observation.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/observation.yaml
 * with generate.py. Please do not hand edit!
 *****************************************************************************/

/** \defgroup observation Observation
 *
 * * Satellite observation messages from the device.
 * \{ */

#ifndef LIBSBP_OBSERVATION_MESSAGES_H
#define LIBSBP_OBSERVATION_MESSAGES_H

#include "common.h"
#include "gnss.h"

/** Header for observation message.
 *
 * Header of a GNSS observation message.
 */
typedef struct {
        sbp_gps_time_t t; /**< GNSS time of this observation */
        u8 n_obs; /**< Total number of observations. First nibble is the size
     of the sequence (n), second nibble is the zero-indexed
     counter (ith packet of n)
      */
} observation_header_t;

/** GNSS doppler measurement.
 *
 * Doppler measurement in Hz represented as a 24-bit
 * fixed point number with Q16.8 layout, i.e. 16-bits of whole
 * doppler and 8-bits of fractional doppler. This doppler is defined
 * as positive for approaching satellites.
 */
typedef struct {
        s16 i; /**< Doppler whole Hz [Hz] */
        u8 f; /**< Doppler fractional part [Hz / 256] */
} doppler_t;

/** GNSS observations for a particular satellite signal.
 *
 * Pseudorange and carrier phase observation for a satellite being
 * tracked. The observations are interoperable with 3rd party
 * receivers and conform with typical RTCMv3 GNSS observations.
 */
typedef struct {
        u32 P; /**< Pseudorange observation [2 cm] */
        carrier_phase_t
            L; /**< Carrier phase observation with typical sign convention. [cycles] */
        doppler_t
            D; /**< Doppler observation with typical sign convention. [Hz] */
        u8 cn0; /**< Carrier-to-Noise density.  Zero implies invalid cn0. [dB Hz / 4] */
        u8 lock; /**< Lock timer. This value gives an indication of the time
          for which a signal has maintained continuous phase lock.
          Whenever a signal has lost and regained lock, this
          value is reset to zero. It is encoded according to DF402 from
          the RTCM 10403.2 Amendment 2 specification.  Valid values range
          from 0 to 15 and the most significant nibble is reserved for future use.
           */
        u8 flags; /**< Measurement status flags. A bit field of flags providing the
          status of this observation.  If this field is 0 it means only the Cn0
          estimate for the signal is valid.
           */
        sbp_gnss_signal_t sid; /**< GNSS signal identifier (16 bit) */
} packed_obs_content_t;

/** GPS satellite observations
 *
 * The GPS observations message reports all the raw pseudorange and
 * carrier phase observations for the satellites being tracked by
 * the device. Carrier phase observation here is represented as a
 * 40-bit fixed point number with Q32.8 layout (i.e. 32-bits of
 * whole cycles and 8-bits of fractional cycles). The observations
 * are be interoperable with 3rd party receivers and conform
 * with typical RTCMv3 GNSS observations.
 */
#define SBP_MSG_OBS 0x004A

typedef struct {
        observation_header_t header; /**< Header of a GPS observation message */
        packed_obs_content_t
            obs[0]; /**< Pseudorange and carrier phase observation for a
satellite being tracked.
*/
} msg_obs_t;

/** Base station position
 *
 * The base station position message is the position reported by
 * the base station itself. It is used for pseudo-absolute RTK
 * positioning, and is required to be a high-accuracy surveyed
 * location of the base station. Any error here will result in an
 * error in the pseudo-absolute position output.
 */
#define SBP_MSG_BASE_POS_LLH 0x0044

typedef struct {
        double lat; /**< Latitude [deg] */
        double lon; /**< Longitude [deg] */
        double height; /**< Height [m] */
} msg_base_pos_llh_t;

/** Base station position in ECEF
 *
 * The base station position message is the position reported by
 * the base station itself in absolute Earth Centered Earth Fixed
 * coordinates. It is used for pseudo-absolute RTK positioning, and
 * is required to be a high-accuracy surveyed location of the base
 * station. Any error here will result in an error in the
 * pseudo-absolute position output.
 */
#define SBP_MSG_BASE_POS_ECEF 0x0048

typedef struct {
        double x; /**< ECEF X coodinate [m] */
        double y; /**< ECEF Y coordinate [m] */
        double z; /**< ECEF Z coordinate [m] */
} msg_base_pos_ecef_t;

typedef struct {
        sbp_gnss_signal_t sid; /**< GNSS signal identifier (16 bit) */
        gps_time_sec_t toe; /**< Time of Ephemerides */
        double ura; /**< User Range Accuracy [m] */
        u32 fit_interval; /**< Curve fit interval [s] */
        u8 valid; /**< Status of ephemeris, 1 = valid, 0 = invalid */
        u8 health_bits; /**< Satellite health status.
   GPS: ICD-GPS-200, chapter 20.3.3.3.1.4
   SBAS: 0 = valid, non-zero = invalid
   GLO: 0 = valid, non-zero = invalid
    */
} ephemeris_common_content_t;

typedef struct {
        gnss_signal_dep_t sid; /**< GNSS signal identifier */
        gps_time_dep_t toe; /**< Time of Ephemerides */
        double ura; /**< User Range Accuracy [m] */
        u32 fit_interval; /**< Curve fit interval [s] */
        u8 valid; /**< Status of ephemeris, 1 = valid, 0 = invalid */
        u8 health_bits; /**< Satellite health status.
   GPS: ICD-GPS-200, chapter 20.3.3.3.1.4
   SBAS: 0 = valid, non-zero = invalid
   GLO: 0 = valid, non-zero = invalid
    */
} ephemeris_common_content_dep_a_t;

