Data Sets (DIDs)

Data Sets (DIDs)¶

Data Sets in the form of C structures are available through binary protocol and provide access to system configuration and output data. The data sets are defined in SDK/src/data_sets.h of the InertialSense SDK.

INS / AHRS Output¶

DID_INS_1¶

INS output: euler rotation w/ respect to NED, NED position from reference LLA.

ins_1_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6^th, 1980
timeOfWeek	double	GPS time of week (since Sunday morning) in seconds
insStatus	uint32_t	INS status flags (eInsStatusFlags). Copy of DID_SYS_PARAMS.insStatus
hdwStatus	uint32_t	Hardware status flags (eHdwStatusFlags). Copy of DID_SYS_PARAMS.hdwStatus
theta	float[3]	Euler angles: roll, pitch, yaw in radians with respect to NED
uvw	float[3]	Velocity U, V, W in meters per second. Convert to NED velocity using "vectorBodyToReference( uvw, theta, vel_ned )".
lla	double[3]	WGS84 latitude, longitude, height above ellipsoid (degrees,degrees,meters)
ned	float[3]	North, east and down (meters) offset from reference latitude, longitude, and altitude to current latitude, longitude, and altitude

DID_INS_2¶

INS output: quaternion rotation w/ respect to NED, ellipsoid altitude

ins_2_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6^th, 1980
timeOfWeek	double	GPS time of week (since Sunday morning) in seconds
insStatus	uint32_t	INS status flags (eInsStatusFlags). Copy of DID_SYS_PARAMS.insStatus
hdwStatus	uint32_t	Hardware status flags (eHdwStatusFlags). Copy of DID_SYS_PARAMS.hdwStatus
qn2b	float[4]	Quaternion body rotation with respect to NED: W, X, Y, Z
uvw	float[3]	Velocity U, V, W in meters per second. Convert to NED velocity using "quatRot(vel_ned, qn2b, uvw)".
lla	double[3]	WGS84 latitude, longitude, height above ellipsoid in meters (not MSL)

DID_INS_3¶

Inertial navigation data with quaternion NED to body rotation and ECEF position.

ins_3_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6^th, 1980
timeOfWeek	double	GPS time of week (since Sunday morning) in seconds
insStatus	uint32_t	INS status flags (eInsStatusFlags). Copy of DID_SYS_PARAMS.insStatus
hdwStatus	uint32_t	Hardware status flags (eHdwStatusFlags). Copy of DID_SYS_PARAMS.hdwStatus
qn2b	float[4]	Quaternion body rotation with respect to NED: W, X, Y, Z
uvw	float[3]	Velocity U, V, W in meters per second. Convert to NED velocity using "quatRot(vel_ned, qn2b, uvw)".
lla	double[3]	WGS84 latitude, longitude, height above ellipsoid in meters (not MSL)
msl	float	height above mean sea level (MSL) in meters

DID_INS_4¶

INS output: quaternion rotation w/ respect to ECEF, ECEF position.

ins_4_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6^th, 1980
timeOfWeek	double	GPS time of week (since Sunday morning) in seconds
insStatus	uint32_t	INS status flags (eInsStatusFlags). Copy of DID_SYS_PARAMS.insStatus
hdwStatus	uint32_t	Hardware status flags (eHdwStatusFlags). Copy of DID_SYS_PARAMS.hdwStatus
qe2b	float[4]	Quaternion body rotation with respect to ECEF: W, X, Y, Z
ve	float[3]	Velocity in ECEF (earth-centered earth-fixed) frame in meters per second
ecef	double[3]	Position in ECEF (earth-centered earth-fixed) frame in meters

Inertial Measurement Unit (IMU)¶

DID_IMU¶

Inertial measurement unit data down-sampled from IMU rate (DID_FLASH_CONFIG.startupImuDtMs (1KHz)) to navigation update rate (DID_FLASH_CONFIG.startupNavDtMs) as an anti-aliasing filter to reduce noise and preserve accuracy. Minimum data period is DID_FLASH_CONFIG.startupNavDtMs (1KHz max).

imu_t

Field	Type	Description
time	double	Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset
status	uint32_t	IMU Status (eImuStatus)
I	imus_t	Inertial Measurement Unit (IMU)

DID_IMU_RAW¶

IMU data averaged from DID_IMU3_RAW. Use this IMU data for output data rates faster than DID_FLASH_CONFIG.startupNavDtMs. Otherwise we recommend use of DID_IMU or DID_PIMU as they are oversampled and contain less noise.

imu_t

Field	Type	Description
time	double	Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset
status	uint32_t	IMU Status (eImuStatus)
I	imus_t	Inertial Measurement Unit (IMU)

DID_PIMU¶

Preintegrated IMU (a.k.a. Coning and Sculling integral) in body/IMU frame. Updated at IMU rate. Also know as delta theta delta velocity, or preintegrated IMU (PIMU). For clarification, the name "Preintegrated IMU" or "PIMU" throughout our User Manual. This data is integrated from the IMU data at the IMU update rate (startupImuDtMs, default 1ms). The integration period (dt) and output data rate are the same as the NAV rate (startupNavDtMs) and cannot be output at any other rate. If a faster output data rate is desired, DID_IMU_RAW can be used instead. PIMU data acts as a form of compression, adding the benefit of higher integration rates for slower output data rates, preserving the IMU data without adding filter delay and addresses antialiasing. It is most effective for systems that have higher dynamics and lower communications data rates. The minimum data period is DID_FLASH_CONFIG.startupImuDtMs or 4, whichever is larger (250Hz max). The PIMU value can be converted to IMU by dividing PIMU by dt (i.e. IMU = PIMU / dt)

pimu_t

Field	Type	Description
time	double	Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset
dt	float	Integral period in seconds for delta theta and delta velocity. This is configured using DID_FLASH_CONFIG.startupNavDtMs.
status	uint32_t	IMU Status (eImuStatus)
theta	float[3]	IMU delta theta (gyroscope {p,q,r} integral) in radians in sensor frame
vel	float[3]	IMU delta velocity (accelerometer {x,y,z} integral) in m/s in sensor frame

Sensor Output¶

DID_BAROMETER¶

Barometric pressure sensor data

barometer_t

Field	Type	Description
time	double	Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset
bar	float	Barometric pressure in kilopascals
mslBar	float	MSL altitude from barometric pressure sensor in meters
barTemp	float	Temperature of barometric pressure sensor in Celsius
humidity	float	Relative humidity as a percent (%rH). Range is 0% - 100%

DID_MAGNETOMETER¶

Magnetometer sensor output

magnetometer_t

Field	Type	Description
time	double	Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset
mag	float[3]	Magnetometers

DID_MAG_CAL¶

Magnetometer calibration

mag_cal_t

Field	Type	Description
state	uint32_t	Mag recalibration state. COMMANDS: 1=multi-axis, 2=single-axis, 101=abort, STATUS: 200=running, 201=done (see eMagCalState)
progress	float	Mag recalibration progress indicator: 0-100 %
declination	float	Magnetic declination estimate

DID_SYS_SENSORS¶

System sensor information

sys_sensors_t

Field	Type	Description
time	double	Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset
temp	float	Temperature in Celsius
pqr	float[3]	Gyros in radians / second
acc	float[3]	Accelerometers in meters / second squared
mag	float[3]	Magnetometers
bar	float	Barometric pressure in kilopascals
barTemp	float	Temperature of barometric pressure sensor in Celsius
mslBar	float	MSL altitude from barometric pressure sensor in meters
humidity	float	Relative humidity as a percent (%rH). Range is 0% - 100%
vin	float	EVB system input voltage in volts. uINS pin 5 (G2/AN2). Use 10K/1K resistor divider between Vin and GND.
ana1	float	ADC analog input in volts. uINS pin 4, (G1/AN1).
ana3	float	ADC analog input in volts. uINS pin 19 (G3/AN3).
ana4	float	ADC analog input in volts. uINS pin 20 (G4/AN4).

GPS / GNSS¶

DID_GPS1_POS¶

GPS 1 position data. This comes from DID_GPS1_RCVR_POS or DID_GPS1_RTK_POS, depending on whichever is more accurate.

gps_pos_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6^th, 1980
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	(see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag
ecef	double[3]	Position in ECEF {x,y,z} (m)
lla	double[3]	Position - WGS84 latitude, longitude, height above ellipsoid (not MSL) (degrees, m)
hMSL	float	Height above mean sea level (MSL) in meters
hAcc	float	Horizontal accuracy in meters
vAcc	float	Vertical accuracy in meters
pDop	float	Position dilution of precision (unitless)
cnoMean	float	Average of all non-zero satellite carrier to noise ratios (signal strengths) in dBHz
towOffset	double	Time sync offset between local time since boot up to GPS time of week in seconds. Add this to IMU and sensor time to get GPS time of week in seconds.
leapS	uint8_t	GPS leap second (GPS-UTC) offset. Receiver's best knowledge of the leap seconds offset from UTC to GPS time. Subtract from GPS time of week to get UTC time of week. (18 seconds as of December 31, 2016)
satsUsed	uint8_t	Number of satellites used
cnoMeanSigma	uint8_t	Standard deviation of cnoMean over past 5 seconds (dBHz x10)
reserved	uint8_t	Reserved for future use

DID_GPS1_RCVR_POS¶

GPS 1 position data from GNSS receiver.

gps_pos_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6^th, 1980
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	(see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag
ecef	double[3]	Position in ECEF {x,y,z} (m)
lla	double[3]	Position - WGS84 latitude, longitude, height above ellipsoid (not MSL) (degrees, m)
hMSL	float	Height above mean sea level (MSL) in meters
hAcc	float	Horizontal accuracy in meters
vAcc	float	Vertical accuracy in meters
pDop	float	Position dilution of precision (unitless)
cnoMean	float	Average of all non-zero satellite carrier to noise ratios (signal strengths) in dBHz
towOffset	double	Time sync offset between local time since boot up to GPS time of week in seconds. Add this to IMU and sensor time to get GPS time of week in seconds.
leapS	uint8_t	GPS leap second (GPS-UTC) offset. Receiver's best knowledge of the leap seconds offset from UTC to GPS time. Subtract from GPS time of week to get UTC time of week. (18 seconds as of December 31, 2016)
satsUsed	uint8_t	Number of satellites used
cnoMeanSigma	uint8_t	Standard deviation of cnoMean over past 5 seconds (dBHz x10)
reserved	uint8_t	Reserved for future use

DID_GPS1_RTK_POS¶

GPS RTK position data

gps_pos_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6^th, 1980
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	(see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag
ecef	double[3]	Position in ECEF {x,y,z} (m)
lla	double[3]	Position - WGS84 latitude, longitude, height above ellipsoid (not MSL) (degrees, m)
hMSL	float	Height above mean sea level (MSL) in meters
hAcc	float	Horizontal accuracy in meters
vAcc	float	Vertical accuracy in meters
pDop	float	Position dilution of precision (unitless)
cnoMean	float	Average of all non-zero satellite carrier to noise ratios (signal strengths) in dBHz
towOffset	double	Time sync offset between local time since boot up to GPS time of week in seconds. Add this to IMU and sensor time to get GPS time of week in seconds.
leapS	uint8_t	GPS leap second (GPS-UTC) offset. Receiver's best knowledge of the leap seconds offset from UTC to GPS time. Subtract from GPS time of week to get UTC time of week. (18 seconds as of December 31, 2016)
satsUsed	uint8_t	Number of satellites used
cnoMeanSigma	uint8_t	Standard deviation of cnoMean over past 5 seconds (dBHz x10)
reserved	uint8_t	Reserved for future use

DID_GPS1_RTK_POS_MISC¶

RTK precision position related data.

