 * GPS time is given by the preceding MSG_GPS_TIME with the
 * matching time-of-week (tow).
 */
#define SBP_MSG_POS_LLH 0x020A

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        double lat; /**< Latitude [deg] */
        double lon; /**< Longitude [deg] */
        double height; /**< Height above WGS84 ellipsoid [m] */
        u16 h_accuracy; /**< Horizontal position estimated standard deviation [mm] */
        u16 v_accuracy; /**< Vertical position estimated standard deviation [mm] */
        u8 n_sats; /**< Number of satellites used in solution. */
        u8 flags; /**< Status flags */
} msg_pos_llh_t;

/** Geodetic Position
 *
 * This position solution message reports the absolute geodetic
 * coordinates and the status (single point vs pseudo-absolute RTK)
 * of the position solution as well as the upper triangle of the 3x3
 * covariance matrix.  The position information and Fix Mode flags should
 * follow the MSG_POS_LLH message.  Since the covariance matrix is computed
 * in the local-level North, East, Down frame, the covariance terms follow
 * with that convention. Thus, covariances are reported against the "downward"
 * measurement and care should be taken with the sign convention.
 */
#define SBP_MSG_POS_LLH_COV 0x0211

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        double lat; /**< Latitude [deg] */
        double lon; /**< Longitude [deg] */
        double height; /**< Height above WGS84 ellipsoid [m] */
        float cov_n_n; /**< Estimated variance of northing [m^2] */
        float cov_n_e; /**< Covariance of northing and easting [m^2] */
        float
            cov_n_d; /**< Covariance of northing and downward measurement [m^2] */
        float cov_e_e; /**< Estimated variance of easting [m^2] */
        float
            cov_e_d; /**< Covariance of easting and downward measurement [m^2] */
        float cov_d_d; /**< Estimated variance of downward measurement [m^2] */
        u8 n_sats; /**< Number of satellites used in solution. */
        u8 flags; /**< Status flags */
} msg_pos_llh_cov_t;

/** Baseline Position in ECEF
 *
 * This message reports the baseline solution in Earth Centered
 * Earth Fixed (ECEF) coordinates. This baseline is the relative
 * vector distance from the base station to the rover receiver. The
 * full GPS time is given by the preceding MSG_GPS_TIME with the
 * matching time-of-week (tow).
 */
#define SBP_MSG_BASELINE_ECEF 0x020B

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        s32 x; /**< Baseline ECEF X coordinate [mm] */
        s32 y; /**< Baseline ECEF Y coordinate [mm] */
        s32 z; /**< Baseline ECEF Z coordinate [mm] */
        u16 accuracy; /**< Position estimated standard deviation [mm] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags */
} msg_baseline_ecef_t;

/** Baseline in NED
 *
 * This message reports the baseline solution in North East Down
 * (NED) coordinates. This baseline is the relative vector distance
 * from the base station to the rover receiver, and NED coordinate
 * system is defined at the local WGS84 tangent plane centered at the
 * base station position.  The full GPS time is given by the
 * preceding MSG_GPS_TIME with the matching time-of-week (tow).
 */
#define SBP_MSG_BASELINE_NED 0x020C

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        s32 n; /**< Baseline North coordinate [mm] */
        s32 e; /**< Baseline East coordinate [mm] */
        s32 d; /**< Baseline Down coordinate [mm] */
        u16 h_accuracy; /**< Horizontal position estimated standard deviation [mm] */
        u16 v_accuracy; /**< Vertical position estimated standard deviation [mm] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags */
} msg_baseline_ned_t;

/** Velocity in ECEF
 *
 * This message reports the velocity in Earth Centered Earth Fixed
 * (ECEF) coordinates. The full GPS time is given by the preceding
 * MSG_GPS_TIME with the matching time-of-week (tow).
 */
#define SBP_MSG_VEL_ECEF 0x020D

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        s32 x; /**< Velocity ECEF X coordinate [mm/s] */
        s32 y; /**< Velocity ECEF Y coordinate [mm/s] */
        s32 z; /**< Velocity ECEF Z coordinate [mm/s] */
        u16 accuracy; /**< Velocity estimated standard deviation
[mm/s] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags */
} msg_vel_ecef_t;