/** Satellite broadcast ephemeris for GPS
 *
 * The ephemeris message returns a set of satellite orbit
 * parameters that is used to calculate GPS satellite position,
 * velocity, and clock offset. Please see the Navstar GPS
 * Space Segment/Navigation user interfaces (ICD-GPS-200, Table
 * 20-III) for more details.
 */
#define SBP_MSG_EPHEMERIS_GPS_DEP_E 0x0081

typedef struct {
        ephemeris_common_content_dep_a_t
            common; /**< Values common for all ephemeris types */
        double tgd; /**< Group delay differential between L1 and L2 [s] */
        double
            c_rs; /**< Amplitude of the sine harmonic correction term to the orbit radius [m] */
        double
            c_rc; /**< Amplitude of the cosine harmonic correction term to the orbit radius [m] */
        double
            c_uc; /**< Amplitude of the cosine harmonic correction term to the argument of latitude [rad] */
        double
            c_us; /**< Amplitude of the sine harmonic correction term to the argument of latitude [rad] */
        double
            c_ic; /**< Amplitude of the cosine harmonic correction term to the angle of inclination [rad] */
        double
            c_is; /**< Amplitude of the sine harmonic correction term to the angle of inclination [rad] */
        double dn; /**< Mean motion difference [rad/s] */
        double m0; /**< Mean anomaly at reference time [rad] */
        double ecc; /**< Eccentricity of satellite orbit */
        double
            sqrta; /**< Square root of the semi-major axis of orbit [m^(1/2)] */
        double
            omega0; /**< Longitude of ascending node of orbit plane at weekly epoch [rad] */
        double omegadot; /**< Rate of right ascension [rad/s] */
        double w; /**< Argument of perigee [rad] */
        double inc; /**< Inclination [rad] */
        double inc_dot; /**< Inclination first derivative [rad/s] */
        double
            af0; /**< Polynomial clock correction coefficient (clock bias) [s] */
        double
            af1; /**< Polynomial clock correction coefficient (clock drift) [s/s] */
        double
            af2; /**< Polynomial clock correction coefficient (rate of clock drift) [s/s^2] */
        gps_time_dep_t toc; /**< Clock reference */
        u8 iode; /**< Issue of ephemeris data */
        u16 iodc; /**< Issue of clock data */
} msg_ephemeris_gps_dep_e_t;

/** Satellite broadcast ephemeris for GPS
 *
 * The ephemeris message returns a set of satellite orbit
 * parameters that is used to calculate GPS satellite position,
 * velocity, and clock offset. Please see the Navstar GPS
 * Space Segment/Navigation user interfaces (ICD-GPS-200, Table
 * 20-III) for more details.
 */
#define SBP_MSG_EPHEMERIS_GPS 0x0086

typedef struct {
        ephemeris_common_content_t
            common; /**< Values common for all ephemeris types */
        double tgd; /**< Group delay differential between L1 and L2 [s] */
        double
            c_rs; /**< Amplitude of the sine harmonic correction term to the orbit radius [m] */
        double
            c_rc; /**< Amplitude of the cosine harmonic correction term to the orbit radius [m] */
        double
            c_uc; /**< Amplitude of the cosine harmonic correction term to the argument of latitude [rad] */
        double
            c_us; /**< Amplitude of the sine harmonic correction term to the argument of latitude [rad] */
        double
            c_ic; /**< Amplitude of the cosine harmonic correction term to the angle of inclination [rad] */
        double
            c_is; /**< Amplitude of the sine harmonic correction term to the angle of inclination [rad] */
        double dn; /**< Mean motion difference [rad/s] */
        double m0; /**< Mean anomaly at reference time [rad] */
        double ecc; /**< Eccentricity of satellite orbit */
        double
            sqrta; /**< Square root of the semi-major axis of orbit [m^(1/2)] */
        double
            omega0; /**< Longitude of ascending node of orbit plane at weekly epoch [rad] */
        double omegadot; /**< Rate of right ascension [rad/s] */
        double w; /**< Argument of perigee [rad] */
        double inc; /**< Inclination [rad] */
        double inc_dot; /**< Inclination first derivative [rad/s] */
        double
            af0; /**< Polynomial clock correction coefficient (clock bias) [s] */
        double
            af1; /**< Polynomial clock correction coefficient (clock drift) [s/s] */
        double
            af2; /**< Polynomial clock correction coefficient (rate of clock drift) [s/s^2] */
        gps_time_sec_t toc; /**< Clock reference */
        u8 iode; /**< Issue of ephemeris data */
        u16 iodc; /**< Issue of clock data */
} msg_ephemeris_gps_t;

