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_1_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6th, 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/second, in body frame. 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, down (meters) offset from reference latitude, longitude, and altitude to current latitude, longitude, and altitude

DID_INS_2

ins_2_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6th, 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/second, in body frame. 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

ins_3_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6th, 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/second, in body frame. 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_4_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6th, 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

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 flags (eImuStatus)
I	imui_t	Combined Inertial Measurement Unit (IMU) sample: angular rate and acceleration

DID_IMUS

imus_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	IMUs status flags (eImusStatus)
I	imui_t[1]	Per-device Inertial Measurement Unit (IMU) samples: angular rate and acceleration

DID_IMUS_RAW

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

imus_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	IMUs status flags (eImusStatus)
I	imui_t[1]	Per-device Inertial Measurement Unit (IMU) samples: angular rate and acceleration

DID_IMU_RAW

IMU data averaged from DID_IMUS_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 flags (eImuStatus)
I	imui_t	Combined Inertial Measurement Unit (IMU) sample: angular rate and acceleration

DID_PIMU

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	Integration period in seconds for delta theta and delta velocity. Configured using DID_FLASH_CONFIG.startupNavDtMs
status	uint32_t	IMU status flags (eImuStatus)
theta	float[3]	IMU delta theta: gyroscope {p,q,r} integral over dt, in radians, in sensor/body frame
vel	float[3]	IMU delta velocity: accelerometer {x,y,z} integral over dt, in meters/second, in sensor/body frame

Sensor Output

DID_BAROMETER

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 (kPa)
mslBar	float	MSL altitude derived 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_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]	Magnetometer X, Y, Z in microtesla (uT), in body frame

DID_MAG_CAL

mag_cal_t

Field	Type	Description
state	uint32_t	Mag recalibration command/status. 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	(rad) Magnetic declination estimate

DID_SYS_SENSORS

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	IMU temperature, in Celsius
pqr	float[3]	Gyros {p,q,r}, in radians/second
acc	float[3]	Accelerometers {x,y,z}, in meters/second^2
mag	float[3]	Magnetometers {x,y,z} (uncalibrated units)
bar	float	Barometric pressure, in kilopascals
barTemp	float	Temperature of barometric pressure sensor, in Celsius
mslBar	float	MSL altitude derived 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_GNSS1_POS

gnss_pos_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6th, 1980
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	GNSS status (see eGnssStatus): [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag
ecef	double[3]	Position in ECEF {x,y,z}, in meters
lla	double[3]	Position in WGS84 latitude, longitude, height above ellipsoid (not MSL), in degrees, degrees, meters
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 and 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, in seconds. 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 in the position solution
cnoMeanSigma	uint8_t	Standard deviation of cnoMean over the past 5 seconds, in dBHz x10
status2	uint8_t	Secondary GNSS status byte (see eGnssStatus2): [0x0X] spoofing/jamming status, [0xX0] unused

DID_GNSS1_RCVR_POS

GNSS 1 position data from GNSS receiver.

gnss_pos_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6th, 1980
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	GNSS status (see eGnssStatus): [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag
ecef	double[3]	Position in ECEF {x,y,z}, in meters
lla	double[3]	Position in WGS84 latitude, longitude, height above ellipsoid (not MSL), in degrees, degrees, meters
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 and 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, in seconds. 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 in the position solution
cnoMeanSigma	uint8_t	Standard deviation of cnoMean over the past 5 seconds, in dBHz x10
status2	uint8_t	Secondary GNSS status byte (see eGnssStatus2): [0x0X] spoofing/jamming status, [0xX0] unused

DID_GNSS1_RTK_POS

GNSS RTK position data

gnss_pos_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6th, 1980
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	GNSS status (see eGnssStatus): [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag
ecef	double[3]	Position in ECEF {x,y,z}, in meters
lla	double[3]	Position in WGS84 latitude, longitude, height above ellipsoid (not MSL), in degrees, degrees, meters
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 and 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, in seconds. 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 in the position solution
cnoMeanSigma	uint8_t	Standard deviation of cnoMean over the past 5 seconds, in dBHz x10
status2	uint8_t	Secondary GNSS status byte (see eGnssStatus2): [0x0X] spoofing/jamming status, [0xX0] unused

DID_GNSS1_RTK_POS_MISC

gnss_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 position solution assuming the a priori error model and error parameters used by the positioning options. []: {ECEF x,y,z} or {north,east,down}, in meters
accuracyCov	float[3]	Accuracy: estimated covariance of the position solution. []: absolute value of the square root of the estimated covariance {NE, EU, UN}, in meters
arThreshold	float	Ambiguity resolution threshold for validation (unitless)
gDop	float	Geometric dilution of precision (unitless)
hDop	float	Horizontal dilution of precision (unitless)
vDop	float	Vertical dilution of precision (unitless)
baseLla	double[3]	Base station position: latitude, longitude, height (deg, deg, m)
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 QZSS observation element counter
baseQzsObservationCount	uint32_t	Base station QZSS 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 QZSS ephemeris element counter
baseQzsEphemerisCount	uint32_t	Base station QZSS 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 element counter
correctionChecksumFailures	uint32_t	Number of checksum failures from received corrections
timeToFirstFixMs	uint32_t	Time to first RTK fix, in milliseconds