gps_rtk_misc_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
accuracyPos	float[3]	Accuracy - estimated standard deviations of the solution assuming a priori error model and error parameters by the positioning options. []: standard deviations {ECEF - x,y,z} or {north, east, down} (meters)
accuracyCov	float[3]	Accuracy - estimated standard deviations of the solution assuming a priori error model and error parameters by the positioning options. []: Absolute value of means square root of estimated covariance NE, EU, UN
arThreshold	float	Ambiguity resolution threshold for validation
gDop	float	Geometric dilution of precision (meters)
hDop	float	Horizontal dilution of precision (meters)
vDop	float	Vertical dilution of precision (meters)
baseLla	double[3]	Base Position - latitude, longitude, height (degrees, meters)
cycleSlipCount	uint32_t	Cycle slip counter
roverGpsObservationCount	uint32_t	Rover gps observation element counter
baseGpsObservationCount	uint32_t	Base station gps observation element counter
roverGlonassObservationCount	uint32_t	Rover glonass observation element counter
baseGlonassObservationCount	uint32_t	Base station glonass observation element counter
roverGalileoObservationCount	uint32_t	Rover galileo observation element counter
baseGalileoObservationCount	uint32_t	Base station galileo observation element counter
roverBeidouObservationCount	uint32_t	Rover beidou observation element counter
baseBeidouObservationCount	uint32_t	Base station beidou observation element counter
roverQzsObservationCount	uint32_t	Rover qzs observation element counter
baseQzsObservationCount	uint32_t	Base station qzs observation element counter
roverGpsEphemerisCount	uint32_t	Rover gps ephemeris element counter
baseGpsEphemerisCount	uint32_t	Base station gps ephemeris element counter
roverGlonassEphemerisCount	uint32_t	Rover glonass ephemeris element counter
baseGlonassEphemerisCount	uint32_t	Base station glonass ephemeris element counter
roverGalileoEphemerisCount	uint32_t	Rover galileo ephemeris element counter
baseGalileoEphemerisCount	uint32_t	Base station galileo ephemeris element counter
roverBeidouEphemerisCount	uint32_t	Rover beidou ephemeris element counter
baseBeidouEphemerisCount	uint32_t	Base station beidou ephemeris element counter
roverQzsEphemerisCount	uint32_t	Rover qzs ephemeris element counter
baseQzsEphemerisCount	uint32_t	Base station qzs ephemeris element counter
roverSbasCount	uint32_t	Rover sbas element counter
baseSbasCount	uint32_t	Base station sbas element counter
baseAntennaCount	uint32_t	Base station antenna position element counter
ionUtcAlmCount	uint32_t	Ionosphere model, utc and almanac count
correctionChecksumFailures	uint32_t	Number of checksum failures from received corrections
timeToFirstFixMs	uint32_t	Time to first RTK fix.

DID_GPS1_RTK_POS_REL¶

RTK precision position base to rover relative info.

gps_rtk_rel_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
differentialAge	float	Age of differential (seconds)
arRatio	float	Ambiguity resolution ratio factor for validation
baseToRoverVector	float[3]	Vector from base to rover (m) in ECEF - If Compassing enabled, this is the 3-vector from antenna 2 to antenna 1
baseToRoverDistance	float	Distance from base to rover (m)
baseToRoverHeading	float	Angle from north to baseToRoverVector in local tangent plane. (rad)
baseToRoverHeadingAcc	float	Accuracy of baseToRoverHeading. (rad)
status	uint32_t	(see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag

DID_GPS1_SAT¶

GPS 1 GNSS satellite information: sat identifiers, carrier to noise ratio, elevation and azimuth angles, pseudo range residual.

gps_sat_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
numSats	uint32_t	Number of satellites in the sky
sat	gps_sat_sv_t[50]	Satellite information list

DID_GPS1_VEL¶

GPS 1 velocity data

gps_vel_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
vel	float[3]	GPS Velocity. Velocity is in ECEF {vx,vy,vz} (m/s) if status bit GPS_STATUS_FLAGS_GPS_NMEA_DATA (0x00008000) is NOT set. Velocity is in local tangent plane with no vertical velocity {vNorth, vEast, 0} (m/s) if status bit GPS_STATUS_FLAGS_GPS_NMEA_DATA (0x00008000) is set.
sAcc	float	Speed accuracy in meters / second
status	uint32_t	(see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag

DID_GPS1_VERSION¶

GPS 1 version info

gps_version_t

Field	Type	Description
swVersion	uint8_t[30]	Software version
hwVersion	uint8_t[10]	Hardware version
extension	gps_extension_ver_t[6]	Extension 30 bytes array description

DID_GPS2_POS¶

GPS 2 position data

gps_pos_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6^th, 1980
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	(see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag
ecef	double[3]	Position in ECEF {x,y,z} (m)
lla	double[3]	Position - WGS84 latitude, longitude, height above ellipsoid (not MSL) (degrees, m)
hMSL	float	Height above mean sea level (MSL) in meters
hAcc	float	Horizontal accuracy in meters
vAcc	float	Vertical accuracy in meters
pDop	float	Position dilution of precision (unitless)
cnoMean	float	Average of all non-zero satellite carrier to noise ratios (signal strengths) in dBHz
towOffset	double	Time sync offset between local time since boot up to GPS time of week in seconds. Add this to IMU and sensor time to get GPS time of week in seconds.
leapS	uint8_t	GPS leap second (GPS-UTC) offset. Receiver's best knowledge of the leap seconds offset from UTC to GPS time. Subtract from GPS time of week to get UTC time of week. (18 seconds as of December 31, 2016)
satsUsed	uint8_t	Number of satellites used
cnoMeanSigma	uint8_t	Standard deviation of cnoMean over past 5 seconds (dBHz x10)
reserved	uint8_t	Reserved for future use

DID_GPS2_RTK_CMP_MISC¶

RTK Dual GNSS RTK compassing related data.

gps_rtk_misc_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
accuracyPos	float[3]	Accuracy - estimated standard deviations of the solution assuming a priori error model and error parameters by the positioning options. []: standard deviations {ECEF - x,y,z} or {north, east, down} (meters)
accuracyCov	float[3]	Accuracy - estimated standard deviations of the solution assuming a priori error model and error parameters by the positioning options. []: Absolute value of means square root of estimated covariance NE, EU, UN
arThreshold	float	Ambiguity resolution threshold for validation
gDop	float	Geometric dilution of precision (meters)
hDop	float	Horizontal dilution of precision (meters)
vDop	float	Vertical dilution of precision (meters)
baseLla	double[3]	Base Position - latitude, longitude, height (degrees, meters)
cycleSlipCount	uint32_t	Cycle slip counter
roverGpsObservationCount	uint32_t	Rover gps observation element counter
baseGpsObservationCount	uint32_t	Base station gps observation element counter
roverGlonassObservationCount	uint32_t	Rover glonass observation element counter
baseGlonassObservationCount	uint32_t	Base station glonass observation element counter
roverGalileoObservationCount	uint32_t	Rover galileo observation element counter
baseGalileoObservationCount	uint32_t	Base station galileo observation element counter
roverBeidouObservationCount	uint32_t	Rover beidou observation element counter
baseBeidouObservationCount	uint32_t	Base station beidou observation element counter
roverQzsObservationCount	uint32_t	Rover qzs observation element counter
baseQzsObservationCount	uint32_t	Base station qzs observation element counter
roverGpsEphemerisCount	uint32_t	Rover gps ephemeris element counter
baseGpsEphemerisCount	uint32_t	Base station gps ephemeris element counter
roverGlonassEphemerisCount	uint32_t	Rover glonass ephemeris element counter
baseGlonassEphemerisCount	uint32_t	Base station glonass ephemeris element counter
roverGalileoEphemerisCount	uint32_t	Rover galileo ephemeris element counter
baseGalileoEphemerisCount	uint32_t	Base station galileo ephemeris element counter
roverBeidouEphemerisCount	uint32_t	Rover beidou ephemeris element counter
baseBeidouEphemerisCount	uint32_t	Base station beidou ephemeris element counter
roverQzsEphemerisCount	uint32_t	Rover qzs ephemeris element counter
baseQzsEphemerisCount	uint32_t	Base station qzs ephemeris element counter
roverSbasCount	uint32_t	Rover sbas element counter
baseSbasCount	uint32_t	Base station sbas element counter
baseAntennaCount	uint32_t	Base station antenna position element counter
ionUtcAlmCount	uint32_t	Ionosphere model, utc and almanac count
correctionChecksumFailures	uint32_t	Number of checksum failures from received corrections
timeToFirstFixMs	uint32_t	Time to first RTK fix.

DID_GPS2_RTK_CMP_REL¶

Dual GNSS RTK compassing / moving base to rover (GPS 1 to GPS 2) relative info.

gps_rtk_rel_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
differentialAge	float	Age of differential (seconds)
arRatio	float	Ambiguity resolution ratio factor for validation
baseToRoverVector	float[3]	Vector from base to rover (m) in ECEF - If Compassing enabled, this is the 3-vector from antenna 2 to antenna 1
baseToRoverDistance	float	Distance from base to rover (m)
baseToRoverHeading	float	Angle from north to baseToRoverVector in local tangent plane. (rad)
baseToRoverHeadingAcc	float	Accuracy of baseToRoverHeading. (rad)
status	uint32_t	(see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag

DID_GPS2_SAT¶

GPS 2 GNSS satellite information: sat identifiers, carrier to noise ratio, elevation and azimuth angles, pseudo range residual.

gps_sat_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
numSats	uint32_t	Number of satellites in the sky
sat	gps_sat_sv_t[50]	Satellite information list

DID_GPS2_VEL¶

GPS 2 velocity data

gps_vel_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
vel	float[3]	GPS Velocity. Velocity is in ECEF {vx,vy,vz} (m/s) if status bit GPS_STATUS_FLAGS_GPS_NMEA_DATA (0x00008000) is NOT set. Velocity is in local tangent plane with no vertical velocity {vNorth, vEast, 0} (m/s) if status bit GPS_STATUS_FLAGS_GPS_NMEA_DATA (0x00008000) is set.
sAcc	float	Speed accuracy in meters / second
status	uint32_t	(see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag

DID_GPS2_VERSION¶

GPS 2 version info

gps_version_t

Field	Type	Description
swVersion	uint8_t[30]	Software version
hwVersion	uint8_t[10]	Hardware version
extension	gps_extension_ver_t[6]	Extension 30 bytes array description

DID_GPS_RTK_OPT¶

RTK options - requires little endian CPU.

gps_rtk_opt_t

Field	Type	Description
mode	int32_t	positioning mode (PMODE_???)
soltype	int32_t	solution type (0:forward,1:backward,2:combined)
nf	int32_t	number of frequencies (1:L1,2:L1+L2,3:L1+L2+L5)
navsys	int32_t	navigation systems
elmin	double	elevation mask angle (rad)
snrmin	int32_t	Min snr to consider satellite for rtk
snrrange	int32_t	AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar)
modear	int32_t	GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal)
glomodear	int32_t	GPS AR mode (0:off,1:on)
gpsmodear	int32_t	SBAS AR mode (0:off,1:on)
sbsmodear	int32_t	BeiDou AR mode (0:off,1:on)
bdsmodear	int32_t	AR filtering to reject bad sats (0:off,1:on)
arfilter	int32_t	obs outage count to reset bias
maxout	int32_t	reject count to reset bias
maxrej	int32_t	min lock count to fix ambiguity
minlock	int32_t	min sats to fix integer ambiguities
minfixsats	int32_t	min sats to hold integer ambiguities
minholdsats	int32_t	min sats to drop sats in AR
mindropsats	int32_t	use stdev estimates from receiver to adjust measurement variances
rcvstds	int32_t	min fix count to hold ambiguity
minfix	int32_t	max iteration to resolve ambiguity
armaxiter	int32_t	dynamics model (0:none,1:velociy,2:accel)
dynamics	int32_t	number of filter iteration
niter	int32_t	interpolate reference obs (for post mission)
intpref	int32_t	rover position for fixed mode
rovpos	int32_t	base position for relative mode
refpos	int32_t	code/phase error ratio
eratio	double[]	measurement error factor
err	double[5]	initial-state std [0]bias,[1]iono [2]trop
std	double[3]	process-noise std [0]bias,[1]iono [2]trop [3]acch [4]accv [5] pos
prn	double[6]	satellite clock stability (sec/sec)
sclkstab	double	AR validation threshold
thresar	double[8]	elevation mask of AR for rising satellite (rad)
elmaskar	double	elevation mask to hold ambiguity (rad)
elmaskhold	double	slip threshold of geometry-free phase (m)
thresslip	double	variance for fix-and-hold pseudo measurements (cycle^2)
thresdop	double	gain used for GLO and SBAS sats to adjust ambiguity
varholdamb	double	max difference of time (sec)
gainholdamb	double	reset sat biases after this long trying to get fix if not acquired
maxtdiff	double	reject thresholds of NIS
fix_reset_base_msgs	int	reject threshold of gdop
maxinno	double[2]	baseline length constraint {const,sigma before fix, sigma after fix} (m)
maxnis_lo	double	maximum error wrt ubx position (triggers reset if more than this far) (m)
maxnis_hi	double	rover position for fixed mode {x,y,z} (ecef) (m)
maxgdop	double	base position for relative mode {x,y,z} (ecef) (m)
baseline	double[3]	max averaging epochs
max_baseline_error	double	output single by dgps/float/fix/ppp outage

Raw GPS Data¶

Raw GPS data is contained in the DID_GPS1_RAW, DID_GPS2_RAW, and DID_GPS_BASE_RAW messages of type gps_raw_t. The actual raw data is contained in the union member gps_raw_t.data and should be interpreted based on the value of gps_raw_t.dataType (i.e. as observation, ephemeris, SBAS, or base station position).