#define SBP_MSG_EPHEMERIS_SBAS_DEP_A 0x0082

typedef struct {
        ephemeris_common_content_dep_a_t
            common; /**< Values common for all ephemeris types */
        double pos[3]; /**< Position of the GEO at time toe [m] */
        double vel[3]; /**< Velocity of the GEO at time toe [m/s] */
        double acc[3]; /**< Acceleration of the GEO at time toe [m/s^2] */
        double
            a_gf0; /**< Time offset of the GEO clock w.r.t. SBAS Network Time [s] */
        double
            a_gf1; /**< Drift of the GEO clock w.r.t. SBAS Network Time [s/s] */
} msg_ephemeris_sbas_dep_a_t;

/** Satellite broadcast ephemeris for GLO
 *
 * The ephemeris message returns a set of satellite orbit
 * parameters that is used to calculate GLO satellite position,
 * velocity, and clock offset. Please see the GLO ICD 5.1 "Table 4.5
 * Characteristics of words of immediate information (ephemeris parameters)"
 * for more details.
 */
#define SBP_MSG_EPHEMERIS_GLO_DEP_A 0x0083

typedef struct {
        ephemeris_common_content_dep_a_t
            common; /**< Values common for all ephemeris types */
        double
            gamma; /**< Relative deviation of predicted carrier frequency from nominal */
        double tau; /**< Correction to the SV time [s] */
        double pos
            [3]; /**< Position of the SV at tb in PZ-90.02 coordinates system [m] */
        double vel
            [3]; /**< Velocity vector of the SV at tb in PZ-90.02 coordinates system [m/s] */
        double acc
            [3]; /**< Acceleration vector of the SV at tb in PZ-90.02 coordinates sys [m/s^2] */
} msg_ephemeris_glo_dep_a_t;

#define SBP_MSG_EPHEMERIS_SBAS 0x0084

typedef struct {
        ephemeris_common_content_t
            common; /**< Values common for all ephemeris types */
        double pos[3]; /**< Position of the GEO at time toe [m] */
        double vel[3]; /**< Velocity of the GEO at time toe [m/s] */
        double acc[3]; /**< Acceleration of the GEO at time toe [m/s^2] */
        double
            a_gf0; /**< Time offset of the GEO clock w.r.t. SBAS Network Time [s] */
        double
            a_gf1; /**< Drift of the GEO clock w.r.t. SBAS Network Time [s/s] */
} msg_ephemeris_sbas_t;

/** Satellite broadcast ephemeris for GLO
 *
 * The ephemeris message returns a set of satellite orbit
 * parameters that is used to calculate GLO satellite position,
 * velocity, and clock offset. Please see the GLO ICD 5.1 "Table 4.5
 * Characteristics of words of immediate information (ephemeris parameters)"
 * for more details.
 */
#define SBP_MSG_EPHEMERIS_GLO_DEP_B 0x0085

typedef struct {
        ephemeris_common_content_t
            common; /**< Values common for all ephemeris types */
        double
            gamma; /**< Relative deviation of predicted carrier frequency from nominal */
        double tau; /**< Correction to the SV time [s] */
        double pos
            [3]; /**< Position of the SV at tb in PZ-90.02 coordinates system [m] */
        double vel
            [3]; /**< Velocity vector of the SV at tb in PZ-90.02 coordinates system [m/s] */
        double acc
            [3]; /**< Acceleration vector of the SV at tb in PZ-90.02 coordinates sys [m/s^2] */
} msg_ephemeris_glo_dep_b_t;

/** Satellite broadcast ephemeris for GLO
 *
 * The ephemeris message returns a set of satellite orbit
 * parameters that is used to calculate GLO satellite position,
 * velocity, and clock offset. Please see the GLO ICD 5.1 "Table 4.5
 * Characteristics of words of immediate information (ephemeris parameters)"
 * for more details.
 */
#define SBP_MSG_EPHEMERIS_GLO_DEP_C 0x0087

typedef struct {
        ephemeris_common_content_t
            common; /**< Values common for all ephemeris types */
        double
            gamma; /**< Relative deviation of predicted carrier frequency from nominal */
        double tau; /**< Correction to the SV time [s] */
        double d_tau; /**< Equipment delay between L1 and L2 [s] */
        double pos
            [3]; /**< Position of the SV at tb in PZ-90.02 coordinates system [m] */
        double vel
            [3]; /**< Velocity vector of the SV at tb in PZ-90.02 coordinates system [m/s] */
        double acc
            [3]; /**< Acceleration vector of the SV at tb in PZ-90.02 coordinates sys [m/s^2] */
        u8 fcn; /**< Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid */
} msg_ephemeris_glo_dep_c_t;