/** Velocity in ECEF
 *
 * This message reports the velocity in Earth Centered Earth Fixed
 * (ECEF) coordinates. The full GPS time is given by the preceding
 * MSG_GPS_TIME with the matching time-of-week (tow).
 */
#define SBP_MSG_VEL_ECEF_COV 0x0215

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        s32 x; /**< Velocity ECEF X coordinate [mm/s] */
        s32 y; /**< Velocity ECEF Y coordinate [mm/s] */
        s32 z; /**< Velocity ECEF Z coordinate [mm/s] */
        float cov_x_x; /**< Estimated variance of x [m^2/s^2] */
        float cov_x_y; /**< Estimated covariance of x and y [m^2/s^2] */
        float cov_x_z; /**< Estimated covariance of x and z [m^2/s^2] */
        float cov_y_y; /**< Estimated variance of y [m^2/s^2] */
        float cov_y_z; /**< Estimated covariance of y and z [m^2/s^2] */
        float cov_z_z; /**< Estimated variance of z [m^2/s^2] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags */
} msg_vel_ecef_cov_t;

/** Velocity in NED
 *
 * This message reports the velocity in local North East Down (NED)
 * coordinates. The NED coordinate system is defined as the local WGS84
 * tangent plane centered at the current position. The full GPS time is
 * given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).
 */
#define SBP_MSG_VEL_NED 0x020E

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        s32 n; /**< Velocity North coordinate [mm/s] */
        s32 e; /**< Velocity East coordinate [mm/s] */
        s32 d; /**< Velocity Down coordinate [mm/s] */
        u16 h_accuracy; /**< Horizontal velocity estimated standard deviation
[mm/s] */
        u16 v_accuracy; /**< Vertical velocity estimated standard deviation
[mm/s] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags */
} msg_vel_ned_t;

/** Velocity in NED
 *
 * This message reports the velocity in local North East Down (NED)
 * coordinates. The NED coordinate system is defined as the local WGS84
 * tangent plane centered at the current position. The full GPS time is
 * given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).
 * This message is similar to the MSG_VEL_NED, but it includes the upper triangular
 * portion of the 3x3 covariance matrix.
 */
#define SBP_MSG_VEL_NED_COV 0x0212

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        s32 n; /**< Velocity North coordinate [mm/s] */
        s32 e; /**< Velocity East coordinate [mm/s] */
        s32 d; /**< Velocity Down coordinate [mm/s] */
        float cov_n_n; /**< Estimated variance of northward measurement [m^2] */
        float
            cov_n_e; /**< Covariance of northward and eastward measurement [m^2] */
        float
            cov_n_d; /**< Covariance of northward and downward measurement [m^2] */
        float cov_e_e; /**< Estimated variance of eastward measurement [m^2] */
        float
            cov_e_d; /**< Covariance of eastward and downward measurement [m^2] */
        float cov_d_d; /**< Estimated variance of downward measurement [m^2] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags */
} msg_vel_ned_cov_t;

/** Velocity in User Frame
 *
 * This message reports the velocity in the Vehicle Body Frame. By convention,
 * the x-axis should point out the nose of the vehicle and represent the forward
 * direction, while as the y-axis should point out the right hand side of the vehicle.
 * Since this is a right handed system, z should point out the bottom of the vehicle.
 * The orientation and origin of the Vehicle Body Frame are specified via the device settings.
 * The full GPS time is given by the preceding MSG_GPS_TIME with the
 * matching time-of-week (tow).
 */
#define SBP_MSG_VEL_BODY 0x0213

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        s32 x; /**< Velocity in x direction [mm/s] */
        s32 y; /**< Velocity in y direction [mm/s] */
        s32 z; /**< Velocity in z direction [mm/s] */
        float cov_x_x; /**< Estimated variance of x [m^2] */
        float cov_x_y; /**< Covariance of x and y [m^2] */
        float cov_x_z; /**< Covariance of x and z [m^2] */
        float cov_y_y; /**< Estimated variance of y [m^2] */
        float cov_y_z; /**< Covariance of y and z [m^2] */
        float cov_z_z; /**< Estimated variance of z [m^2] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags */
} msg_vel_body_t;