DID_GPS1_RAW¶

GPS raw data for rover (observation, ephemeris, etc.) - requires little endian CPU. The contents of data can vary for this message and are determined by dataType field. RTK positioning or RTK compassing must be enabled to stream this message.

gps_raw_t

Field	Type	Description
receiverIndex	uint8_t	Receiver index (1=RECEIVER_INDEX_GPS1, 2=RECEIVER_INDEX_EXTERNAL_BASE, or 3=RECEIVER_INDEX_GPS2 )
dataType	uint8_t	Type of data (eRawDataType: 1=observations, 2=ephemeris, 3=glonassEphemeris, 4=SBAS, 5=baseAntenna, 6=IonosphereModel)
obsCount	uint8_t	Number of observations in data (obsd_t) when dataType==1 (raw_data_type_observation).
reserved	uint8_t	Reserved
data	uGpsRawData	Interpret based on dataType (see eRawDataType)

DID_GPS2_RAW¶

GPS raw data for rover (observation, ephemeris, etc.) - requires little endian CPU. The contents of data can vary for this message and are determined by dataType field. RTK positioning or RTK compassing must be enabled to stream this message.

gps_raw_t

Field	Type	Description
receiverIndex	uint8_t	Receiver index (1=RECEIVER_INDEX_GPS1, 2=RECEIVER_INDEX_EXTERNAL_BASE, or 3=RECEIVER_INDEX_GPS2 )
dataType	uint8_t	Type of data (eRawDataType: 1=observations, 2=ephemeris, 3=glonassEphemeris, 4=SBAS, 5=baseAntenna, 6=IonosphereModel)
obsCount	uint8_t	Number of observations in data (obsd_t) when dataType==1 (raw_data_type_observation).
reserved	uint8_t	Reserved
data	uGpsRawData	Interpret based on dataType (see eRawDataType)

DID_GPS_BASE_RAW¶

GPS raw data for base station (observation, ephemeris, etc.) - requires little endian CPU. The contents of data can vary for this message and are determined by dataType field. RTK positioning or RTK compassing must be enabled to stream this message.

gps_raw_t

Field	Type	Description
receiverIndex	uint8_t	Receiver index (1=RECEIVER_INDEX_GPS1, 2=RECEIVER_INDEX_EXTERNAL_BASE, or 3=RECEIVER_INDEX_GPS2 )
dataType	uint8_t	Type of data (eRawDataType: 1=observations, 2=ephemeris, 3=glonassEphemeris, 4=SBAS, 5=baseAntenna, 6=IonosphereModel)
obsCount	uint8_t	Number of observations in data (obsd_t) when dataType==1 (raw_data_type_observation).
reserved	uint8_t	Reserved
data	uGpsRawData	Interpret based on dataType (see eRawDataType)

Raw GPS Data Buffer Union¶

uGpsRawData

Field	Type	Description
obs	obsd_t[]	Satellite observation data
eph	eph_t	Satellite non-GLONASS ephemeris data (GPS, Galileo, Beidou, QZSS)
gloEph	geph_t	Satellite GLONASS ephemeris data
sbas	sbsmsg_t	Satellite-Based Augmentation Systems (SBAS) data
sta	sta_t	Base station information (base position, antenna position, antenna height, etc.)
ion	ion_model_utc_alm_t	Ionosphere model and UTC parameters
buf	uint8_t[1000]	Byte buffer

GPS Galileo QZSS Ephemeris¶

eph_t

Field	Type	Description
sat	int32_t	Satellite number in RTKlib notation. GPS: 1-32, GLONASS: 33-59, Galilleo: 60-89, SBAS: 90-95
iode	int32_t	IODE Issue of Data, Ephemeris (ephemeris version)
iodc	int32_t	IODC Issue of Data, Clock (clock version)
sva	int32_t	SV accuracy (URA index) IRN-IS-200H p.97
svh	int32_t	SV health GPS/QZS (0:ok)
week	int32_t	GPS/QZS: gps week, GAL: galileo week
code	int32_t	GPS/QZS: code on L2. (00 = Invalid, 01 = P Code ON, 11 = C/A code ON, 11 = Invalid). GAL/CMP: data sources
flag	int32_t	GPS/QZS: L2 P data flag (indicates that the NAV data stream was commanded OFF on the P-code of the in-phase component of the L2 channel). CMP: nav type
toe	gtime_t	Time Of Ephemeris, ephemeris reference epoch in seconds within the week (s)
toc	gtime_t	clock data reference time (s) (20.3.4.5)
ttr	gtime_t	T_trans (s)
A	double	Orbit semi-major axis (m)
e	double	Orbit eccentricity (non-dimensional)
i0	double	Orbit inclination angle at reference time (rad)
OMG0	double	Longitude of ascending node of orbit plane at weekly epoch (rad)
omg	double	Argument of perigee (rad)
M0	double	Mean anomaly at reference time (rad)
deln	double	Mean Motion Difference From Computed Value (rad)
OMGd	double	Rate of Right Ascension (rad/s)
idot	double	Rate of Inclination Angle (rad/s)
crc	double	Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius (m)
crs	double	Amplitude of the Sine Harmonic Correction Term to the Orbit Radius (m)
cuc	double	Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude (rad)
cus	double	Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude (rad)
cic	double	Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination (rad)
cis	double	Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination (rad)
toes	double	Time Of Ephemeris, ephemeris reference epoch in seconds within the week (s), same as above but represented as double type. Note that toe is computed as eph->toe = gst2time(week, eph->toes). This is the expiration time and is generally ~2 hours ahead of current time.
fit	double	Fit interval (h) (0: 4 hours, 1: greater than 4 hours)
f0	double	SV clock offset, af0 (s)
f1	double	SV clock drift, af1 (s/s, non-dimensional)
f2	double	SV clock drift rate, af2 (1/s)
tgd	double[4]	Group delay parameters GPS/QZS: tgd[0] = TGD (IRN-IS-200H p.103). Galilleo: tgd[0] = BGD E5a/E1, tgd[1] = BGD E5b/E1. Beidou: tgd[0] = BGD1, tgd[1] = BGD2
Adot	double	Adot for CNAV, not used
ndot	double	First derivative of mean motion n (second derivative of mean anomaly M), ndot for CNAV (rad/s/s). Not used.

GLONASS Ephemeris¶

geph_t

Field	Type	Description
sat	int32_t	Satellite number in RTKlib notation. GPS: 1-32, GLONASS: 33-59, Galilleo: 60-89, SBAS: 90-95
iode	int32_t	IODE (0-6 bit of tb field)
frq	int32_t	satellite frequency number
svh	int32_t	satellite health
sva	int32_t	satellite accuracy
age	int32_t	satellite age of operation
toe	gtime_t	Ephemeris reference epoch in seconds within the week in GPS time gpst (s)
tof	gtime_t	message frame time in gpst (s)
pos	double[3]	satellite position (ecef) (m)
vel	double[3]	satellite velocity (ecef) (m/s)
acc	double[3]	satellite acceleration (ecef) (m/s^2)
taun	double	SV clock bias (s)
gamn	double	relative frequency bias
dtaun	double	delay between L1 and L2 (s)

SBAS¶

sbsmsg_t

Field	Type	Description
week	int32_t	receiption time - week
tow	int32_t	reception time - tow
prn	int32_t	SBAS satellite PRN number
msg	uint8_t[29]	SBAS message (226bit) padded by 0
reserved	uint8_t[3]	reserved for alighment

Station Parameters¶

sta_t

Field	Type	Description
deltype	int32_t	antenna delta type (0:enu,1:xyz)
pos	double[3]	station position (ecef) (m)
del	double[3]	antenna position delta (e/n/u or x/y/z) (m)
hgt	double	antenna height (m)
stationId	int32_t	station id

Satellite Observation¶

obs_t

Field	Type	Description
n	uint32_t	number of observation slots used
nmax	uint32_t	number of observation slots allocated
data	obsd_t	observation data buffer

Satellite information¶

gps_sat_sv_t

Field	Type	Description
gnssId	uint8_t	GNSS identifier (see eSatSvGnssId)
svId	uint8_t	Satellite identifier
elev	int8_t	(deg) Elevation (range: ±90)
azim	int16_t	(deg) Azimuth (range: ±180)
cno	uint8_t	(dBHz) Carrier to noise ratio (signal strength)
status	uint16_t	(see eSatSvStatus)

Inertial Measurement Unit (IMU)¶

imus_t

Field	Type	Description
pqr	float[3]	Gyroscope P, Q, R in radians / second
acc	float[3]	Acceleration X, Y, Z in meters / second squared