DID_GNSS1_RTK_POS_REL

gnss_rtk_rel_t

Field	Type	Description
timeOfWeekMs	uint32_t	(ms) GPS time of week (since Sunday morning)
differentialAge	float	(s) Age of differential corrections
arRatio	float	Ambiguity resolution ratio factor for validation (unitless; higher indicates greater confidence the fixed integer ambiguity is correct)
baseToRoverVector	float[3]	(m) Vector from base to rover GNSS antennas {x,y,z} in ECEF. DID_GNSS1_RTK_POS_REL: RTK base station (base) to GNSS1 (rover). DID_GNSS2_RTK_CMP_REL (compassing): GNSS1 (base) to GNSS2 (rover)
baseToRoverDistance	float	(m) Distance from base to rover GNSS antennas (baseline length)
baseToRoverHeading	float	(rad) Heading of baseToRoverVector in the local tangent (NED) plane. Compassing mode: GNSS1 (base) to GNSS2 (rover)
baseToRoverHeadingAcc	float	(rad) Accuracy (standard deviation) of baseToRoverHeading
status	uint32_t	GNSS status (see eGnssStatus): [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag
covEcefPacked	float[6]	RTK solution covariance in ECEF packed as [Pxx, Pyy, Pzz, Pxy, Pyz, Pzx], in meters^2

DID_GNSS1_SAT

gnss_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 (valid entries in the sat[] list below)
sat	gnss_sat_sv_t[80]	Per-satellite tracking information list

DID_GNSS1_VEL

gnss_vel_t

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

DID_GNSS1_VERSION

gnss_version_t

Field	Type	Description
swVersion	uint8_t[30]	GNSS receiver software version string
hwVersion	uint8_t[10]	GNSS receiver hardware version string
extension	gnss_extension_ver_t[6]	Additional 30-byte extension version-info strings reported by the receiver

DID_GNSS2_POS

GNSS 2 position data

gnss_pos_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6th, 1980
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	GNSS status (see eGnssStatus): [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag
ecef	double[3]	Position in ECEF {x,y,z}, in meters
lla	double[3]	Position in WGS84 latitude, longitude, height above ellipsoid (not MSL), in degrees, degrees, meters
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 and 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, in seconds. 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 in the position solution
cnoMeanSigma	uint8_t	Standard deviation of cnoMean over the past 5 seconds, in dBHz x10
status2	uint8_t	Secondary GNSS status byte (see eGnssStatus2): [0x0X] spoofing/jamming status, [0xX0] unused

DID_GNSS2_RTK_CMP_MISC

RTK Dual GNSS RTK compassing related data.

gnss_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 position solution assuming the a priori error model and error parameters used by the positioning options. []: {ECEF x,y,z} or {north,east,down}, in meters
accuracyCov	float[3]	Accuracy: estimated covariance of the position solution. []: absolute value of the square root of the estimated covariance {NE, EU, UN}, in meters
arThreshold	float	Ambiguity resolution threshold for validation (unitless)
gDop	float	Geometric dilution of precision (unitless)
hDop	float	Horizontal dilution of precision (unitless)
vDop	float	Vertical dilution of precision (unitless)
baseLla	double[3]	Base station position: latitude, longitude, height (deg, deg, m)
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 QZSS observation element counter
baseQzsObservationCount	uint32_t	Base station QZSS 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 QZSS ephemeris element counter
baseQzsEphemerisCount	uint32_t	Base station QZSS 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 element counter
correctionChecksumFailures	uint32_t	Number of checksum failures from received corrections
timeToFirstFixMs	uint32_t	Time to first RTK fix, in milliseconds

DID_GNSS2_RTK_CMP_REL

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

gnss_rtk_rel_t

Field	Type	Description
timeOfWeekMs	uint32_t	(ms) GPS time of week (since Sunday morning)
differentialAge	float	(s) Age of differential corrections
arRatio	float	Ambiguity resolution ratio factor for validation (unitless; higher indicates greater confidence the fixed integer ambiguity is correct)
baseToRoverVector	float[3]	(m) Vector from base to rover GNSS antennas {x,y,z} in ECEF. DID_GNSS1_RTK_POS_REL: RTK base station (base) to GNSS1 (rover). DID_GNSS2_RTK_CMP_REL (compassing): GNSS1 (base) to GNSS2 (rover)
baseToRoverDistance	float	(m) Distance from base to rover GNSS antennas (baseline length)
baseToRoverHeading	float	(rad) Heading of baseToRoverVector in the local tangent (NED) plane. Compassing mode: GNSS1 (base) to GNSS2 (rover)
baseToRoverHeadingAcc	float	(rad) Accuracy (standard deviation) of baseToRoverHeading
status	uint32_t	GNSS status (see eGnssStatus): [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag
covEcefPacked	float[6]	RTK solution covariance in ECEF packed as [Pxx, Pyy, Pzz, Pxy, Pyz, Pzx], in meters^2

DID_GNSS2_SAT

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

gnss_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 (valid entries in the sat[] list below)
sat	gnss_sat_sv_t[80]	Per-satellite tracking information list

DID_GNSS2_VEL

GNSS 2 velocity data

gnss_vel_t

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

DID_GNSS2_VERSION

GNSS 2 version info

gnss_version_t

Field	Type	Description
swVersion	uint8_t[30]	GNSS receiver software version string
hwVersion	uint8_t[10]	GNSS receiver hardware version string
extension	gnss_extension_ver_t[6]	Additional 30-byte extension version-info strings reported by the receiver

DID_GNSS_RTK_OPT

RTK options - requires little endian CPU.