/** Age of corrections
 *
 * This message reports the Age of the corrections used for the current
 * Differential solution
 */
#define SBP_MSG_AGE_CORRECTIONS 0x0210

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        u16 age; /**< Age of the corrections (0xFFFF indicates invalid) [deciseconds] */
} msg_age_corrections_t;

/** GPS Time (v1.0)
 *
 * This message reports the GPS time, representing the time since
 * the GPS epoch began on midnight January 6, 1980 UTC. GPS time
 * counts the weeks and seconds of the week. The weeks begin at the
 * Saturday/Sunday transition. GPS week 0 began at the beginning of
 * the GPS time scale.
 *
 * Within each week number, the GPS time of the week is between
 * between 0 and 604800 seconds (=60*60*24*7). Note that GPS time
 * does not accumulate leap seconds, and as of now, has a small
 * offset from UTC. In a message stream, this message precedes a
 * set of other navigation messages referenced to the same time
 * (but lacking the ns field) and indicates a more precise time of
 * these messages.
 */
#define SBP_MSG_GPS_TIME_DEP_A 0x0100

typedef struct {
        u16 wn; /**< GPS week number [weeks] */
        u32 tow; /**< GPS time of week rounded to the nearest millisecond [ms] */
        s32 ns_residual; /**< Nanosecond residual of millisecond-rounded TOW (ranges
from -500000 to 500000)
[ns] */
        u8 flags; /**< Status flags (reserved) */
} msg_gps_time_dep_a_t;

/** Dilution of Precision
 *
 * This dilution of precision (DOP) message describes the effect of
 * navigation satellite geometry on positional measurement
 * precision.
 */
#define SBP_MSG_DOPS_DEP_A 0x0206

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        u16 gdop; /**< Geometric Dilution of Precision [0.01] */
        u16 pdop; /**< Position Dilution of Precision [0.01] */
        u16 tdop; /**< Time Dilution of Precision [0.01] */
        u16 hdop; /**< Horizontal Dilution of Precision [0.01] */
        u16 vdop; /**< Vertical Dilution of Precision [0.01] */
} msg_dops_dep_a_t;

/** Single-point position in ECEF
 *
 * The position solution message reports absolute Earth Centered
 * Earth Fixed (ECEF) coordinates and the status (single point vs
 * pseudo-absolute RTK) of the position solution. If the rover
 * receiver knows the surveyed position of the base station and has
 * an RTK solution, this reports a pseudo-absolute position
 * solution using the base station position and the rover's RTK
 * baseline vector. The full GPS time is given by the preceding
 * MSG_GPS_TIME with the matching time-of-week (tow).
 */
#define SBP_MSG_POS_ECEF_DEP_A 0x0200

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        double x; /**< ECEF X coordinate [m] */
        double y; /**< ECEF Y coordinate [m] */
        double z; /**< ECEF Z coordinate [m] */
        u16 accuracy; /**< Position accuracy estimate (not implemented). Defaults
to 0.
[mm] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags */
} msg_pos_ecef_dep_a_t;

/** Geodetic Position
 *
 * This position solution message reports the absolute geodetic
 * coordinates and the status (single point vs pseudo-absolute RTK)
 * of the position solution. If the rover receiver knows the
 * surveyed position of the base station and has an RTK solution,
 * this reports a pseudo-absolute position solution using the base
 * station position and the rover's RTK baseline vector. The full
 * GPS time is given by the preceding MSG_GPS_TIME with the
 * matching time-of-week (tow).
 */
#define SBP_MSG_POS_LLH_DEP_A 0x0201