Configuration¶

DID_FLASH_CONFIG¶

Flash memory configuration

nvm_flash_cfg_t

Field	Type	Description
size	uint32_t	Size of group or union, which is nvm_group_x_t + padding
checksum	uint32_t	Checksum, excluding size and checksum
key	uint32_t	Manufacturer method for restoring flash defaults
startupImuDtMs	uint32_t	IMU sample (system input) period in milliseconds set on startup. Cannot be larger than startupNavDtMs. Zero disables sensor/IMU sampling.
startupNavDtMs	uint32_t	Navigation filter (system output) output period in milliseconds set on startup. Used to initialize sysParams.navOutputPeriodMs.
ser0BaudRate	uint32_t	Serial port 0 baud rate in bits per second
ser1BaudRate	uint32_t	Serial port 1 baud rate in bits per second
insRotation	float[3]	Rotation in radians about the X,Y,Z axes from Sensor Frame to Intermediate Output Frame. Order applied: Z,Y,X.
insOffset	float[3]	X,Y,Z offset in meters from Intermediate Output Frame to INS Output Frame.
gps1AntOffset	float[3]	X,Y,Z offset in meters in Sensor Frame to GPS 1 antenna.
dynamicModel	uint8_t	INS dynamic platform model (see eDynamicModel). Options are: 0=PORTABLE, 2=STATIONARY, 3=PEDESTRIAN, 4=GROUND VEHICLE, 5=SEA, 6=AIRBORNE_1G, 7=AIRBORNE_2G, 8=AIRBORNE_4G, 9=WRIST. Used to balance noise and performance characteristics of the system. The dynamics selected here must be at least as fast as your system or you experience accuracy error. This is tied to the GPS position estimation model and intend in the future to be incorporated into the INS position model.
debug	uint8_t	Debug
gnssSatSigConst	uint16_t	Satellite system constellation used in GNSS solution. (see eGnssSatSigConst) 0x0003=GPS, 0x000C=QZSS, 0x0030=Galileo, 0x00C0=Beidou, 0x0300=GLONASS, 0x1000=SBAS
sysCfgBits	uint32_t	System configuration bits (see eSysConfigBits).
refLla	double[3]	Reference latitude, longitude and height above ellipsoid for north east down (NED) calculations (deg, deg, m)
lastLla	double[3]	Last latitude, longitude, HAE (height above ellipsoid) used to aid GPS startup (deg, deg, m). Updated when the distance between current LLA and lastLla exceeds lastLlaUpdateDistance.
lastLlaTimeOfWeekMs	uint32_t	Last LLA GPS time since week start (Sunday morning) in milliseconds
lastLlaWeek	uint32_t	Last LLA GPS number of weeks since January 6^th, 1980
lastLlaUpdateDistance	float	Distance between current and last LLA that triggers an update of lastLla
ioConfig	uint32_t	Hardware interface configuration bits (see eIoConfig).
platformConfig	uint32_t	Hardware platform specifying the IMX carrier board type (i.e. RUG, EVB, IG) and configuration bits (see ePlatformConfig). The platform type is used to simplify the GPS and I/O configuration process. Bit PLATFORM_CFG_UPDATE_IO_CONFIG is excluded from the flashConfig checksum and from determining whether to upload.
gps2AntOffset	float[3]	X,Y,Z offset in meters in Sensor Frame origin to GPS 2 antenna.
zeroVelRotation	float[3]	Euler (roll, pitch, yaw) rotation in radians from INS Sensor Frame to Intermediate ZeroVelocity Frame. Order applied: heading, pitch, roll.
zeroVelOffset	float[3]	X,Y,Z offset in meters from Intermediate ZeroVelocity Frame to Zero Velocity Frame.
gpsTimeUserDelay	float	(sec) User defined delay for GPS time. This parameter can be used to account for GPS antenna cable delay.
magDeclination	float	Earth magnetic field (magnetic north) declination (heading offset from true north) in radians
gpsTimeSyncPeriodMs	uint32_t	Time between GPS time synchronization pulses in milliseconds. Requires reboot to take effect.
startupGPSDtMs	uint32_t	GPS measurement (system input) update period in milliseconds set on startup. 200ms minimum (5Hz max).
RTKCfgBits	uint32_t	RTK configuration bits (see eRTKConfigBits).
sensorConfig	uint32_t	Sensor config to specify the full-scale sensing ranges and output rotation for the IMU and magnetometer (see eSensorConfig in data_sets.h)
gpsMinimumElevation	float	Minimum elevation of a satellite above the horizon to be used in the solution (radians). Low elevation satellites may provide degraded accuracy, due to the long signal path through the atmosphere.
ser2BaudRate	uint32_t	Serial port 2 baud rate in bits per second
wheelConfig	wheel_config_t	Wheel encoder: euler angles describing the rotation from imu to left wheel
magInterferenceThreshold	float	Magnetometer interference sensitivity threshold. Typical range is 2-10 (3 default) and 1000 to disable mag interference detection.
magCalibrationQualityThreshold	float	Magnetometer calibration quality sensitivity threshold. Typical range is 10-20 (10 default) and 1000 to disable mag calibration quality check, forcing it to be always good.
gnssCn0Minimum	uint8_t	(dBHz) GNSS CN0 absolute minimum threshold for signals. Used to filter signals in RTK solution.
gnssCn0DynMinOffset	uint8_t	(dBHz) GNSS CN0 dynamic minimum threshold offset below max CN0 across all satellites. Used to filter signals used in RTK solution. To disable, set gnssCn0DynMinOffset to zero and increase gnssCn0Minimum.
reserved1	uint8_t[2]	Reserved
reserved2	uint32_t[2]	Reserved

DID_NMEA_BCAST_PERIOD¶

Set broadcast periods for NMEA messages

nmea_msgs_t

Field	Type	Description
options	uint32_t	Options: Port selection[0x0=current, 0x1=ser0, 0x2=ser1, 0x4=ser2, 0x8=USB, 0x100=preserve, 0x200=Persistent] (see RMC_OPTIONS_...)
nmeaBroadcastMsgs	nmeaBroadcastMsgPair_t[20]	NMEA message to be set. Up to 20 message ID/period pairs. Message ID of zero indicates the remaining pairs are not used. (see eNmeaMsgId)

DID_RMC¶

Realtime Message Controller (RMC). The data sets available through RMC are driven by the availability of the data. The RMC provides updates from various data sources (i.e. sensors) as soon as possible with minimal latency. Several of the data sources (sensors) output data at different data rates that do not all correspond. The RMC is provided so that broadcast of sensor data is done as soon as it becomes available. All RMC messages can be enabled using the standard Get Data packet format.

rmc_t

Field	Type	Description
bits	uint64_t	Data stream enable bits for the specified ports. (see RMC_BITS_...)
options	uint32_t	Options to select alternate ports to output data, etc. (see RMC_OPTIONS_...)

Command¶

DID_SYS_CMD¶

System commands. Both the command and invCommand fields must be set at the same time for a command to take effect.

system_command_t

Field	Type	Description
command	uint32_t	System commands (see eSystemCommand) 1=save current persistent messages, 5=zero motion, 97=save flash, 99=software reset. "invCommand" (following variable) must be set to bitwise inverse of this value for this command to be processed.
invCommand	uint32_t	Error checking field that must be set to bitwise inverse of command field for the command to take effect.

EVB-2¶

DID_EVB_FLASH_CFG¶

EVB configuration.

evb_flash_cfg_t

Field	Type	Description
size	uint32_t	Size of this struct
checksum	uint32_t	Checksum, excluding size and checksum
key	uint32_t	Manufacturer method for restoring flash defaults
cbPreset	uint8_t	Communications bridge preset. (see eEvb2ComBridgePreset)
reserved1	uint8_t[3]	Communications bridge forwarding
cbf	uint32_t[EVB2_PORT_COUNT]	Communications bridge options (see eEvb2ComBridgeOptions)
cbOptions	uint32_t	Config bits (see eEvbFlashCfgBits)
bits	uint32_t	Radio preamble ID (PID) - 0x0 to 0x9. Only radios with matching PIDs can communicate together. Different PIDs minimize interference between multiple sets of networks. Checked before the network ID.
radioPID	uint32_t	Radio network ID (NID) - 0x0 to 0x7FFF. Only radios with matching NID can communicate together. Checked after the preamble ID.
radioNID	uint32_t	Radio power level - Transmitter output power level. (XBee PRO SX 0=20dBm, 1=27dBm, 2=30dBm)
radioPowerLevel	uint32_t	WiFi SSID and PSK
wifi	evb_wifi_t[3]	Server IP and port
server	evb_server_t[3]	Encoder tick to wheel rotation conversion factor (in radians). Encoder tick count per revolution on 1 channel x gear ratio x 2pi.
encoderTickToWheelRad	float	CAN baudrate
CANbaud_kbps	uint32_t	CAN receive address
can_receive_address	uint32_t	EVB port for uINS communications and SD card logging. 0=uINS-Ser0 (default), 1=uINS-Ser1, SP330=5, 6=GPIO_H8 (use eEvb2CommPorts)
uinsComPort	uint8_t	EVB port for uINS aux com and RTK corrections. 0=uINS-Ser0, 1=uINS-Ser1 (default), 5=SP330, 6=GPIO_H8 (use eEvb2CommPorts)
uinsAuxPort	uint8_t	Enable radio RTK filtering, etc. (see eEvb2PortOptions)
reserved2	uint8_t[2]	Baud rate for EVB serial port H3 (SP330 RS233 and RS485/422).
portOptions	uint32_t	Baud rate for EVB serial port H4 (TLL to external radio).
h3sp330BaudRate	uint32_t	Baud rate for EVB serial port H8 (TLL).
h4xRadioBaudRate	uint32_t	Wheel encoder configuration (see eWheelCfgBits)
h8gpioBaudRate	uint32_t	Wheel update period. Sets the wheel encoder and control update period. (ms)

DID_EVB_STATUS¶

EVB monitor and log control interface.

evb_status_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6^th, 1980
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
firmwareVer	uint8_t[4]	Firmware (software) version
evbStatus	uint32_t	Status (eEvbStatus)
loggerMode	uint32_t	Data logger control state. (see eEvb2LoggerMode)
loggerElapsedTimeMs	uint32_t	logger
wifiIpAddr	uint32_t	WiFi IP address
sysCommand	uint32_t	System command (see eSystemCommand). 99 = software reset
towOffset	double	Time sync offset between local time since boot up to GPS time of week in seconds. Add this to IMU and sensor time to get GPS time of week in seconds.

General¶

DID_BIT¶

System built-in self-test

bit_t

Field	Type	Description
command	uint8_t	BIT input command (see eBitCommand). Ignored when zero.
lastCommand	uint8_t	BIT last input command (see eBitCommand)
state	uint8_t	BIT current state (see eBitState)
reserved	uint8_t	Unused
hdwBitStatus	uint32_t	Hardware BIT status (see eHdwBitStatusFlags)
calBitStatus	uint32_t	Calibration BIT status (see eCalBitStatusFlags)
tcPqrBias	float	Temperature calibration bias
tcAccBias	float	Temperature calibration slope
tcPqrSlope	float	Temperature calibration linearity
tcAccSlope	float	Gyro error (rad/s)
tcPqrLinearity	float	Accelerometer error (m/s^2)
tcAccLinearity	float	Angular rate standard deviation
pqr	float	Acceleration standard deviation
acc	float	Self-test mode (see eBitTestMode)
pqrSigma	float	Self-test mode bi-directional variable used with testMode
accSigma	float	The hardware type detected (see "Product Hardware ID"). This is used to ensure correct firmware is used.

DID_CAN_CONFIG¶

Addresses for CAN messages

can_config_t

Field	Type	Description
can_period_mult	uint16_t[]	Broadcast period multiple - CAN time message. 0 to disable.
can_transmit_address	uint32_t[]	Transmit address.
can_baudrate_kbps	uint16_t	Baud rate (kbps) (See can_baudrate_t for valid baud rates)
can_receive_address	uint32_t	Receive address.

DID_DEV_INFO¶

Device information

dev_info_t

Field	Type	Description
reserved	uint16_t	Reserved bits
hardwareType	uint8_t	Hardware Type: 1=uINS, 2=EVB, 3=IMX, 4=GPX (see eIsHardwareType)
reserved2	uint8_t	Unused
serialNumber	uint32_t	Serial number
hardwareVer	uint8_t[4]	Hardware version
firmwareVer	uint8_t[4]	Firmware (software) version
buildNumber	uint32_t	Build number
protocolVer	uint8_t[4]	Communications protocol version
repoRevision	uint32_t	Repository revision number
manufacturer	char[24]	Manufacturer name
buildType	uint8_t	Build type (Release: 'a'=ALPHA, 'b'=BETA, 'c'=RELEASE CANDIDATE, 'r'=PRODUCTION RELEASE, 'd'=developer/debug)
buildYear	uint8_t	Build date year - 2000
buildMonth	uint8_t	Build date month
buildDay	uint8_t	Build date day
buildHour	uint8_t	Build time hour
buildMinute	uint8_t	Build time minute
buildSecond	uint8_t	Build time second
buildMillisecond	uint8_t	Build time millisecond
addInfo	char[24]	Additional info
firmwareMD5Hash	uint32_t[4]	Firmware MD5 hash

DID_DIAGNOSTIC_MESSAGE¶

Diagnostic message

diag_msg_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
messageLength	uint32_t	Message length, including null terminator
message	char[256]	Message data, max size of message is 256

DID_EVB_DEBUG_ARRAY¶

debug_array_t

Field	Type	Description

DID_EVB_DEV_INFO¶

EVB device information

dev_info_t

Field	Type	Description
reserved	uint16_t	Reserved bits
hardwareType	uint8_t	Hardware Type: 1=uINS, 2=EVB, 3=IMX, 4=GPX (see eIsHardwareType)
reserved2	uint8_t	Unused
serialNumber	uint32_t	Serial number
hardwareVer	uint8_t[4]	Hardware version
firmwareVer	uint8_t[4]	Firmware (software) version
buildNumber	uint32_t	Build number
protocolVer	uint8_t[4]	Communications protocol version
repoRevision	uint32_t	Repository revision number
manufacturer	char[24]	Manufacturer name
buildType	uint8_t	Build type (Release: 'a'=ALPHA, 'b'=BETA, 'c'=RELEASE CANDIDATE, 'r'=PRODUCTION RELEASE, 'd'=developer/debug)
buildYear	uint8_t	Build date year - 2000
buildMonth	uint8_t	Build date month
buildDay	uint8_t	Build date day
buildHour	uint8_t	Build time hour
buildMinute	uint8_t	Build time minute
buildSecond	uint8_t	Build time second
buildMillisecond	uint8_t	Build time millisecond
addInfo	char[24]	Additional info
firmwareMD5Hash	uint32_t[4]	Firmware MD5 hash