/** Satellite broadcast ephemeris for GLO
 *
 * The ephemeris message returns a set of satellite orbit
 * parameters that is used to calculate GLO satellite position,
 * velocity, and clock offset. Please see the GLO ICD 5.1 "Table 4.5
 * Characteristics of words of immediate information (ephemeris parameters)"
 * for more details.
 */
#define SBP_MSG_EPHEMERIS_GLO 0x0088

typedef struct {
        ephemeris_common_content_t
            common; /**< Values common for all ephemeris types */
        double
            gamma; /**< Relative deviation of predicted carrier frequency from nominal */
        double tau; /**< Correction to the SV time [s] */
        double d_tau; /**< Equipment delay between L1 and L2 [s] */
        double pos
            [3]; /**< Position of the SV at tb in PZ-90.02 coordinates system [m] */
        double vel
            [3]; /**< Velocity vector of the SV at tb in PZ-90.02 coordinates system [m/s] */
        double acc
            [3]; /**< Acceleration vector of the SV at tb in PZ-90.02 coordinates sys [m/s^2] */
        u8 fcn; /**< Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid */
        u8 iod; /**< Issue of ephemeris data */
} msg_ephemeris_glo_t;

/** Satellite broadcast ephemeris
 *
 * The ephemeris message returns a set of satellite orbit
 * parameters that is used to calculate GPS satellite position,
 * velocity, and clock offset. Please see the Navstar GPS
 * Space Segment/Navigation user interfaces (ICD-GPS-200, Table
 * 20-III) for more details.
 */
#define SBP_MSG_EPHEMERIS_DEP_D 0x0080

typedef struct {
        double tgd; /**< Group delay differential between L1 and L2 [s] */
        double
            c_rs; /**< Amplitude of the sine harmonic correction term to the orbit radius [m] */
        double
            c_rc; /**< Amplitude of the cosine harmonic correction term to the orbit radius [m] */
        double
            c_uc; /**< Amplitude of the cosine harmonic correction term to the argument of latitude [rad] */
        double
            c_us; /**< Amplitude of the sine harmonic correction term to the argument of latitude [rad] */
        double
            c_ic; /**< Amplitude of the cosine harmonic correction term to the angle of inclination [rad] */
        double
            c_is; /**< Amplitude of the sine harmonic correction term to the angle of inclination [rad] */
        double dn; /**< Mean motion difference [rad/s] */
        double m0; /**< Mean anomaly at reference time [rad] */
        double ecc; /**< Eccentricity of satellite orbit */
        double
            sqrta; /**< Square root of the semi-major axis of orbit [m^(1/2)] */
        double
            omega0; /**< Longitude of ascending node of orbit plane at weekly epoch [rad] */
        double omegadot; /**< Rate of right ascension [rad/s] */
        double w; /**< Argument of perigee [rad] */
        double inc; /**< Inclination [rad] */
        double inc_dot; /**< Inclination first derivative [rad/s] */
        double
            af0; /**< Polynomial clock correction coefficient (clock bias) [s] */
        double
            af1; /**< Polynomial clock correction coefficient (clock drift) [s/s] */
        double
            af2; /**< Polynomial clock correction coefficient (rate of clock drift) [s/s^2] */
        double toe_tow; /**< Time of week [s] */
        u16 toe_wn; /**< Week number [week] */
        double toc_tow; /**< Clock reference time of week [s] */
        u16 toc_wn; /**< Clock reference week number [week] */
        u8 valid; /**< Is valid? */
        u8 healthy; /**< Satellite is healthy? */
        gnss_signal_dep_t sid; /**< GNSS signal identifier */
        u8 iode; /**< Issue of ephemeris data */
        u16 iodc; /**< Issue of clock data */
        u32 reserved; /**< Reserved field */
} msg_ephemeris_dep_d_t;

/** Deprecated
 *
 * Deprecated.
 */
#define SBP_MSG_EPHEMERIS_DEP_A 0x001A

typedef struct {
        double tgd; /**< Group delay differential between L1 and L2 [s] */
        double
            c_rs; /**< Amplitude of the sine harmonic correction term to the orbit radius [m] */
        double
            c_rc; /**< Amplitude of the cosine harmonic correction term to the orbit radius [m] */
        double
            c_uc; /**< Amplitude of the cosine harmonic correction term to the argument of latitude [rad] */
        double
            c_us; /**< Amplitude of the sine harmonic correction term to the argument of latitude [rad] */
        double
            c_ic; /**< Amplitude of the cosine harmonic correction term to the angle of inclination [rad] */
        double
            c_is; /**< Amplitude of the sine harmonic correction term to the angle of inclination [rad] */
        double dn; /**< Mean motion difference [rad/s] */
        double m0; /**< Mean anomaly at reference time [rad] */
        double ecc; /**< Eccentricity of satellite orbit */
        double
            sqrta; /**< Square root of the semi-major axis of orbit [m^(1/2)] */
        double
            omega0; /**< Longitude of ascending node of orbit plane at weekly epoch [rad] */
        double omegadot; /**< Rate of right ascension [rad/s] */
        double w; /**< Argument of perigee [rad] */
        double inc; /**< Inclination [rad] */
        double inc_dot; /**< Inclination first derivative [rad/s] */
        double
            af0; /**< Polynomial clock correction coefficient (clock bias) [s] */
        double
            af1; /**< Polynomial clock correction coefficient (clock drift) [s/s] */
        double
            af2; /**< Polynomial clock correction coefficient (rate of clock drift) [s/s^2] */
        double toe_tow; /**< Time of week [s] */
        u16 toe_wn; /**< Week number [week] */
        double toc_tow; /**< Clock reference time of week [s] */
        u16 toc_wn; /**< Clock reference week number [week] */
        u8 valid; /**< Is valid? */
        u8 healthy; /**< Satellite is healthy? */
        u8 prn; /**< PRN being tracked */
} msg_ephemeris_dep_a_t;