gnss_rtk_opt_t

Field	Type	Description
mode	int32_t	Positioning mode (PMODE_???: e.g. single, DGPS, kinematic, static, moving-baseline)
soltype	int32_t	Solution type (0 = forward, 1 = backward, 2 = combined forward/backward)
nf	int32_t	Number of frequencies used (1 = L1, 2 = L1+L2, 3 = L1+L2+L5)
navsys	int32_t	Navigation systems bitmask (GPS/GLONASS/Galileo/BeiDou/QZSS/SBAS, SYS_??? bits)
elmin	float	Elevation mask angle, satellites below this are excluded (rad)
snrmin	int32_t	Minimum SNR/Cno for a satellite to be considered for RTK (0.25 dB-Hz units, see obsd_t.SNR)
snrrange	int32_t	SNR range from the highest-SNR satellite to consider (overrides snrmin if non-zero)
modear	int32_t	Integer ambiguity resolution (AR) mode (0 = off, 1 = continuous, 2 = instantaneous, 3 = fix-and-hold, 4 = PPP-AR)
glomodear	int32_t	GLONASS ambiguity resolution mode (0 = off, 1 = on, 2 = auto-calibrate inter-frequency bias, 3 = external calibration)
sbsmodear	int32_t	SBAS ambiguity resolution mode (0 = off, 1 = on)
bdsmodear	int32_t	BeiDou ambiguity resolution mode (0 = off, 1 = on)
arfilter	int32_t	Ambiguity-resolution filtering to reject bad satellites (0 = off, 1 = on)
maxout	int32_t	Consecutive observation outage count before resetting a satellite's carrier-phase bias
maxrej	int32_t	Consecutive rejection count before resetting a satellite's carrier-phase bias
minlock	int32_t	Minimum lock (continuous-tracking) count required before fixing an ambiguity
minfixsats	int32_t	Minimum number of satellites required to fix integer ambiguities
minholdsats	int32_t	Minimum number of satellites required to hold fixed integer ambiguities
mindropsats	int32_t	Minimum number of satellites below which satellites are dropped during ambiguity resolution
rcvstds	int32_t	Use receiver-reported stdev estimates to scale measurement variances (0 = off, 1 = on)
minfix	int32_t	Minimum consecutive fix count required before holding an ambiguity
armaxiter	int32_t	Maximum number of iterations used to resolve integer ambiguities
dynamics	int32_t	Dynamics model used by the filter (0 = none, 1 = velocity, 2 = acceleration)
intpref	int32_t	Interpolate reference (base) observations, used for post-mission processing (0 = off, 1 = on)
rovpos	int32_t	Rover position mode for fixed-position solutions
refpos	int32_t	Base station position mode for relative-positioning solutions
err	float[12]	Measurement error factor coefficients (indexed by error model term)
std	float[3]	Initial-state standard deviations: [0] carrier-phase bias, [1] ionosphere, [2] troposphere
prn	float[6]	Process-noise standard deviations: [0] bias, [1] iono, [2] trop, [3] horizontal accel, [4] vertical accel, [5] position
sclkstab	double	Satellite clock stability (sec/sec, i.e. fractional frequency error)
thresar	float[8]	Ambiguity-resolution validation thresholds (e.g. ratio test and related AR acceptance criteria)
elmaskar	float	Elevation mask for ambiguity resolution of a newly rising satellite (rad)
elmaskhold	float	Elevation mask below which a held ambiguity is dropped (rad)
thresslip	float	Cycle-slip detection threshold on the geometry-free phase combination (m)
thresdop	float	Cycle-slip detection threshold based on Doppler-predicted phase (m)
varholdamb	float	Variance assigned to fix-and-hold pseudo-measurements of ambiguity (cycle^2)
gainholdamb	float	Gain applied to GLONASS and SBAS satellites when adjusting held ambiguities
maxtdiff	float	Maximum allowed time difference between rover and base observations (sec)
fix_reset_base_msgs	int	Number of base messages without a fix after which satellite biases are reset
maxinno	float[2]	Innovation (measurement residual) rejection thresholds: [0] carrier-phase, [1] code/pseudorange (m)
maxnis_lo	float[2]	Lower normalized innovation squared (NIS) rejection thresholds: [0] phase, [1] code
maxnis_hi	float[2]	Upper normalized innovation squared (NIS) rejection thresholds: [0] phase, [1] code
maxgdop	double	Rejection threshold on geometric dilution of precision (GDOP)
baseline	float[3]	Baseline length constraint: {constrained length, sigma before fix, sigma after fix} (m)
max_baseline_error	float	Maximum allowed baseline length error before the solution is considered invalid (m)
reset_baseline_error	float	Baseline length error above which the filter is reset (m)
max_ubx_error	float	Maximum error with respect to the receiver's (u-blox) reported position, triggers a reset if exceeded (m)
ru	double[3]	Rover position for fixed-position mode {x,y,z} (ECEF, m)
rb	double[3]	Base station position for relative-positioning mode {x,y,z} (ECEF, m)
maxaveep	int32_t	Maximum number of epochs used when averaging a position
outsingle	int32_t	Output a single-point solution on DGPS/float/fixed/PPP outage (0 = off, 1 = on)
velcon	float[2]	Velocity constraint variance in compassing/moving-baseline mode: {before fix, after fix} (m2/s2)
mp_bias_lpf_alpha	float	Low-pass-filter alpha for multipath bias estimation; smaller values apply heavier filtering
mp_var_lpf_alpha	float	Low-pass-filter alpha for multipath variance estimation; smaller values apply heavier filtering