DID_EVB_RTOS_INFO¶

EVB-2 RTOS information.

evb_rtos_info_t

Field	Type	Description
freeHeapSize	uint32_t	Heap high water mark bytes
mallocSize	uint32_t	Total memory allocated using RTOS pvPortMalloc()
freeSize	uint32_t	Total memory freed using RTOS vPortFree()
task	rtos_task_t[]	Tasks

DID_EVENT¶

did_event_t

Field	Type	Description
time	double	Time (uptime in seconds)
senderSN	uint32_t	Serial number
senderHdwId	uint16_t	Hardware: 0=Host, 1=uINS, 2=EVB, 3=IMX, 4=GPX (see "Product Hardware ID")
priority	int8_t	see eEventPriority
res8	uint8_t	see eEventMsgTypeID

DID_EVENT_HEADER_SIZE¶

did_event_t

Field	Type	Description
time	double	Time (uptime in seconds)
senderSN	uint32_t	Serial number
senderHdwId	uint16_t	Hardware: 0=Host, 1=uINS, 2=EVB, 3=IMX, 4=GPX (see "Product Hardware ID")
priority	int8_t	see eEventPriority
res8	uint8_t	see eEventMsgTypeID

DID_GPS1_SIG¶

GPS 1 GNSS signal information.

gps_sig_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
numSigs	uint32_t	Number of satellite signals in the following satelliate signal list
sig	gps_sig_sv_t[100]	Satellite signal list

DID_GPS1_TIMEPULSE¶

GPS1 PPS time synchronization.

gps_timepulse_t

Field	Type	Description

DID_GPS2_SIG¶

GPS 2 GNSS signal information.

gps_sig_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
numSigs	uint32_t	Number of satellite signals in the following satelliate signal list
sig	gps_sig_sv_t[100]	Satellite signal list

DID_GPX_BIT¶

GPX BIT test

gpx_bit_t

Field	Type	Description
results	uint32_t	GPX built-in test status (see eGPXBit_results)
command	uint8_t	Command (see eGPXBit_CMD)
port	uint8_t	Port used with the test
testMode	uint8_t	Self-test mode (see eGPXBit_test_mode)
state	uint8_t	Built-in self-test state (see eGPXBit_state)
detectedHardwareId	uint16_t	The hardware ID detected (see "Product Hardware ID"). This is used to ensure correct firmware is used.
reserved	uint8_t[2]	Unused

DID_GPX_DEBUG_ARRAY¶

GPX debug

debug_array_t

Field	Type	Description

DID_GPX_DEV_INFO¶

GPX device information

dev_info_t

Field	Type	Description
reserved	uint16_t	Reserved bits
hardwareType	uint8_t	Hardware Type: 1=uINS, 2=EVB, 3=IMX, 4=GPX (see eIsHardwareType)
reserved2	uint8_t	Unused
serialNumber	uint32_t	Serial number
hardwareVer	uint8_t[4]	Hardware version
firmwareVer	uint8_t[4]	Firmware (software) version
buildNumber	uint32_t	Build number
protocolVer	uint8_t[4]	Communications protocol version
repoRevision	uint32_t	Repository revision number
manufacturer	char[24]	Manufacturer name
buildType	uint8_t	Build type (Release: 'a'=ALPHA, 'b'=BETA, 'c'=RELEASE CANDIDATE, 'r'=PRODUCTION RELEASE, 'd'=developer/debug)
buildYear	uint8_t	Build date year - 2000
buildMonth	uint8_t	Build date month
buildDay	uint8_t	Build date day
buildHour	uint8_t	Build time hour
buildMinute	uint8_t	Build time minute
buildSecond	uint8_t	Build time second
buildMillisecond	uint8_t	Build time millisecond
addInfo	char[24]	Additional info
firmwareMD5Hash	uint32_t[4]	Firmware MD5 hash

DID_GPX_FLASH_CFG¶

GPX flash configuration

gpx_flash_cfg_t

Field	Type	Description
size	uint32_t	Size of this struct
checksum	uint32_t	Checksum, excluding size and checksum
key	uint32_t	Manufacturer method for restoring flash defaults
ser0BaudRate	uint32_t	Serial port 0 baud rate in bits per second
ser1BaudRate	uint32_t	Serial port 1 baud rate in bits per second
ser2BaudRate	uint32_t	Serial port 2 baud rate in bits per second
startupGPSDtMs	uint32_t	GPS measurement (system input data) update period in milliseconds set on startup. 200ms minimum (5Hz max).
gps1AntOffset	float[3]	X,Y,Z offset in meters in Sensor Frame to GPS 1 antenna.
gps2AntOffset	float[3]	X,Y,Z offset in meters in Sensor Frame to GPS 2 antenna.
gnssSatSigConst	uint16_t	Satellite system constellation used in GNSS solution. (see eGnssSatSigConst) 0x0003=GPS, 0x000C=QZSS, 0x0030=Galileo, 0x00C0=Beidou, 0x0300=GLONASS, 0x1000=SBAS
dynamicModel	uint8_t	Dynamic platform model (see eDynamicModel). Options are: 0=PORTABLE, 2=STATIONARY, 3=PEDESTRIAN, 4=GROUND VEHICLE, 5=SEA, 6=AIRBORNE_1G, 7=AIRBORNE_2G, 8=AIRBORNE_4G, 9=WRIST. Used to balance noise and performance characteristics of the system. The dynamics selected here must be at least as fast as your system or you experience accuracy error. This is tied to the GPS position estimation model and intend in the future to be incorporated into the INS position model.
debug	uint8_t	Debug
gpsTimeSyncPeriodMs	uint32_t	Time between GPS time synchronization pulses in milliseconds. Requires reboot to take effect.
gpsTimeUserDelay	float	(sec) User defined delay for GPS time. This parameter can be used to account for GPS antenna cable delay.
gpsMinimumElevation	float	Minimum elevation of a satellite above the horizon to be used in the solution (radians). Low elevation satellites may provide degraded accuracy, due to the long signal path through the atmosphere.
RTKCfgBits	uint32_t	RTK configuration bits (see eRTKConfigBits).
gnssCn0Minimum	uint8_t	(dBHz) GNSS CN0 absolute minimum threshold for signals. Used to filter signals in RTK solution.
gnssCn0DynMinOffset	uint8_t	(dBHz) GNSS CN0 dynamic minimum threshold offset below max CN0 across all satellites. Used to filter signals used in RTK solution. To disable, set gnssCn0DynMinOffset to zero and increase gnssCn0Minimum.
reserved1	uint8_t[2]	Reserved
reserved2	uint32_t[2]	Reserved

DID_GPX_PORT_MONITOR¶

Data rate and status monitoring for each communications port.

port_monitor_t

Field	Type	Description
port	port_monitor_set_t[6]	Port monitor set

DID_GPX_RMC¶

GPX rmc

rmc_t

Field	Type	Description
bits	uint64_t	Data stream enable bits for the specified ports. (see RMC_BITS_...)
options	uint32_t	Options to select alternate ports to output data, etc. (see RMC_OPTIONS_...)

DID_GPX_RTOS_INFO¶

GPX RTOs info

gpx_rtos_info_t

Field	Type	Description
freeHeapSize	uint32_t	Heap high water mark bytes
mallocSize	uint32_t	Total memory allocated using RTOS pvPortMalloc()
freeSize	uint32_t	Total memory freed using RTOS vPortFree()
task	rtos_task_t[]	Tasks

DID_GPX_STATUS¶

GPX status

gpx_status_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	Status (eGpxStatus)
grmcBitsSer0	uint64_t	GRMC BITS (see GRMC_BITS_...)
grmcBitsSer1	uint64_t	(see NMEA_MSG_ID...)
grmcBitsSer2	uint64_t	Hardware status flags (eGPXHdwStatusFlags)
grmcBitsUSB	uint64_t	MCU temperature (not available yet)
grmcNMEABitsSer0	uint64_t	Nav output period (ms).
grmcNMEABitsSer1	uint64_t	Flash config checksum used with host SDK synchronization
grmcNMEABitsSer2	uint64_t	RTK Mode bits (see eRTKConfigBits)
grmcNMEABitsUSB	uint64_t	port

DID_GROUND_VEHICLE¶

Static configuration for wheel transform measurements.

ground_vehicle_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	Ground vehicle status flags (eGroundVehicleStatus)
mode	uint32_t	Current mode of the ground vehicle. Use this field to apply commands. (see eGroundVehicleMode)
wheelConfig	wheel_config_t	Wheel transform, track width, and wheel radius.

DID_IMU3_RAW¶

Triple IMU data calibrated from DID_IMU3_UNCAL. We recommend use of DID_IMU or DID_PIMU as they are oversampled and contain less noise.

imu3_t

Field	Type	Description
time	double	Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset
status	uint32_t	IMU Status (eImuStatus)
I	imus_t[3]	Inertial Measurement Units (IMUs)

DID_IMU3_UNCAL¶

Uncalibrated triple IMU data. We recommend use of DID_IMU or DID_PIMU as they are calibrated and oversampled and contain less noise. Minimum data period is DID_FLASH_CONFIG.startupImuDtMs or 4, whichever is larger (250Hz max).

imu3_t

Field	Type	Description
time	double	Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset
status	uint32_t	IMU Status (eImuStatus)
I	imus_t[3]	Inertial Measurement Units (IMUs)

DID_IMU_MAG¶

DID_IMU + DID_MAGNETOMETER. Only one of DID_IMU_MAG or DID_PIMU_MAG should be streamed simultaneously.

imu_mag_t

Field	Type	Description
imu	imu_t	imu - raw or pre-integrated depending on data id
mag	magnetometer_t	mag

DID_INFIELD_CAL¶

Measure and correct IMU calibration error. Estimate INS rotation to align INS with vehicle.

infield_cal_t

Field	Type	Description
state	uint32_t	Used to set and monitor the state of the infield calibration system. (see eInfieldCalState)
status	uint32_t	Infield calibration status. (see eInfieldCalStatus)
sampleTimeMs	uint32_t	Number of samples used in IMU average. sampleTimeMs = 0 means "imu" member contains the IMU bias from flash.
imu	imus_t[3]	Dual purpose variable. 1.) This is the averaged IMU sample when sampleTimeMs != 0. 2.) This is a mirror of the motion calibration IMU bias from flash when sampleTimeMs = 0.
calData	infield_cal_vaxis_t[3]	Collected data used to solve for the bias error and INS rotation. Vertical axis: 0 = X, 1 = Y, 2 = Z

DID_INL2_MAG_OBS_INFO¶

INL2 magnetometer calibration information.

inl2_mag_obs_info_t

Field	Type	Description
timeOfWeekMs	uint32_t	Timestamp in milliseconds
Ncal_samples	uint32_t	Number of calibration samples
ready	uint32_t	Data ready to be processed
calibrated	uint32_t	Calibration data present. Set to -1 to force mag recalibration.
auto_recal	uint32_t	Allow mag to auto-recalibrate
outlier	uint32_t	Bad sample data
magHdg	float	Heading from magnetometer
insHdg	float	Heading from INS
magInsHdgDelta	float	Difference between mag heading and (INS heading plus mag declination)
nis	float	Normalized innovation squared (likelihood metric)
nis_threshold	float	Threshold for maximum NIS
Wcal	float[9]	Magnetometer calibration matrix. Must be initialized with a unit matrix, not zeros!
activeCalSet	uint32_t	Active calibration set (0 or 1)
magHdgOffset	float	Offset between magnetometer heading and estimate heading
Tcal	float	Scaled computed variance between calibrated magnetometer samples.
bias_cal	float[3]	Calibrated magnetometer output can be produced using: Bcal = Wcal * (Braw - bias_cal)

DID_INL2_NED_SIGMA¶

Standard deviation of INL2 EKF estimates in the NED frame.

inl2_ned_sigma_t

Field	Type	Description
timeOfWeekMs	unsigned	Timestamp in milliseconds
StdPosNed	float[3]	NED position error sigma
StdVelNed	float[3]	NED velocity error sigma
StdAttNed	float[3]	NED attitude error sigma
StdAccBias	float[3]	Acceleration bias error sigma
StdGyrBias	float[3]	Angular rate bias error sigma
StdBarBias	float	Barometric altitude bias error sigma
StdMagDeclination	float	Mag declination error sigma