/** Deprecated
 *
 * Deprecated.
 */
#define SBP_MSG_EPHEMERIS_DEP_B 0x0046

typedef struct {
        double tgd; /**< Group delay differential between L1 and L2 [s] */
        double
            c_rs; /**< Amplitude of the sine harmonic correction term to the orbit radius [m] */
        double
            c_rc; /**< Amplitude of the cosine harmonic correction term to the orbit radius [m] */
        double
            c_uc; /**< Amplitude of the cosine harmonic correction term to the argument of latitude [rad] */
        double
            c_us; /**< Amplitude of the sine harmonic correction term to the argument of latitude [rad] */
        double
            c_ic; /**< Amplitude of the cosine harmonic correction term to the angle of inclination [rad] */
        double
            c_is; /**< Amplitude of the sine harmonic correction term to the angle of inclination [rad] */
        double dn; /**< Mean motion difference [rad/s] */
        double m0; /**< Mean anomaly at reference time [rad] */
        double ecc; /**< Eccentricity of satellite orbit */
        double
            sqrta; /**< Square root of the semi-major axis of orbit [m^(1/2)] */
        double
            omega0; /**< Longitude of ascending node of orbit plane at weekly epoch [rad] */
        double omegadot; /**< Rate of right ascension [rad/s] */
        double w; /**< Argument of perigee [rad] */
        double inc; /**< Inclination [rad] */
        double inc_dot; /**< Inclination first derivative [rad/s] */
        double
            af0; /**< Polynomial clock correction coefficient (clock bias) [s] */
        double
            af1; /**< Polynomial clock correction coefficient (clock drift) [s/s] */
        double
            af2; /**< Polynomial clock correction coefficient (rate of clock drift) [s/s^2] */
        double toe_tow; /**< Time of week [s] */
        u16 toe_wn; /**< Week number [week] */
        double toc_tow; /**< Clock reference time of week [s] */
        u16 toc_wn; /**< Clock reference week number [week] */
        u8 valid; /**< Is valid? */
        u8 healthy; /**< Satellite is healthy? */
        u8 prn; /**< PRN being tracked */
        u8 iode; /**< Issue of ephemeris data */
} msg_ephemeris_dep_b_t;

/** Satellite broadcast ephemeris
 *
 * The ephemeris message returns a set of satellite orbit
 * parameters that is used to calculate GPS satellite position,
 * velocity, and clock offset. Please see the Navstar GPS
 * Space Segment/Navigation user interfaces (ICD-GPS-200, Table
 * 20-III) for more details.
 */
#define SBP_MSG_EPHEMERIS_DEP_C 0x0047

typedef struct {
        double tgd; /**< Group delay differential between L1 and L2 [s] */
        double
            c_rs; /**< Amplitude of the sine harmonic correction term to the orbit radius [m] */
        double
            c_rc; /**< Amplitude of the cosine harmonic correction term to the orbit radius [m] */
        double
            c_uc; /**< Amplitude of the cosine harmonic correction term to the argument of latitude [rad] */
        double
            c_us; /**< Amplitude of the sine harmonic correction term to the argument of latitude [rad] */
        double
            c_ic; /**< Amplitude of the cosine harmonic correction term to the angle of inclination [rad] */
        double
            c_is; /**< Amplitude of the sine harmonic correction term to the angle of inclination [rad] */
        double dn; /**< Mean motion difference [rad/s] */
        double m0; /**< Mean anomaly at reference time [rad] */
        double ecc; /**< Eccentricity of satellite orbit */
        double
            sqrta; /**< Square root of the semi-major axis of orbit [m^(1/2)] */
        double
            omega0; /**< Longitude of ascending node of orbit plane at weekly epoch [rad] */
        double omegadot; /**< Rate of right ascension [rad/s] */
        double w; /**< Argument of perigee [rad] */
        double inc; /**< Inclination [rad] */
        double inc_dot; /**< Inclination first derivative [rad/s] */
        double
            af0; /**< Polynomial clock correction coefficient (clock bias) [s] */
        double
            af1; /**< Polynomial clock correction coefficient (clock drift) [s/s] */
        double
            af2; /**< Polynomial clock correction coefficient (rate of clock drift) [s/s^2] */
        double toe_tow; /**< Time of week [s] */
        u16 toe_wn; /**< Week number [week] */
        double toc_tow; /**< Clock reference time of week [s] */
        u16 toc_wn; /**< Clock reference week number [week] */
        u8 valid; /**< Is valid? */
        u8 healthy; /**< Satellite is healthy? */
        gnss_signal_dep_t sid; /**< GNSS signal identifier */
        u8 iode; /**< Issue of ephemeris data */
        u16 iodc; /**< Issue of clock data */
        u32 reserved; /**< Reserved field */
} msg_ephemeris_dep_c_t;