GPX

DID_GPX_DEV_INFO

GPX device information

dev_info_t

Field	Type	Description
reserved	uint8_t	Reserved bits
buildFlags	uint8_t	Build flags: 0x1=debug mode, 0x2=dirty (see eBuildFlags)
hardwareType	uint8_t	Hardware Type: 1=uINS, 2=EVB, 3=IMX, 4=GPX (see eIsHardwareType)
hdwRunState	uint8_t	Device Run State: Bootloader, App, etc (see eHdwRunStates)
serialNumber	uint32_t	Serial number
hardwareVer	uint8_t[3]	Hardware version: [0]=major, [1]=minor, [2]=pcb/a revision
hardwareVariant	uint8_t	Hardware variant; an arbitrary number independent of version that identifies some variation of the hardware; most commonly, IMU population type on IMX-6 (see eImx6ImuPopulationType)
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 (0=production, 'c'=release candidate, 'b'=beta, 'a'=alpha, 'd'=developer, 's'=snapshot, '^'=dirty)
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

DID_GPX_FLASH_CFG

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. 0xFFFFFFFF is invalid.
key	uint32_t	Manufacturer method for restoring flash defaults
startupImuDtMs	uint32_t	(ms) IMU sample (system input) period set on startup. Cannot be larger than startupNavDtMs. Zero disables sensor/IMU sampling.
startupNavDtMs	uint32_t	(ms) Navigation filter (system output) output period set on startup. Used to initialize sysParams.navOutputPeriodMs.
ser0BaudRate	uint32_t	(bps) Serial port 0 baud rate
ser1BaudRate	uint32_t	(bps) Serial port 1 baud rate
insRotation	float[3]	(rad) Rotation about the X,Y,Z axes from Sensor Frame to Intermediate Output Frame. Order applied: Z,Y,X.
insOffset	float[3]	(m) X,Y,Z offset from Intermediate Output Frame to INS Output Frame.
gnss1AntOffset	float[3]	(m) X,Y,Z offset in Sensor Frame to GNSS 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 GNSS 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]	(deg, deg, m) Reference latitude, longitude and height above ellipsoid for north east down (NED) calculations
lastLla	double[3]	(deg, deg, m) Last latitude, longitude, HAE (height above ellipsoid) used to aid GNSS startup. Updated when the distance between current LLA and lastLla exceeds lastLlaUpdateDistance.
lastLlaTimeOfWeekMs	uint32_t	(ms) Last LLA GPS time since week start (Sunday morning)
lastLlaWeek	uint32_t	Last LLA GPS number of weeks since January 6th, 1980
lastLlaUpdateDistance	float	(m) 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 GNSS and I/O configuration process. Bit PLATFORM_CFG_UPDATE_IO_CONFIG is excluded from the flashConfig checksum and from determining whether to upload.
gnss2AntOffset	float[3]	(m) X,Y,Z offset in Sensor Frame origin to GNSS 2 antenna.
zeroVelRotation	float[3]	(rad) Euler (roll, pitch, yaw) rotation from INS Sensor Frame to Intermediate ZeroVelocity Frame. Order applied: heading, pitch, roll.
zeroVelOffset	float[3]	(m) X,Y,Z offset from Intermediate ZeroVelocity Frame to Zero Velocity Frame.
gnssTimeUserDelay	float	(sec) User defined delay for GPS time. This parameter can be used to account for GNSS antenna cable delay.
magDeclination	float	(rad) Earth magnetic field (magnetic north) declination (heading offset from true north)
gnssTimeSyncPeriodMs	uint32_t	(ms) Time between GPS time synchronization pulses. Requires reboot to take effect.
startupGnssDtMs	uint32_t	(ms) GNSS measurement (system input) update period 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)
gnssMinimumElevation	float	(rad) Minimum elevation of a satellite above the horizon to be used in the solution. Low elevation satellites may provide degraded accuracy, due to the long signal path through the atmosphere.
ser2BaudRate	uint32_t	(bps) Serial port 2 baud rate
wheelConfig	wheel_config_t	Wheel encoder: euler angles describing the rotation from imu to left wheel, plus track width/radius and config bits (see eWheelCfgBits)
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.
imuRejectThreshGyroLow	uint8_t	IMU gyro fault rejection threshold low
imuRejectThreshGyroHigh	uint8_t	IMU gyro fault rejection threshold high
imuShockDetectLatencyMs	uint8_t	(ms) IMU shock detection latency. Time used for EKF rewind to prevent shock from influencing EKF estimates.
imuShockRejectLatchMs	uint8_t	(ms) IMU shock rejection latch time. Time required following detected shock end to disable shock rejection.
imuShockOptions	uint8_t	IMU shock rejection options (see eImuShockOptions)
imuShockDeltaAccHighThreshold	uint8_t	(m/s^2) IMU shock detection. Min acceleration difference between the 3 IMUs to detect the start of a shock.
imuShockDeltaAccLowThreshold	uint8_t	(m/s^2) IMU shock detection. Max acceleration difference between the 3 IMUs within the latch time to detect the end of a shock.
imuShockDeltaGyroHighThreshold	uint8_t	(deg/s) IMU shock detection. Min angular rate difference between the 3 IMUs to detect the start of a shock.
imuShockDeltaGyroLowThreshold	uint8_t	(deg/s) IMU shock detection. Max angular rate difference between the 3 IMUs within the latch time to detect the end of a shock.
ioConfig2	uint8_t	Hardware interface configuration bits for GNSS2 PPS (see eIoConfig2).