DID_INL2_STATES¶

INS Extended Kalman Filter (EKF) states

inl2_states_t

Field	Type	Description
timeOfWeek	double	GPS time of week (since Sunday morning) in seconds
qe2b	float[4]	Quaternion body rotation with respect to ECEF
ve	float[3]	(m/s) Velocity in ECEF frame
ecef	double[3]	(m) Position in ECEF frame
biasPqr	float[3]	(rad/s) Gyro bias
biasAcc	float[3]	(m/s^2) Accelerometer bias
biasBaro	float	(m) Barometer bias
magDec	float	(rad) Magnetic declination
magInc	float	(rad) Magnetic inclination

DID_INL2_STATUS¶

inl2_status_t

Field	Type	Description

DID_IO¶

I/O

io_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
gpioStatus	uint32_t	General purpose I/O status

DID_MANUFACTURING_INFO¶

Manufacturing info

manufacturing_info_t

Field	Type	Description
serialNumber	uint32_t	Inertial Sense serial number
hardwareId	uint16_t	Hardware ID: This is a packed identifier, which includes the Hardware Type, hardwareVer Major, and hardwareVer Minor
lotNumber	uint16_t	Inertial Sense lot number
date	char[16]	Inertial Sense manufacturing date (YYYYMMDDHHMMSS)
key	uint32_t	Key - write: unlock manufacturing info, read: number of times OTP has been set, 15 max
platformType	int32_t	Platform / carrier board (ePlatformConfig::PLATFORM_CFG_TYPE_MASK). Only valid if greater than zero.
reserved	int32_t	Microcontroller unique identifier, 128 bits for SAM / 96 for STM32

DID_PIMU_MAG¶

DID_PIMU + DID_MAGNETOMETER. Only one of DID_IMU_MAG or DID_PIMU_MAG should be streamed simultaneously.

pimu_mag_t

Field	Type	Description
pimu	pimu_t	Preintegrated IMU
mag	magnetometer_t	Magnetometer

DID_PORT_MONITOR¶

Data rate and status monitoring for each communications port.

port_monitor_t

Field	Type	Description
port	port_monitor_set_t[6]	Port monitor set

DID_POSITION_MEASUREMENT¶

External position estimate

pos_measurement_t

Field	Type	Description
timeOfWeek	double	GPS time of week (since Sunday morning) in seconds
ecef	double[3]	Position in ECEF (earth-centered earth-fixed) frame in meters
psi	float	Heading with respect to NED frame (rad

DID_REFERENCE_IMU¶

Raw reference or truth IMU used for manufacturing calibration and testing. Input from testbed.

imu_t

Field	Type	Description
time	double	Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset
status	uint32_t	IMU Status (eImuStatus)
I	imus_t	Inertial Measurement Unit (IMU)

DID_REFERENCE_MAGNETOMETER¶

Reference or truth magnetometer used for manufacturing calibration and testing

magnetometer_t

Field	Type	Description
time	double	Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset
mag	float[3]	Magnetometers

DID_REFERENCE_PIMU¶

Reference or truth IMU used for manufacturing calibration and testing

pimu_t

Field	Type	Description
time	double	Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset
dt	float	Integral period in seconds for delta theta and delta velocity. This is configured using DID_FLASH_CONFIG.startupNavDtMs.
status	uint32_t	IMU Status (eImuStatus)
theta	float[3]	IMU delta theta (gyroscope {p,q,r} integral) in radians in sensor frame
vel	float[3]	IMU delta velocity (accelerometer {x,y,z} integral) in m/s in sensor frame

DID_ROS_COVARIANCE_POSE_TWIST¶

INL2 EKF covariances matrix lower diagonals

ros_covariance_pose_twist_t

Field	Type	Description
timeOfWeek	double	GPS time of week (since Sunday morning) in seconds
covPoseLD	float[21]	(rad^2, m^2) EKF attitude and position error covariance matrix lower diagonal in body (attitude) and ECEF (position) frames
covTwistLD	float[21]	((m/s)^2, (rad/s)^2) EKF velocity and angular rate error covariance matrix lower diagonal in ECEF (velocity) and body (attitude) frames

DID_RTOS_INFO¶

RTOS information.

rtos_info_t

Field	Type	Description
freeHeapSize	uint32_t	Heap high water mark bytes
mallocSize	uint32_t	Total memory allocated using RTOS pvPortMalloc()
freeSize	uint32_t	Total memory freed using RTOS vPortFree()
task	rtos_task_t[]	Tasks

DID_RUNTIME_PROFILER¶

System runtime profiler

runtime_profiler_t

Field	Type	Description

DID_SCOMP¶

sensor_compensation_t

Field	Type	Description

DID_SENSORS_ADC¶

sys_sensors_adc_t

Field	Type	Description

DID_SENSORS_ADC_SIGMA¶

sys_sensors_adc_t

Field	Type	Description

DID_SENSORS_MCAL¶

Temperature compensated and motion calibrated IMU output.

sensors_w_temp_t

Field	Type	Description
imu3	imu3_t	(°C) Temperature of IMU. Units only apply for calibrated data.
temp	f_t[3]	(uT) Magnetometers. Units only apply for calibrated data.

DID_SENSORS_TCAL¶

Temperature compensated IMU output.

sensors_w_temp_t

Field	Type	Description
imu3	imu3_t	(°C) Temperature of IMU. Units only apply for calibrated data.
temp	f_t[3]	(uT) Magnetometers. Units only apply for calibrated data.

DID_SENSORS_TC_BIAS¶

sensors_t

Field	Type	Description
time	double	Time since boot up in seconds. Convert to GPS time of week by adding gps.towOffset
temp	float	Temperature in Celsius
pqr	float[3]	Gyros in radians / second
acc	float[3]	Accelerometers in meters / second squared
mag	float[3]	Magnetometers
bar	float	Barometric pressure in kilopascals
barTemp	float	Temperature of barometric pressure sensor in Celsius
mslBar	float	MSL altitude from barometric pressure sensor in meters
humidity	float	Relative humidity as a percent (%rH). Range is 0% - 100%
vin	float	EVB system input voltage in volts. uINS pin 5 (G2/AN2). Use 10K/1K resistor divider between Vin and GND.
ana1	float	ADC analog input in volts. uINS pin 4, (G1/AN1).
ana3	float	ADC analog input in volts. uINS pin 19 (G3/AN3).
ana4	float	ADC analog input in volts. uINS pin 20 (G4/AN4).

DID_SENSORS_UCAL¶

Uncalibrated IMU output.

sensors_w_temp_t

Field	Type	Description
imu3	imu3_t	(°C) Temperature of IMU. Units only apply for calibrated data.
temp	f_t[3]	(uT) Magnetometers. Units only apply for calibrated data.

DID_STROBE_IN_TIME¶

Timestamp for input strobe.

strobe_in_time_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6^th, 1980
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
pin	uint16_t	Strobe input pin (i.e. G1, G2, G5, or G9)
count	uint16_t	Strobe serial index number

DID_SURVEY_IN¶

Survey in, used to determine position for RTK base station. Base correction output cannot run during a survey and will be automatically disabled if a survey is started.

survey_in_t

Field	Type	Description
state	uint32_t	State of current survey, eSurveyInStatus
maxDurationSec	uint32_t	Maximum time (milliseconds) survey will run if minAccuracy is not first achieved. (ignored if 0).
minAccuracy	float	Required horizontal accuracy (m) for survey to complete before maxDuration. (ignored if 0)
elapsedTimeSec	uint32_t	Elapsed time (seconds) of the survey.
hAccuracy	float	Approximate horizontal accuracy of the survey (m).
lla	double[3]	The current surveyed latitude, longitude, altitude (deg, deg, m)

DID_SYS_FAULT¶

System fault information

system_fault_t

Field	Type	Description
status	uint32_t	System fault status
g1Task	uint32_t	Fault Type at HardFault
g2FileNum	uint32_t	Multipurpose register - Line number of fault
g3LineNum	uint32_t	Multipurpose register - File number at fault
g4	uint32_t	Multipurpose register - at time of fault.
g5Lr	uint32_t	Multipurpose register - link register value at time of fault.
pc	uint32_t	Program Counter value at time of fault
psr	uint32_t	Program Status Register value at time of fault

DID_SYS_PARAMS¶

System parameters / info

sys_params_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
insStatus	uint32_t	INS status flags (eInsStatusFlags)
hdwStatus	uint32_t	Hardware status flags (eHdwStatusFlags)
imuTemp	float	IMU temperature
baroTemp	float	Baro temperature
mcuTemp	float	MCU temperature (not available yet)
sysStatus	uint32_t	System status flags (eSysStatusFlags)
imuSamplePeriodMs	uint32_t	IMU sample period (ms). Zero disables sampling.
navOutputPeriodMs	uint32_t	Preintegrated IMU (PIMU) integration period and navigation/AHRS filter output period (ms).
sensorTruePeriod	double	Actual sample period relative to GPS PPS (sec)
flashCfgChecksum	uint32_t	Flash config checksum used with host SDK synchronization
navUpdatePeriodMs	uint32_t	Navigation/AHRS filter update period (ms)
genFaultCode	uint32_t	General fault code descriptor (eGenFaultCodes). Set to zero to reset fault code.
upTime	double	System up time in seconds (with double precision)

DID_WHEEL_ENCODER¶

Wheel encoder data to be fused with GPS-INS measurements, set DID_GROUND_VEHICLE for configuration before sending this message

wheel_encoder_t

Field	Type	Description
timeOfWeek	double	Time of measurement wrt current week
status	uint32_t	Status Word
theta_l	float	Left wheel angle (rad)
theta_r	float	Right wheel angle (rad)
omega_l	float	Left wheel angular rate (rad/s)
omega_r	float	Right wheel angular rate (rad/s)
wrap_count_l	uint32_t	Left wheel revolution count
wrap_count_r	uint32_t	Right wheel revolution count

Enumerations and Defines¶

System status and configuration is made available through various enumeration and #defines.

General¶

DID_EVB_FLASH_CFG.cbPreset¶

(eEvb2ComBridgePreset)

Field	Value
EVB2_CB_PRESET_NA	0
EVB2_CB_PRESET_ALL_OFF	1
EVB2_CB_PRESET_RS232	2
EVB2_CB_PRESET_RS232_XBEE	3
EVB2_CB_PRESET_RS422_WIFI	4
EVB2_CB_PRESET_SPI_RS232	5
EVB2_CB_PRESET_USB_HUB_RS232	6
EVB2_CB_PRESET_USB_HUB_RS422	7
EVB2_CB_PRESET_COUNT	8

DID_EVB_FLASH_CFG.portOptions¶

(eEvb2PortOptions)

Field	Value
EVB2_PORT_OPTIONS_RADIO_RTK_FILTER	0x00000001
EVB2_PORT_OPTIONS_DEFAULT	EVB2_PORT_OPTIONS_RADIO_RTK_FILTER

DID_EVB_STATUS.loggerMode¶

(eEvb2LoggerMode)

Field	Value
EVB2_LOG_NA	0
EVB2_LOG_CMD_START	2
EVB2_LOG_CMD_STOP	4
EVB2_LOG_CMD_PURGE	1002

DID_FLASH_CONFIG.gnssSatSigConst¶

(eGnssSatSigConst)

Field	Value
GNSS_SAT_SIG_CONST_GPS	0x0003
GNSS_SAT_SIG_CONST_QZS	0x000C
GNSS_SAT_SIG_CONST_GAL	0x0030
GNSS_SAT_SIG_CONST_BDS	0x00C0
GNSS_SAT_SIG_CONST_GLO	0x0300
GNSS_SAT_SIG_CONST_SBS	0x1000
GNSS_SAT_SIG_CONST_IRN	0x2000
GNSS_SAT_SIG_CONST_IME	0x4000

DID_FLASH_CONFIG.sensorConfig¶

(eSensorConfig)