/** Header for observation message.
 *
 * Header of a GPS observation message.
 */
typedef struct {
        gps_time_dep_t t; /**< GPS time of this observation */
        u8 n_obs; /**< Total number of observations. First nibble is the size
     of the sequence (n), second nibble is the zero-indexed
     counter (ith packet of n)
      */
} observation_header_dep_t;

/** GPS carrier phase measurement.
 *
 * Carrier phase measurement in cycles represented as a 40-bit
 * fixed point number with Q32.8 layout, i.e. 32-bits of whole
 * cycles and 8-bits of fractional cycles. This has the opposite
 * sign convention than a typical GPS receiver and the phase has
 * the opposite sign as the pseudorange.
 */
typedef struct {
        s32 i; /**< Carrier phase whole cycles [cycles] */
        u8 f; /**< Carrier phase fractional part [cycles / 256] */
} carrier_phase_dep_a_t;

/** Deprecated
 *
 * Deprecated.
 */
typedef struct {
        u32 P; /**< Pseudorange observation [cm] */
        carrier_phase_dep_a_t
            L; /**< Carrier phase observation with opposite sign from typical convention */
        u8 cn0; /**< Carrier-to-Noise density [dB Hz / 4] */
        u16 lock; /**< Lock indicator. This value changes whenever a satellite
            signal has lost and regained lock, indicating that the
            carrier phase ambiguity may have changed.
             */
        u8 prn; /**< PRN-1 identifier of the satellite signal */
} packed_obs_content_dep_a_t;

/** GPS observations for a particular satellite signal.
 *
 * Pseudorange and carrier phase observation for a satellite being
 * tracked.  Pseudoranges are referenced to a nominal pseudorange.
 */
typedef struct {
        u32 P; /**< Pseudorange observation [cm] */
        carrier_phase_dep_a_t
            L; /**< Carrier phase observation with opposite sign from typical convention. */
        u8 cn0; /**< Carrier-to-Noise density [dB Hz / 4] */
        u16 lock; /**< Lock indicator. This value changes whenever a satellite
            signal has lost and regained lock, indicating that the
            carrier phase ambiguity may have changed.
             */
        gnss_signal_dep_t sid; /**< GNSS signal identifier */
} packed_obs_content_dep_b_t;

/** GPS observations for a particular satellite signal.
 *
 * Pseudorange and carrier phase observation for a satellite being
 * tracked. The observations are be interoperable with 3rd party
 * receivers and conform with typical RTCMv3 GNSS observations.
 */
typedef struct {
        u32 P; /**< Pseudorange observation [2 cm] */
        carrier_phase_t
            L; /**< Carrier phase observation with typical sign convention. [cycles] */
        u8 cn0; /**< Carrier-to-Noise density [dB Hz / 4] */
        u16 lock; /**< Lock indicator. This value changes whenever a satellite
          signal has lost and regained lock, indicating that the
          carrier phase ambiguity may have changed.
           */
        gnss_signal_dep_t sid; /**< GNSS signal identifier */
} packed_obs_content_dep_c_t;

/** Deprecated
 *
 * Deprecated.
 */
#define SBP_MSG_OBS_DEP_A 0x0045

typedef struct {
        observation_header_dep_t
            header; /**< Header of a GPS observation message */
        packed_obs_content_dep_a_t
            obs[0]; /**< Pseudorange and carrier phase observation for a
satellite being tracked.
*/
} msg_obs_dep_a_t;

/** Deprecated
 *
 * This observation message has been deprecated in favor of
 * observations that are more interoperable. This message
 * should be used for observations referenced to
 * a nominal pseudorange which are not interoperable with
 * most 3rd party GNSS receievers or typical RTCMv3
 * observations.
 */
#define SBP_MSG_OBS_DEP_B 0x0043

typedef struct {
        observation_header_dep_t
            header; /**< Header of a GPS observation message */
        packed_obs_content_dep_b_t
            obs[0]; /**< Pseudorange and carrier phase observation for a
satellite being tracked.
*/
} msg_obs_dep_b_t;

/** Deprecated
 *
 * The GPS observations message reports all the raw pseudorange and
 * carrier phase observations for the satellites being tracked by
 * the device. Carrier phase observation here is represented as a
 * 40-bit fixed point number with Q32.8 layout (i.e. 32-bits of
 * whole cycles and 8-bits of fractional cycles). The observations
 * are interoperable with 3rd party receivers and conform
 * with typical RTCMv3 GNSS observations.
 */
#define SBP_MSG_OBS_DEP_C 0x0049

typedef struct {
        observation_header_dep_t
            header; /**< Header of a GPS observation message */
        packed_obs_content_dep_c_t
            obs[0]; /**< Pseudorange and carrier phase observation for a
satellite being tracked.
*/
} msg_obs_dep_c_t;

/** Iono corrections
 *
 * The ionospheric parameters which allow the "L1 only" or "L2 only" user to
 * utilize the ionospheric model for computation of the ionospheric delay.
 * Please see ICD-GPS-200 (Chapter 20.3.3.5.1.7) for more details.
 */
#define SBP_MSG_IONO 0x0090

typedef struct {
        gps_time_sec_t
            t_nmct; /**< Navigation Message Correction Table Valitidy Time */
        double a0;
        double a1;
        double a2;
        double a3;
        double b0;
        double b1;
        double b2;
        double b3;
} msg_iono_t;