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, persist across reboot, NMEA speed filtering, etc. (see RMC_OPTIONS_...)

DID_GPX_STATUS

gpx_status_t

Field	Type	Description
timeOfWeekMs	uint32_t	(ms) GPS time of week (since Sunday morning)
status	uint32_t	Status (see eGpxStatus)
grmcBitsSer0	uint64_t	GRMC message enable bits for serial port 0 (see GRMC_BITS_...)
grmcBitsSer1	uint64_t	GRMC message enable bits for serial port 1 (see GRMC_BITS_...)
grmcBitsSer2	uint64_t	GRMC message enable bits for serial port 2 (see GRMC_BITS_...)
grmcBitsUSB	uint64_t	GRMC message enable bits for USB (see GRMC_BITS_...)
grmcNMEABitsSer0	uint64_t	NMEA message enable bits for serial port 0 (see NMEA_MSG_ID...)
grmcNMEABitsSer1	uint64_t	NMEA message enable bits for serial port 1 (see NMEA_MSG_ID...)
grmcNMEABitsSer2	uint64_t	NMEA message enable bits for serial port 2 (see NMEA_MSG_ID...)
grmcNMEABitsUSB	uint64_t	NMEA message enable bits for USB (see NMEA_MSG_ID...)
hdwStatus	uint32_t	Hardware status flags (see eGPXHdwStatusFlags)
mcuTemp	float	(C) MCU temperature (GPX_INVALID_MCU_TEMP if not available)
navOutputPeriodMs	uint32_t	(ms) Navigation output period
flashCfgChecksum	uint32_t	Flash config checksum used with host SDK synchronization
rtkMode	uint32_t	RTK mode bits (see eRTKConfigBits)
gnssStatus	gpx_gnss_status_t[2]	Per-GNSS-receiver driver status (GNSS1, GNSS2)
gpxSourcePort	uint8_t	Port this status message was sourced from
upTime	double	(s) Time since system was started

Raw GPS Data

Raw GPS data is contained in the DID_GNSS1_RAW, DID_GNSS2_RAW, and DID_GNSS_BASE_RAW messages of type gnss_raw_t. The actual raw data is contained in the union member gnss_raw_t.data and should be interpreted based on the value of gnss_raw_t.dataType (i.e. as observation, ephemeris, SBAS, or base station position).

DID_GNSS1_RAW

GNSS 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.

gnss_raw_t

Field	Type	Description
receiverIndex	uint8_t	Source receiver: 1=RECEIVER_INDEX_GNSS1, 2=RECEIVER_INDEX_EXTERNAL_BASE, 3=RECEIVER_INDEX_GNSS2
dataType	uint8_t	Type of data in the data union (see eRawDataType): 1=observations, 2=ephemeris, 3=glonassEphemeris, 4=SBAS, 5=baseAntenna, 6=IonosphereModel
obsCount	uint8_t	Number of observations (obsd_t elements) present in data.obs when dataType==1 (raw_data_type_observation)
reserved	uint8_t	Reserved for alignment / future use
data	uGnssRawData	Raw data payload; interpret based on dataType (see eRawDataType)

DID_GNSS2_RAW

GNSS 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.

gnss_raw_t

Field	Type	Description
receiverIndex	uint8_t	Source receiver: 1=RECEIVER_INDEX_GNSS1, 2=RECEIVER_INDEX_EXTERNAL_BASE, 3=RECEIVER_INDEX_GNSS2
dataType	uint8_t	Type of data in the data union (see eRawDataType): 1=observations, 2=ephemeris, 3=glonassEphemeris, 4=SBAS, 5=baseAntenna, 6=IonosphereModel
obsCount	uint8_t	Number of observations (obsd_t elements) present in data.obs when dataType==1 (raw_data_type_observation)
reserved	uint8_t	Reserved for alignment / future use
data	uGnssRawData	Raw data payload; interpret based on dataType (see eRawDataType)

DID_GNSS_BASE_RAW

gnss_raw_t

Field	Type	Description
receiverIndex	uint8_t	Source receiver: 1=RECEIVER_INDEX_GNSS1, 2=RECEIVER_INDEX_EXTERNAL_BASE, 3=RECEIVER_INDEX_GNSS2
dataType	uint8_t	Type of data in the data union (see eRawDataType): 1=observations, 2=ephemeris, 3=glonassEphemeris, 4=SBAS, 5=baseAntenna, 6=IonosphereModel
obsCount	uint8_t	Number of observations (obsd_t elements) present in data.obs when dataType==1 (raw_data_type_observation)
reserved	uint8_t	Reserved for alignment / future use
data	uGnssRawData	Raw data payload; interpret based on dataType (see eRawDataType)

Raw GPS Data Buffer Union

uGnssRawData

Field	Type	Description
obs	obsd_t[]	Satellite observation data, valid when dataType == raw_data_type_observation
eph	eph_t	Satellite non-GLONASS ephemeris data (GPS, Galileo, Beidou, QZSS), valid when dataType == raw_data_type_ephemeris
gloEph	geph_t	Satellite GLONASS ephemeris data, valid when dataType == raw_data_type_glonass_ephemeris
sbas	sbsmsg_t	Satellite-Based Augmentation Systems (SBAS) data, valid when dataType == raw_data_type_sbas
sta	sta_t	Base station information (base position, antenna position, antenna height, etc.), valid when dataType == raw_data_type_base_station_antenna_position
ion	ion_model_utc_alm_t	Ionosphere model and UTC parameters, valid when dataType == raw_data_type_ionosphere_model_utc_alm
buf	uint8_t[1000]	Byte buffer providing untyped access to the same union storage