Field	Value
SENSOR_CFG_GYR_FS_250	0x00000000
SENSOR_CFG_GYR_FS_500	0x00000001
SENSOR_CFG_GYR_FS_1000	0x00000002
SENSOR_CFG_GYR_FS_2000	0x00000003
SENSOR_CFG_GYR_FS_4000	0x00000004
SENSOR_CFG_GYR_FS_MASK	0x00000007
SENSOR_CFG_GYR_FS_OFFSET	(int)0
SENSOR_CFG_ACC_FS_2G	0x00000000
SENSOR_CFG_ACC_FS_4G	0x00000001
SENSOR_CFG_ACC_FS_8G	0x00000002
SENSOR_CFG_ACC_FS_16G	0x00000003
SENSOR_CFG_ACC_FS_MASK	0x00000030
SENSOR_CFG_ACC_FS_OFFSET	(int)4
SENSOR_CFG_GYR_DLPF_250HZ	0x00000000
SENSOR_CFG_GYR_DLPF_184HZ	0x00000001
SENSOR_CFG_GYR_DLPF_92HZ	0x00000002
SENSOR_CFG_GYR_DLPF_41HZ	0x00000003
SENSOR_CFG_GYR_DLPF_20HZ	0x00000004
SENSOR_CFG_GYR_DLPF_10HZ	0x00000005
SENSOR_CFG_GYR_DLPF_5HZ	0x00000006
SENSOR_CFG_GYR_DLPF_MASK	0x00000F00
SENSOR_CFG_GYR_DLPF_OFFSET	(int)8
SENSOR_CFG_ACC_DLPF_218HZ	0x00000000
SENSOR_CFG_ACC_DLPF_218HZb	0x00000001
SENSOR_CFG_ACC_DLPF_99HZ	0x00000002
SENSOR_CFG_ACC_DLPF_45HZ	0x00000003
SENSOR_CFG_ACC_DLPF_21HZ	0x00000004
SENSOR_CFG_ACC_DLPF_10HZ	0x00000005
SENSOR_CFG_ACC_DLPF_5HZ	0x00000006
SENSOR_CFG_ACC_DLPF_MASK	0x0000F000
SENSOR_CFG_ACC_DLPF_OFFSET	(int)12
SENSOR_CFG_SENSOR_ROTATION_MASK	0x00FF0000
SENSOR_CFG_SENSOR_ROTATION_OFFSET	(int)16
SENSOR_CFG_SENSOR_ROTATION_0_0_0	(int)0
SENSOR_CFG_SENSOR_ROTATION_0_0_90	(int)1
SENSOR_CFG_SENSOR_ROTATION_0_0_180	(int)2
SENSOR_CFG_SENSOR_ROTATION_0_0_N90	(int)3
SENSOR_CFG_SENSOR_ROTATION_90_0_0	(int)4
SENSOR_CFG_SENSOR_ROTATION_90_0_90	(int)5
SENSOR_CFG_SENSOR_ROTATION_90_0_180	(int)6
SENSOR_CFG_SENSOR_ROTATION_90_0_N90	(int)7
SENSOR_CFG_SENSOR_ROTATION_180_0_0	(int)8
SENSOR_CFG_SENSOR_ROTATION_180_0_90	(int)9
SENSOR_CFG_SENSOR_ROTATION_180_0_180	(int)10
SENSOR_CFG_SENSOR_ROTATION_180_0_N90	(int)11
SENSOR_CFG_SENSOR_ROTATION_N90_0_0	(int)12
SENSOR_CFG_SENSOR_ROTATION_N90_0_90	(int)13
SENSOR_CFG_SENSOR_ROTATION_N90_0_180	(int)14
SENSOR_CFG_SENSOR_ROTATION_N90_0_N90	(int)15
SENSOR_CFG_SENSOR_ROTATION_0_90_0	(int)16
SENSOR_CFG_SENSOR_ROTATION_0_90_90	(int)17
SENSOR_CFG_SENSOR_ROTATION_0_90_180	(int)18
SENSOR_CFG_SENSOR_ROTATION_0_90_N90	(int)19
SENSOR_CFG_SENSOR_ROTATION_0_N90_0	(int)20
SENSOR_CFG_SENSOR_ROTATION_0_N90_90	(int)21
SENSOR_CFG_SENSOR_ROTATION_0_N90_180	(int)22
SENSOR_CFG_SENSOR_ROTATION_0_N90_N90	(int)23
SENSOR_CFG_IMU_FAULT_DETECT_MASK	0x0F000000
SENSOR_CFG_IMU_FAULT_DETECT_OFFSET	(int)24
SENSOR_CFG_IMU_FAULT_DETECT_NONE	(int)0
SENSOR_CFG_IMU_FAULT_DETECT_OFFLINE	(int)1
SENSOR_CFG_IMU_FAULT_DETECT_LARGE_BIAS	(int)2
SENSOR_CFG_IMU_FAULT_DETECT_BIAS_JUMPS	(int)3
SENSOR_CFG_IMU_FAULT_DETECT_SENSOR_NOISE	(int)4

DID_SYS_CMD.command¶

(eSystemCommand)

Field	Value
SYS_CMD_NONE	0
SYS_CMD_SAVE_PERSISTENT_MESSAGES	1
SYS_CMD_ENABLE_BOOTLOADER_AND_RESET	2
SYS_CMD_ENABLE_SENSOR_STATS	3
SYS_CMD_ENABLE_RTOS_STATS	4
SYS_CMD_ZERO_MOTION	5
SYS_CMD_REF_POINT_STATIONARY	6
SYS_CMD_REF_POINT_MOVING	7
SYS_CMD_RESET_RTOS_STATS	8
SYS_CMD_ENABLE_GPS_LOW_LEVEL_CONFIG	10
SYS_CMD_DISABLE_SERIAL_PORT_BRIDGE	11
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_TO_GPS1	12
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_TO_GPS2	13
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_TO_SER0	14
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_TO_SER1	15
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_TO_SER2	16
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_SER0_TO_GPS1	17
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_TO_GPS1	18
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_TO_GPS2	19
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_TO_USB	20
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_TO_SER0	21
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_TO_SER1	22
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_TO_SER2	23
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_LOOPBACK	24
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_SER0_LOOPBACK	25
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_SER1_LOOPBACK	26
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_SER2_LOOPBACK	27
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_LOOPBACK	28
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_LOOPBACK_TESTMODE	29
SYS_CMD_GPX_ENABLE_BOOTLOADER_MODE	30
SYS_CMD_GPX_ENABLE_GNSS1_CHIPSET_BOOTLOADER	31
SYS_CMD_GPX_ENABLE_GNSS2_CHIPSET_BOOTLOADER	32
SYS_CMD_GPX_ENABLE_GNSS1_PASS_THROUGH	33
SYS_CMD_GPX_ENABLE_GNSS2_PASS_THROUGH	34
SYS_CMD_GPX_HARD_RESET_GNSS1	36
SYS_CMD_GPX_HARD_RESET_GNSS2	37
SYS_CMD_GPX_SOFT_RESET_GPX	38
SYS_CMD_GPX_ENABLE_SERIAL_BRIDGE_CUR_PORT_LOOPBACK	39
SYS_CMD_GPX_ENABLE_SERIAL_BRIDGE_CUR_PORT_LOOPBACK_TESTMODE	40
SYS_CMD_TEST_GPIO	64
SYS_CMD_TEST_CHECK_INIT_SER0	65
SYS_CMD_TEST_FORCE_INIT_SER0	66
SYS_CMD_TEST_BIT_BANG_SER0_STPB	67
SYS_CMD_TEST_BIT_BANG_SER0_SRST	68
SYS_CMD_TEST_SER0_TX_PIN_HIGH	69
SYS_CMD_TEST_SER0_TX_PIN_LOW	70
SYS_CMD_SAVE_FLASH	97
SYS_CMD_SAVE_GPS_ASSIST_TO_FLASH_RESET	98
SYS_CMD_SOFTWARE_RESET	99
SYS_CMD_MANF_UNLOCK	1122334455
SYS_CMD_MANF_FACTORY_RESET	1357924680
SYS_CMD_MANF_CHIP_ERASE	1357924681
SYS_CMD_MANF_DOWNGRADE_CALIBRATION	1357924682
SYS_CMD_MANF_ENABLE_ROM_BOOTLOADER	1357924683

DID_SYS_PARAMS.genFaultCode¶

(eGenFaultCodes)

Field	Value
GFC_INS_STATE_ORUN_UVW	0x00000001
GFC_INS_STATE_ORUN_LAT	0x00000002
GFC_INS_STATE_ORUN_ALT	0x00000004
GFC_UNHANDLED_INTERRUPT	0x00000010
GFC_GNSS_SYS_FAULT	0x00000020
GFC_GNSS_TX_LIMITED	0x00000040
GFC_GNSS_RX_OVERRUN	0x00000080
GFC_INIT_SENSORS	0x00000100
GFC_INIT_SPI	0x00000200
GFC_CONFIG_SPI	0x00000400
GFC_GNSS1_INIT	0x00000800
GFC_GNSS2_INIT	0x00001000
GFC_FLASH_INVALID_VALUES	0x00002000
GFC_FLASH_CHECKSUM_FAILURE	0x00004000
GFC_FLASH_WRITE_FAILURE	0x00008000
GFC_SYS_FAULT_GENERAL	0x00010000
GFC_SYS_FAULT_CRITICAL	0x00020000
GFC_SENSOR_SATURATION	0x00040000
GFC_INIT_IMU	0x00100000
GFC_INIT_BAROMETER	0x00200000
GFC_INIT_MAGNETOMETER	0x00400000
GFC_INIT_I2C	0x00800000
GFC_CHIP_ERASE_INVALID	0x01000000
GFC_GNSS_TIME_FAULT	0x02000000

(eGpsNavFixStatus)

Field	Value
GPS_NAV_FIX_NONE	0x00000000
GPS_NAV_FIX_POSITIONING_3D	0x00000001
GPS_NAV_FIX_POSITIONING_RTK_FLOAT	0x00000002
GPS_NAV_FIX_POSITIONING_RTK_FIX	0x00000003

GPS Status¶

(eGpsStatus)

Field	Value
GPS_STATUS_NUM_SATS_USED_MASK	0x000000FF
GPS_STATUS_FIX_NONE	0x00000000
GPS_STATUS_FIX_DEAD_RECKONING_ONLY	0x00000100
GPS_STATUS_FIX_2D	0x00000200
GPS_STATUS_FIX_3D	0x00000300
GPS_STATUS_FIX_GPS_PLUS_DEAD_RECK	0x00000400
GPS_STATUS_FIX_TIME_ONLY	0x00000500
GPS_STATUS_FIX_UNUSED1	0x00000600
GPS_STATUS_FIX_UNUSED2	0x00000700
GPS_STATUS_FIX_DGPS	0x00000800
GPS_STATUS_FIX_SBAS	0x00000900
GPS_STATUS_FIX_RTK_SINGLE	0x00000A00
GPS_STATUS_FIX_RTK_FLOAT	0x00000B00
GPS_STATUS_FIX_RTK_FIX	0x00000C00
GPS_STATUS_FIX_MASK	0x00001F00
GPS_STATUS_FIX_BIT_OFFSET	(int)8
GPS_STATUS_FLAGS_FIX_OK	0x00010000
GPS_STATUS_FLAGS_DGPS_USED	0x00020000
GPS_STATUS_FLAGS_RTK_FIX_AND_HOLD	0x00040000
GPS_STATUS_FLAGS_WEEK_VALID	0x00040000
GPS_STATUS_FLAGS_TOW_VALID	0x00080000
GPS_STATUS_FLAGS_GPS1_RTK_POSITION_ENABLED	0x00100000
GPS_STATUS_FLAGS_STATIC_MODE	0x00200000
GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_ENABLED	0x00400000
GPS_STATUS_FLAGS_GPS1_RTK_RAW_GPS_DATA_ERROR	0x00800000
GPS_STATUS_FLAGS_GPS1_RTK_BASE_DATA_MISSING	0x01000000
GPS_STATUS_FLAGS_GPS1_RTK_BASE_POSITION_MOVING	0x02000000
GPS_STATUS_FLAGS_GPS1_RTK_BASE_POSITION_INVALID	0x03000000
GPS_STATUS_FLAGS_GPS1_RTK_BASE_POSITION_MASK	0x03000000
GPS_STATUS_FLAGS_GPS1_RTK_POSITION_VALID	0x04000000
GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_VALID	0x08000000
GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_BASELINE_BAD	0x00002000
GPS_STATUS_FLAGS_GPS_NMEA_DATA	0x00008000
GPS_STATUS_FLAGS_GPS_PPS_TIMESYNC	0x10000000
GPS_STATUS_FLAGS_MASK	0xFFFFE000
GPS_STATUS_FLAGS_BIT_OFFSET	(int)16