/** L2C capability mask
 *
 * Please see ICD-GPS-200 (Chapter 20.3.3.5.1.4) for more details.
 */
#define SBP_MSG_SV_CONFIGURATION_GPS 0x0091

typedef struct {
        gps_time_sec_t
            t_nmct; /**< Navigation Message Correction Table Valitidy Time */
        u32 l2c_mask; /**< L2C capability mask, SV32 bit being MSB, SV1 bit being LSB */
} msg_sv_configuration_gps_t;

/** Group Delay
 *
 * Please see ICD-GPS-200 (30.3.3.3.1.1) for more details.
 */
#define SBP_MSG_GROUP_DELAY_DEP_A 0x0092

typedef struct {
        gps_time_dep_t t_op; /**< Data Predict Time of Week */
        u8 prn; /**< Satellite number */
        u8 valid; /**< bit-field indicating validity of the values,
     LSB indicating tgd validity etc.
     1 = value is valid, 0 = value is not valid.
      */
        s16 tgd;
        s16 isc_l1ca;
        s16 isc_l2c;
} msg_group_delay_dep_a_t;

/** Group Delay
 *
 * Please see ICD-GPS-200 (30.3.3.3.1.1) for more details.
 */
#define SBP_MSG_GROUP_DELAY_DEP_B 0x0093

typedef struct {
        gps_time_sec_t t_op; /**< Data Predict Time of Week */
        gnss_signal_dep_t sid; /**< GNSS signal identifier */
        u8 valid; /**< bit-field indicating validity of the values,
       LSB indicating tgd validity etc.
       1 = value is valid, 0 = value is not valid.
        */
        s16 tgd;
        s16 isc_l1ca;
        s16 isc_l2c;
} msg_group_delay_dep_b_t;

/** Group Delay
 *
 * Please see ICD-GPS-200 (30.3.3.3.1.1) for more details.
 */
#define SBP_MSG_GROUP_DELAY 0x0094

typedef struct {
        gps_time_sec_t t_op; /**< Data Predict Time of Week */
        sbp_gnss_signal_t sid; /**< GNSS signal identifier */
        u8 valid; /**< bit-field indicating validity of the values,
       LSB indicating tgd validity etc.
       1 = value is valid, 0 = value is not valid.
        */
        s16 tgd;
        s16 isc_l1ca;
        s16 isc_l2c;
} msg_group_delay_t;

typedef struct {
        sbp_gnss_signal_t sid; /**< GNSS signal identifier */
        gps_time_sec_t toa; /**< Reference time of almanac */
        double ura; /**< User Range Accuracy [m] */
        u32 fit_interval; /**< Curve fit interval [s] */
        u8 valid; /**< Status of almanac, 1 = valid, 0 = invalid */
        u8 health_bits; /**< Satellite health status for GPS:
     - bits 5-7: NAV data health status. See IS-GPS-200H
       Table 20-VII: NAV Data Health Indications.
     - bits 0-4: Signal health status. See IS-GPS-200H
       Table 20-VIII. Codes for Health of SV Signal
       Components.
   Satellite health status for GLO:
     See GLO ICD 5.1 table 5.1 for details
     - bit 0: C(n), "unhealthy" flag that is transmitted within
       non-immediate data and indicates overall constellation status
       at the moment of almanac uploading.
       '0' indicates malfunction of n-satellite.
       '1' indicates that n-satellite is operational.
     - bit 1: Bn(ln), '0' indicates the satellite is operational
       and suitable for navigation.
    */
} almanac_common_content_t;

typedef struct {
        gnss_signal_dep_t sid; /**< GNSS signal identifier */
        gps_time_sec_t toa; /**< Reference time of almanac */
        double ura; /**< User Range Accuracy [m] */
        u32 fit_interval; /**< Curve fit interval [s] */
        u8 valid; /**< Status of almanac, 1 = valid, 0 = invalid */
        u8 health_bits; /**< Satellite health status for GPS:
     - bits 5-7: NAV data health status. See IS-GPS-200H
       Table 20-VII: NAV Data Health Indications.
     - bits 0-4: Signal health status. See IS-GPS-200H
       Table 20-VIII. Codes for Health of SV Signal
       Components.
   Satellite health status for GLO:
     See GLO ICD 5.1 table 5.1 for details
     - bit 0: C(n), "unhealthy" flag that is transmitted within
       non-immediate data and indicates overall constellation status
       at the moment of almanac uploading.
       '0' indicates malfunction of n-satellite.
       '1' indicates that n-satellite is operational.
     - bit 1: Bn(ln), '0' indicates the satellite is operational
       and suitable for navigation.
    */
} almanac_common_content_dep_t;