GPS Galileo QZSS Ephemeris

eph_t

Field	Type	Description
sat	int32_t	Satellite number in RTKLIB notation. GPS: 1-32, GLONASS: 33-59, Galileo: 60-89, SBAS: 90-95
iode	int32_t	IODE, Issue Of Data Ephemeris (ephemeris data-set version number)
iodc	int32_t	IODC, Issue Of Data Clock (clock data-set version number)
sva	int32_t	SV accuracy (URA index), see IS-GPS-200/IRN-IS-200H p.97
svh	int32_t	SV health for GPS/QZS (0 = ok)
week	int32_t	Ephemeris reference week number: GPS week for GPS/QZS, Galileo week (GST week) for GAL
code	int32_t	GPS/QZS: code on L2 (00 = invalid, 01 = P-code on, 11 = C/A-code on, 11 = invalid). GAL/CMP (BeiDou): data source indicator
flag	int32_t	GPS/QZS: L2 P-code data flag (nonzero indicates the NAV data stream is commanded OFF on the P-code of the L2 in-phase component). CMP (BeiDou): nav message type
toe	gtime_t	Time Of Ephemeris: ephemeris reference epoch (GPST)
toc	gtime_t	Clock data reference time (GPST), see IS-GPS-200 20.3.4.5
ttr	gtime_t	Transmission time of the message, T_trans (GPST)
A	double	Orbit semi-major axis (m)
e	double	Orbit eccentricity (dimensionless)
i0	double	Orbit inclination angle at reference time (rad)
OMG0	double	Longitude of ascending node of orbit plane at the 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, delta-n (rad/s)
OMGd	double	Rate of right ascension / longitude of ascending node, OMEGA-dot (rad/s)
idot	double	Rate of inclination angle, i-dot (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 in seconds within the week (s), the double-precision counterpart of toe above. toe is computed as eph->toe = gst2time(week, eph->toes); this value is the ephemeris expiration reference and is generally ~2 hours ahead of the current time
fit	double	Curve-fit interval (h) (0 = 4 hours, 1 = greater than 4 hours)
f0	double	SV clock bias, af0 (s)
f1	double	SV clock drift, af1 (s/s, dimensionless)
f2	double	SV clock drift rate, af2 (s/s^2)
tgd	double[4]	Group delay parameters. GPS/QZS: tgd[0] = TGD (IRN-IS-200H p.103). Galileo: tgd[0] = BGD E5a/E1, tgd[1] = BGD E5b/E1. BeiDou: tgd[0] = BGD1, tgd[1] = BGD2
Adot	double	Semi-major axis rate, A-dot, for CNAV messages; not used
ndot	double	First derivative of mean motion n (equivalently second derivative of mean anomaly M), n-dot, for CNAV messages (rad/s^2); not used

GLONASS Ephemeris

geph_t

Field	Type	Description
sat	int32_t	Satellite number in RTKLIB notation. GPS: 1-32, GLONASS: 33-59, Galileo: 60-89, SBAS: 90-95
iode	int32_t	IODE, derived from bits 0-6 of the tb (time interval index) field
frq	int32_t	Satellite frequency channel number (GLONASS FDMA slot, -7..+13)
svh	int32_t	Satellite health flag
sva	int32_t	Satellite accuracy (URA-like indicator)
age	int32_t	Satellite age of operation (days)
toe	gtime_t	Ephemeris reference epoch within the week, GPS time system (GPST)
tof	gtime_t	Message frame transmission time, GPS time system (GPST)
pos	double[3]	Satellite position at toe (ECEF) (m)
vel	double[3]	Satellite velocity at toe (ECEF) (m/s)
acc	double[3]	Satellite (luni-solar) acceleration at toe (ECEF) (m/s^2)
taun	double	SV clock bias, -tau_n (s)
gamn	double	Relative frequency bias, gamma_n (dimensionless, s/s)
dtaun	double	Time delay between the L1 and L2 signal transmissions (s)

SBAS

sbsmsg_t

Field	Type	Description
week	int32_t	GPS week number of message reception
tow	int32_t	Time of week of message reception (s)
prn	int32_t	SBAS satellite PRN number
msg	uint8_t[29]	Raw SBAS message payload (226 bits), zero-padded to 29 bytes
reserved	uint8_t[3]	Reserved/unused (padding for alignment)

Station Parameters

sta_t

Field	Type	Description
deltype	int32_t	Antenna delta (offset) type: 0 = e/n/u (east/north/up), 1 = x/y/z (ECEF)
pos	double[3]	Station reference position (ECEF) (m)
del	double[3]	Antenna position delta from the station reference position, interpreted per deltype: e/n/u or x/y/z (m)
hgt	double	Antenna height above the marker/reference point (m)
stationId	int32_t	Station identifier (e.g. RTCM/RINEX station ID)

Satellite Observation

obs_t

Field	Type	Description
n	uint32_t	Number of observation slots currently used (valid entries in data[])
nmax	uint32_t	Number of observation slots allocated in data[]
data	obsd_t	Pointer to the observation data buffer, an array of obsd_t records