Hardware Status Flags¶

(eHdwStatusFlags)

Field	Value
HDW_STATUS_MOTION_GYR_SIG	0x00000001
HDW_STATUS_MOTION_ACC_SIG	0x00000002
HDW_STATUS_MOTION_SIG_MASK	0x00000003
HDW_STATUS_MOTION_GYR_DEV	0x00000004
HDW_STATUS_MOTION_ACC_DEV	0x00000008
HDW_STATUS_MOTION_MASK	0x0000000F
HDW_STATUS_GPS_SATELLITE_RX	0x00000010
HDW_STATUS_STROBE_IN_EVENT	0x00000020
HDW_STATUS_GPS_TIME_OF_WEEK_VALID	0x00000040
HDW_STATUS_REFERENCE_IMU_RX	0x00000080
HDW_STATUS_SATURATION_GYR	0x00000100
HDW_STATUS_SATURATION_ACC	0x00000200
HDW_STATUS_SATURATION_MAG	0x00000400
HDW_STATUS_SATURATION_BARO	0x00000800
HDW_STATUS_SATURATION_MASK	0x00000F00
HDW_STATUS_SATURATION_OFFSET	8
HDW_STATUS_SYSTEM_RESET_REQUIRED	0x00001000
HDW_STATUS_ERR_GPS_PPS_NOISE	0x00002000
HDW_STATUS_MAG_RECAL_COMPLETE	0x00004000
HDW_STATUS_FLASH_WRITE_PENDING	0x00008000
HDW_STATUS_ERR_COM_TX_LIMITED	0x00010000
HDW_STATUS_ERR_COM_RX_OVERRUN	0x00020000
HDW_STATUS_ERR_NO_GPS_PPS	0x00040000
HDW_STATUS_GPS_PPS_TIMESYNC	0x00080000
HDW_STATUS_COM_PARSE_ERR_COUNT_MASK	0x00F00000
HDW_STATUS_COM_PARSE_ERR_COUNT_OFFSET	20
HDW_STATUS_BIT_RUNNING	0x01000000
HDW_STATUS_BIT_PASSED	0x02000000
HDW_STATUS_BIT_FAULT	0x03000000
HDW_STATUS_BIT_MASK	0x03000000
HDW_STATUS_ERR_TEMPERATURE	0x04000000
HDW_STATUS_SPI_INTERFACE_ENABLED	0x08000000
HDW_STATUS_RESET_CAUSE_MASK	0x70000000
HDW_STATUS_RESET_CAUSE_BACKUP_MODE	0x10000000
HDW_STATUS_RESET_CAUSE_WATCHDOG_FAULT	0x20000000
HDW_STATUS_RESET_CAUSE_SOFT	0x30000000
HDW_STATUS_RESET_CAUSE_HDW	0x40000000
HDW_STATUS_FAULT_SYS_CRITICAL	0x80000000

IMU Status¶

(eImuStatus)

Field	Value
IMU_STATUS_SATURATION_IMU1_GYR	0x00000001
IMU_STATUS_SATURATION_IMU2_GYR	0x00000002
IMU_STATUS_SATURATION_IMU3_GYR	0x00000004
IMU_STATUS_SATURATION_IMU1_ACC	0x00000008
IMU_STATUS_SATURATION_IMU2_ACC	0x00000010
IMU_STATUS_SATURATION_IMU3_ACC	0x00000020
IMU_STATUS_SATURATION_MASK	0x0000003F
IMU_STATUS_MAG_UPDATE	0x00000100
IMU_STATUS_REFERENCE_IMU_PRESENT	0x00000200
IMU_STATUS_RESERVED2	0x00000400
IMU_STATUS_SATURATION_HISTORY	0x00000100
IMU_STATUS_SAMPLE_RATE_FAULT_HISTORY	0x00000200
IMU_STATUS_GYR1_OK	0x00010000
IMU_STATUS_GYR2_OK	0x00020000
IMU_STATUS_GYR3_OK	0x00040000
IMU_STATUS_ACC1_OK	0x00080000
IMU_STATUS_ACC2_OK	0x00100000
IMU_STATUS_ACC3_OK	0x00200000
IMU_STATUS_IMU1_OK	(int)(IMU_STATUS_GYR1_OK\|IMU_STATUS_ACC1_OK)
IMU_STATUS_IMU2_OK	(int)(IMU_STATUS_GYR2_OK\|IMU_STATUS_ACC2_OK)
IMU_STATUS_IMU3_OK	(int)(IMU_STATUS_GYR3_OK\|IMU_STATUS_ACC3_OK)
IMU_STATUS_IMU_OK_MASK	0x003F0000

INS status Flags¶

(eInsStatusFlags)

Field	Value
INS_STATUS_HDG_ALIGN_COARSE	0x00000001
INS_STATUS_VEL_ALIGN_COARSE	0x00000002
INS_STATUS_POS_ALIGN_COARSE	0x00000004
INS_STATUS_ALIGN_COARSE_MASK	0x00000007
INS_STATUS_WHEEL_AIDING_VEL	0x00000008
INS_STATUS_HDG_ALIGN_FINE	0x00000010
INS_STATUS_VEL_ALIGN_FINE	0x00000020
INS_STATUS_POS_ALIGN_FINE	0x00000040
INS_STATUS_ALIGN_FINE_MASK	0x00000070
INS_STATUS_GPS_AIDING_HEADING	0x00000080
INS_STATUS_GPS_AIDING_POS	0x00000100
INS_STATUS_GPS_UPDATE_IN_SOLUTION	0x00000200
INS_STATUS_EKF_USING_REFERENCE_IMU	0x00000400
INS_STATUS_MAG_AIDING_HEADING	0x00000800
INS_STATUS_NAV_MODE	0x00001000
INS_STATUS_STATIONARY_MODE	0x00002000
INS_STATUS_GPS_AIDING_VEL	0x00004000
INS_STATUS_KINEMATIC_CAL_GOOD	0x00008000
INS_STATUS_SOLUTION_MASK	0x000F0000
INS_STATUS_SOLUTION_OFFSET	16
INS_STATUS_SOLUTION_OFF	0
INS_STATUS_SOLUTION_ALIGNING	1
INS_STATUS_SOLUTION_NAV	3
INS_STATUS_SOLUTION_NAV_HIGH_VARIANCE	4
INS_STATUS_SOLUTION_AHRS	5
INS_STATUS_SOLUTION_AHRS_HIGH_VARIANCE	6
INS_STATUS_SOLUTION_VRS	7
INS_STATUS_SOLUTION_VRS_HIGH_VARIANCE	8
INS_STATUS_RTK_COMPASSING_BASELINE_UNSET	0x00100000
INS_STATUS_RTK_COMPASSING_BASELINE_BAD	0x00200000
INS_STATUS_RTK_COMPASSING_MASK	(INS_STATUS_RTK_COMPASSING_BASELINE_UNSET\|INS_STATUS_RTK_COMPASSING_BASELINE_BAD)
INS_STATUS_MAG_RECALIBRATING	0x00400000
INS_STATUS_MAG_INTERFERENCE_OR_BAD_CAL	0x00800000
INS_STATUS_GPS_NAV_FIX_MASK	0x03000000
INS_STATUS_GPS_NAV_FIX_OFFSET	24
INS_STATUS_RTK_COMPASSING_VALID	0x04000000
INS_STATUS_RTK_RAW_GPS_DATA_ERROR	0x08000000
INS_STATUS_RTK_ERR_BASE_DATA_MISSING	0x10000000
INS_STATUS_RTK_ERR_BASE_POSITION_MOVING	0x20000000
INS_STATUS_RTK_ERR_BASE_POSITION_INVALID	0x30000000
INS_STATUS_RTK_ERR_BASE_MASK	0x30000000
INS_STATUS_RTK_ERROR_MASK	(INS_STATUS_RTK_RAW_GPS_DATA_ERROR\|INS_STATUS_RTK_ERR_BASE_MASK)
INS_STATUS_RTOS_TASK_PERIOD_OVERRUN	0x40000000
INS_STATUS_GENERAL_FAULT	0x80000000

Magnetometer Recalibration Mode¶

(eMagCalState)

Field	Value
MAG_CAL_STATE_DO_NOTHING	(int)0
MAG_CAL_STATE_MULTI_AXIS	(int)1
MAG_CAL_STATE_SINGLE_AXIS	(int)2
MAG_CAL_STATE_ABORT	(int)101
MAG_CAL_STATE_RECAL_RUNNING	(int)200
MAG_CAL_STATE_RECAL_COMPLETE	(int)201

RTK Configuration¶

(eRTKConfigBits)

Field	Value
RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING	0x00000001
RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_EXTERNAL	0x00000002
RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_F9P	0x00000004
RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING	0x00000008
RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_MASK	(RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING\|RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_EXTERNAL)
RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_MASK	(RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING\|RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_F9P)
RTK_CFG_BITS_ROVER_MODE_MASK	0x0000000F
RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER0	0x00000010
RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER1	0x00000020
RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER2	0x00000040
RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_USB	0x00000080
RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER0	0x00000100
RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER1	0x00000200
RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER2	0x00000400
RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_USB	0x00000800
RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER0	0x00001000
RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER1	0x00002000
RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER2	0x00004000
RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_USB	0x00008000
RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER0	0x00010000
RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER1	0x00020000
RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER2	0x00040000
RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_USB	0x00080000
RTK_CFG_BITS_BASE_POS_MOVING	0x00100000
RTK_CFG_BITS_RESERVED1	0x00200000
RTK_CFG_BITS_RTK_BASE_IS_IDENTICAL_TO_ROVER	0x00400000
RTK_CFG_BITS_GPS_PORT_PASS_THROUGH	0x00800000
RTK_CFG_BITS_ROVER_MODE_ONBOARD_MASK	(RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING\|RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING)
RTK_CFG_BITS_ALL_MODES_MASK	(RTK_CFG_BITS_ROVER_MODE_MASK\|RTK_CFG_BITS_BASE_MODE)

System Configuration¶

(eSysConfigBits)

Field	Value
UNUSED1	0x00000001
SYS_CFG_BITS_ENABLE_MAG_CONTINUOUS_CAL	0x00000002
SYS_CFG_BITS_AUTO_MAG_RECAL	0x00000004
SYS_CFG_BITS_DISABLE_MAG_DECL_ESTIMATION	0x00000008
SYS_CFG_BITS_DISABLE_LEDS	0x00000010
Magnetometer	multi-axis
SYS_CFG_BITS_MAG_RECAL_MODE_MASK	0x00000700
SYS_CFG_BITS_MAG_RECAL_MODE_OFFSET	8
SYS_CFG_BITS_MAG_ENABLE_WMM_DECLINATION	0x00000800
SYS_CFG_BITS_DISABLE_MAGNETOMETER_FUSION	0x00001000
SYS_CFG_BITS_DISABLE_BAROMETER_FUSION	0x00002000
SYS_CFG_BITS_DISABLE_GPS1_FUSION	0x00004000
SYS_CFG_BITS_DISABLE_GPS2_FUSION	0x00008000
SYS_CFG_BITS_DISABLE_AUTO_ZERO_VELOCITY_UPDATES	0x00010000
SYS_CFG_BITS_DISABLE_AUTO_ZERO_ANGULAR_RATE_UPDATES	0x00020000
SYS_CFG_BITS_DISABLE_INS_EKF	0x00040000
SYS_CFG_BITS_DISABLE_AUTO_BIT_ON_STARTUP	0x00080000
SYS_CFG_BITS_DISABLE_WHEEL_ENCODER_FUSION	0x00100000
SYS_CFG_BITS_UNUSED3	0x00200000
SYS_CFG_BITS_UNUSED4	0x00400000
SYS_CFG_BITS_UNUSED5	0x00800000
SYS_CFG_USE_REFERENCE_IMU_IN_EKF	0x01000000
SYS_CFG_EKF_REF_POINT_STATIONARY_ON_STROBE_INPUT	0x02000000