/** Satellite broadcast ephemeris for GPS
 *
 * The almanac message returns a set of satellite orbit parameters. Almanac
 * data is not very precise and is considered valid for up to several months.
 * Please see the Navstar GPS Space Segment/Navigation user interfaces
 * (ICD-GPS-200, Chapter 20.3.3.5.1.2 Almanac Data) for more details.
 */
#define SBP_MSG_ALMANAC_GPS_DEP 0x0070

typedef struct {
        almanac_common_content_dep_t
            common; /**< Values common for all almanac types */
        double m0; /**< Mean anomaly at reference time [rad] */
        double ecc; /**< Eccentricity of satellite orbit */
        double
            sqrta; /**< Square root of the semi-major axis of orbit [m^(1/2)] */
        double
            omega0; /**< Longitude of ascending node of orbit plane at weekly epoch [rad] */
        double omegadot; /**< Rate of right ascension [rad/s] */
        double w; /**< Argument of perigee [rad] */
        double inc; /**< Inclination [rad] */
        double
            af0; /**< Polynomial clock correction coefficient (clock bias) [s] */
        double
            af1; /**< Polynomial clock correction coefficient (clock drift) [s/s] */
} msg_almanac_gps_dep_t;

/** Satellite broadcast ephemeris for GPS
 *
 * The almanac message returns a set of satellite orbit parameters. Almanac
 * data is not very precise and is considered valid for up to several months.
 * Please see the Navstar GPS Space Segment/Navigation user interfaces
 * (ICD-GPS-200, Chapter 20.3.3.5.1.2 Almanac Data) for more details.
 */
#define SBP_MSG_ALMANAC_GPS 0x0072

typedef struct {
        almanac_common_content_t
            common; /**< Values common for all almanac types */
        double m0; /**< Mean anomaly at reference time [rad] */
        double ecc; /**< Eccentricity of satellite orbit */
        double
            sqrta; /**< Square root of the semi-major axis of orbit [m^(1/2)] */
        double
            omega0; /**< Longitude of ascending node of orbit plane at weekly epoch [rad] */
        double omegadot; /**< Rate of right ascension [rad/s] */
        double w; /**< Argument of perigee [rad] */
        double inc; /**< Inclination [rad] */
        double
            af0; /**< Polynomial clock correction coefficient (clock bias) [s] */
        double
            af1; /**< Polynomial clock correction coefficient (clock drift) [s/s] */
} msg_almanac_gps_t;

/** Satellite broadcast ephemeris for GLO
 *
 * The almanac message returns a set of satellite orbit parameters. Almanac
 * data is not very precise and is considered valid for up to several months.
 * Please see the GLO ICD 5.1 "Chapter 4.5 Non-immediate information and
 * almanac" for details.
 */
#define SBP_MSG_ALMANAC_GLO_DEP 0x0071

typedef struct {
        almanac_common_content_dep_t
            common; /**< Values common for all almanac types */
        double
            lambda_na; /**< Longitude of the first ascending node of the orbit in PZ-90.02
              coordinate system
               [rad] */
        double t_lambda_na; /**< Time of the first ascending node passage [s] */
        double i; /**< Value of inclination at instant of t_lambda [rad] */
        double
            t; /**< Value of Draconian period at instant of t_lambda [s/orbital period] */
        double
            t_dot; /**< Rate of change of the Draconian period [s/(orbital period^2)] */
        double epsilon; /**< Eccentricity at instant of t_lambda */
        double omega; /**< Argument of perigee at instant of t_lambda [rad] */
} msg_almanac_glo_dep_t;

/** Satellite broadcast ephemeris for GLO
 *
 * The almanac message returns a set of satellite orbit parameters. Almanac
 * data is not very precise and is considered valid for up to several months.
 * Please see the GLO ICD 5.1 "Chapter 4.5 Non-immediate information and
 * almanac" for details.
 */
#define SBP_MSG_ALMANAC_GLO 0x0073

typedef struct {
        almanac_common_content_t
            common; /**< Values common for all almanac types */
        double
            lambda_na; /**< Longitude of the first ascending node of the orbit in PZ-90.02
          coordinate system
           [rad] */
        double t_lambda_na; /**< Time of the first ascending node passage [s] */
        double i; /**< Value of inclination at instant of t_lambda [rad] */
        double
            t; /**< Value of Draconian period at instant of t_lambda [s/orbital period] */
        double
            t_dot; /**< Rate of change of the Draconian period [s/(orbital period^2)] */
        double epsilon; /**< Eccentricity at instant of t_lambda */
        double omega; /**< Argument of perigee at instant of t_lambda [rad] */
} msg_almanac_glo_t;

/** GLONASS L1/L2 Code-Phase biases
 *
 * The GLONASS L1/L2 Code-Phase biases allows to perform
 * GPS+GLONASS integer ambiguity resolution for baselines
 * with mixed receiver types (e.g. receiver of different
 * manufacturers)
 */
#define SBP_MSG_GLO_BIASES 0x0075

typedef struct {
        u8 mask; /**< GLONASS FDMA signals mask [boolean] */
        s16 l1ca_bias; /**< GLONASS L1 C/A Code-Phase Bias [m * 0.02] */
        s16 l1p_bias; /**< GLONASS L1 P Code-Phase Bias [m * 0.02] */
        s16 l2ca_bias; /**< GLONASS L2 C/A Code-Phase Bias [m * 0.02] */
        s16 l2p_bias; /**< GLONASS L2 P Code-Phase Bias [m * 0.02] */
} msg_glo_biases_t;

/** \} */

#endif /* LIBSBP_OBSERVATION_MESSAGES_H */