Satellite information

gnss_sat_sv_t

Field	Type	Description
gnssId	uint8_t	GNSS constellation identifier (see eSatSvGnssId)
svId	uint8_t	Satellite identifier (PRN/slot number, meaning depends on gnssId)
elev	int8_t	Elevation, in degrees (range: ±90)
azim	int16_t	Azimuth, in degrees (range: ±180)
cno	uint8_t	Carrier to noise ratio (signal strength), in dBHz
status	uint16_t	Satellite status bitflags (see eSatSvStatus)

Inertial Measurement Unit (IMU)

imui_t

Field	Type	Description
pqr	float[3]	Gyroscope P, Q, R (angular rate about body X, Y, Z) in radians/second
acc	float[3]	Acceleration X, Y, Z in meters/second^2, in body frame

Configuration

DID_FLASH_CONFIG

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. 0xFFFFFFFF is invalid.
key	uint32_t	Manufacturer method for restoring flash defaults
startupImuDtMs	uint32_t	(ms) IMU sample (system input) period set on startup. Cannot be larger than startupNavDtMs. Zero disables sensor/IMU sampling.
startupNavDtMs	uint32_t	(ms) Navigation filter (system output) output period set on startup. Used to initialize sysParams.navOutputPeriodMs.
ser0BaudRate	uint32_t	(bps) Serial port 0 baud rate
ser1BaudRate	uint32_t	(bps) Serial port 1 baud rate
insRotation	float[3]	(rad) Rotation about the X,Y,Z axes from Sensor Frame to Intermediate Output Frame. Order applied: Z,Y,X.
insOffset	float[3]	(m) X,Y,Z offset from Intermediate Output Frame to INS Output Frame.
gnss1AntOffset	float[3]	(m) X,Y,Z offset in Sensor Frame to GNSS 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 GNSS 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]	(deg, deg, m) Reference latitude, longitude and height above ellipsoid for north east down (NED) calculations
lastLla	double[3]	(deg, deg, m) Last latitude, longitude, HAE (height above ellipsoid) used to aid GNSS startup. Updated when the distance between current LLA and lastLla exceeds lastLlaUpdateDistance.
lastLlaTimeOfWeekMs	uint32_t	(ms) Last LLA GPS time since week start (Sunday morning)
lastLlaWeek	uint32_t	Last LLA GPS number of weeks since January 6th, 1980
lastLlaUpdateDistance	float	(m) 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 GNSS and I/O configuration process. Bit PLATFORM_CFG_UPDATE_IO_CONFIG is excluded from the flashConfig checksum and from determining whether to upload.
gnss2AntOffset	float[3]	(m) X,Y,Z offset in Sensor Frame origin to GNSS 2 antenna.
zeroVelRotation	float[3]	(rad) Euler (roll, pitch, yaw) rotation from INS Sensor Frame to Intermediate ZeroVelocity Frame. Order applied: heading, pitch, roll.
zeroVelOffset	float[3]	(m) X,Y,Z offset from Intermediate ZeroVelocity Frame to Zero Velocity Frame.
gnssTimeUserDelay	float	(sec) User defined delay for GPS time. This parameter can be used to account for GNSS antenna cable delay.
magDeclination	float	(rad) Earth magnetic field (magnetic north) declination (heading offset from true north)
gnssTimeSyncPeriodMs	uint32_t	(ms) Time between GPS time synchronization pulses. Requires reboot to take effect.
startupGnssDtMs	uint32_t	(ms) GNSS measurement (system input) update period 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)
gnssMinimumElevation	float	(rad) Minimum elevation of a satellite above the horizon to be used in the solution. Low elevation satellites may provide degraded accuracy, due to the long signal path through the atmosphere.
ser2BaudRate	uint32_t	(bps) Serial port 2 baud rate
wheelConfig	wheel_config_t	Wheel encoder: euler angles describing the rotation from imu to left wheel, plus track width/radius and config bits (see eWheelCfgBits)
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.
imuRejectThreshGyroLow	uint8_t	IMU gyro fault rejection threshold low
imuRejectThreshGyroHigh	uint8_t	IMU gyro fault rejection threshold high
imuShockDetectLatencyMs	uint8_t	(ms) IMU shock detection latency. Time used for EKF rewind to prevent shock from influencing EKF estimates.
imuShockRejectLatchMs	uint8_t	(ms) IMU shock rejection latch time. Time required following detected shock end to disable shock rejection.
imuShockOptions	uint8_t	IMU shock rejection options (see eImuShockOptions)
imuShockDeltaAccHighThreshold	uint8_t	(m/s^2) IMU shock detection. Min acceleration difference between the 3 IMUs to detect the start of a shock.
imuShockDeltaAccLowThreshold	uint8_t	(m/s^2) IMU shock detection. Max acceleration difference between the 3 IMUs within the latch time to detect the end of a shock.
imuShockDeltaGyroHighThreshold	uint8_t	(deg/s) IMU shock detection. Min angular rate difference between the 3 IMUs to detect the start of a shock.
imuShockDeltaGyroLowThreshold	uint8_t	(deg/s) IMU shock detection. Max angular rate difference between the 3 IMUs within the latch time to detect the end of a shock.
ioConfig2	uint8_t	Hardware interface configuration bits for GNSS2 PPS (see eIoConfig2).

DID_NMEA_BCAST_PERIOD

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

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, persist across reboot, NMEA speed filtering, etc. (see RMC_OPTIONS_...)