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        double lat; /**< Latitude [deg] */
        double lon; /**< Longitude [deg] */
        double height; /**< Height [m] */
        u16 h_accuracy; /**< Horizontal position accuracy estimate (not
implemented). Defaults to 0.
[mm] */
        u16 v_accuracy; /**< Vertical position accuracy estimate (not
implemented). Defaults to 0.
[mm] */
        u8 n_sats; /**< Number of satellites used in solution. */
        u8 flags; /**< Status flags */
} msg_pos_llh_dep_a_t;

/** Baseline Position in ECEF
 *
 * This message reports the baseline solution in Earth Centered
 * Earth Fixed (ECEF) coordinates. This baseline is the relative
 * vector distance from the base station to the rover receiver. The
 * full GPS time is given by the preceding MSG_GPS_TIME with the
 * matching time-of-week (tow).
 */
#define SBP_MSG_BASELINE_ECEF_DEP_A 0x0202

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        s32 x; /**< Baseline ECEF X coordinate [mm] */
        s32 y; /**< Baseline ECEF Y coordinate [mm] */
        s32 z; /**< Baseline ECEF Z coordinate [mm] */
        u16 accuracy; /**< Position accuracy estimate
[mm] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags */
} msg_baseline_ecef_dep_a_t;

/** Baseline in NED
 *
 * This message reports the baseline solution in North East Down
 * (NED) coordinates. This baseline is the relative vector distance
 * from the base station to the rover receiver, and NED coordinate
 * system is defined at the local WGS84 tangent plane centered at the
 * base station position.  The full GPS time is given by the
 * preceding MSG_GPS_TIME with the matching time-of-week (tow).
 */
#define SBP_MSG_BASELINE_NED_DEP_A 0x0203

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        s32 n; /**< Baseline North coordinate [mm] */
        s32 e; /**< Baseline East coordinate [mm] */
        s32 d; /**< Baseline Down coordinate [mm] */
        u16 h_accuracy; /**< Horizontal position accuracy estimate (not
implemented). Defaults to 0.
[mm] */
        u16 v_accuracy; /**< Vertical position accuracy estimate (not
implemented). Defaults to 0.
[mm] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags */
} msg_baseline_ned_dep_a_t;

/** Velocity in ECEF
 *
 * This message reports the velocity in Earth Centered Earth Fixed
 * (ECEF) coordinates. The full GPS time is given by the preceding
 * MSG_GPS_TIME with the matching time-of-week (tow).
 */
#define SBP_MSG_VEL_ECEF_DEP_A 0x0204

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        s32 x; /**< Velocity ECEF X coordinate [mm/s] */
        s32 y; /**< Velocity ECEF Y coordinate [mm/s] */
        s32 z; /**< Velocity ECEF Z coordinate [mm/s] */
        u16 accuracy; /**< Velocity accuracy estimate (not implemented). Defaults
to 0.
[mm/s] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags (reserved) */
} msg_vel_ecef_dep_a_t;

/** Velocity in NED
 *
 * This message reports the velocity in local North East Down (NED)
 * coordinates. The NED coordinate system is defined as the local WGS84
 * tangent plane centered at the current position. The full GPS time is
 * given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).
 */
#define SBP_MSG_VEL_NED_DEP_A 0x0205

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        s32 n; /**< Velocity North coordinate [mm/s] */
        s32 e; /**< Velocity East coordinate [mm/s] */
        s32 d; /**< Velocity Down coordinate [mm/s] */
        u16 h_accuracy; /**< Horizontal velocity accuracy estimate (not
implemented). Defaults to 0.
[mm/s] */
        u16 v_accuracy; /**< Vertical velocity accuracy estimate (not
implemented). Defaults to 0.
[mm/s] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags (reserved) */
} msg_vel_ned_dep_a_t;

/** Heading relative to True North
 *
 * 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).
 */
#define SBP_MSG_BASELINE_HEADING_DEP_A 0x0207

typedef struct {
        u32 tow; /**< GPS Time of Week [ms] */
        u32 heading; /**< Heading [mdeg] */
        u8 n_sats; /**< Number of satellites used in solution */
        u8 flags; /**< Status flags */
} msg_baseline_heading_dep_a_t;

/** \} */

#endif /* LIBSBP_NAVIGATION_MESSAGES_H */