Command

DID_SYS_CMD

is the bitwise inverse of command and must be sent in the same write for the command to be processed.

system_command_t

Field	Type	Description
command	uint32_t	System command (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]	Reserved for 32-bit alignment
cbf	uint32_t[EVB2_PORT_COUNT]	Communications bridge forwarding, indexed by eEvb2CommPorts
cbOptions	uint32_t	Communications bridge options (see eEvb2ComBridgeOptions)
bits	uint32_t	Config bits (see eEvbFlashCfgBits)
radioPID	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.
radioNID	uint32_t	Radio network ID (NID), 0x0 to 0x7FFF. Only radios with matching NID can communicate together. Checked after the preamble ID.
radioPowerLevel	uint32_t	Radio transmitter output power level (XBee PRO SX 0=20dBm, 1=27dBm, 2=30dBm)
wifi	evb_wifi_t[3]	WiFi SSID and PSK presets
server	evb_server_t[3]	Server IP and port presets
encoderTickToWheelRad	float	(rad) Encoder tick to wheel rotation conversion factor. Encoder tick count per revolution on 1 channel x gear ratio x 2pi.
CANbaud_kbps	uint32_t	(kbps) CAN baudrate
can_receive_address	uint32_t	CAN receive address
uinsComPort	uint8_t	EVB port for uINS communications and SD card logging. 0=uINS-Ser0 (default), 1=uINS-Ser1, SP330=5, 6=GPIO_H8 (use eEvb2CommPorts)
uinsAuxPort	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)
reserved2	uint8_t[2]	Reserved to ensure 32-bit alignment
portOptions	uint32_t	Enable radio RTK filtering, etc. (see eEvb2PortOptions)
h3sp330BaudRate	uint32_t	(bps) Baud rate for EVB serial port H3 (SP330 RS233 and RS485/422)
h4xRadioBaudRate	uint32_t	(bps) Baud rate for EVB serial port H4 (TTL to external radio)
h8gpioBaudRate	uint32_t	(bps) Baud rate for EVB serial port H8 (TTL)
wheelCfgBits	uint32_t	Wheel encoder configuration (see eWheelCfgBits)
velocityControlPeriodMs	uint32_t	(ms) Wheel update period. Sets the wheel encoder and control update period.

DID_EVB_STATUS

evb_status_t

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

General

DID_BIT

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	(rad/s) Gyro bias residual from temperature calibration
tcAccBias	float	(m/s^2) Accelerometer bias residual from temperature calibration
tcPqrSlope	float	(rad/s per deg C) Gyro temperature-compensation slope error
tcAccSlope	float	(m/s^2 per deg C) Accelerometer temperature-compensation slope error
tcPqrLinearity	float	(rad/s) Gyro temperature-compensation curve-fit linearity error
tcAccLinearity	float	(m/s^2) Accelerometer temperature-compensation curve-fit linearity error
pqr	float	(rad/s) Gyro angular rate error measured during BIT
acc	float	(m/s^2) Accelerometer error measured during BIT
pqrSigma	float	(rad/s) Standard deviation of the gyro angular rate error, over the BIT sample window
accSigma	float	(m/s^2) Standard deviation of the accelerometer error, over the BIT sample window
testMode	uint8_t	Self-test/fault-simulation mode (see eBitTestMode)
testVar	uint8_t	Self-test mode bi-directional variable used with testMode
detectedHardwareId	uint16_t	Detected hardware type (see "Product Hardware ID"), used to ensure correct firmware is used

DID_CANFD_CONFIG

CAN FD configuration: FD message broadcast rates, transmit addresses, and baud rate. Shares the same data structure as DID_CAN_CONFIG.

can_config_t

Field	Type	Description
can_period_mult	uint16_t[]	Broadcast period multiple for each CAN message. 0 disables the message. Indices 0..NUM_CIDS-1 correspond to classic can_cid_t values. In CAN-FD mode the same array is reused: indices 0..NUM_FDCIDS-1 correspond to canfd_cid_t values (FDCID_INS_1=0, FDCID_INS_2=1, …). NUM_FDCIDS < NUM_CIDS so there is no overlap.
can_transmit_address	uint32_t[]	Transmit address for each CAN message. Indices 0..NUM_CIDS-1 correspond to classic can_cid_t values. In CAN-FD mode indices 0..NUM_FDCIDS-1 correspond to canfd_cid_t values and are validated / defaulted by CAN_init() when FD is enabled.
can_setting	uint16_t	Baud rate (kbps) (See can_baudrate_t for valid baud rates). Bit 15 (CAN_BAUDRATE_KBPS_FD_ENABLE) enables CAN-FD on capable hardware.
can_receive_address	uint32_t	Receive address

DID_CAN_CONFIG

Addresses for CAN messages

can_config_t

Field	Type	Description
can_period_mult	uint16_t[]	Broadcast period multiple for each CAN message. 0 disables the message. Indices 0..NUM_CIDS-1 correspond to classic can_cid_t values. In CAN-FD mode the same array is reused: indices 0..NUM_FDCIDS-1 correspond to canfd_cid_t values (FDCID_INS_1=0, FDCID_INS_2=1, …). NUM_FDCIDS < NUM_CIDS so there is no overlap.
can_transmit_address	uint32_t[]	Transmit address for each CAN message. Indices 0..NUM_CIDS-1 correspond to classic can_cid_t values. In CAN-FD mode indices 0..NUM_FDCIDS-1 correspond to canfd_cid_t values and are validated / defaulted by CAN_init() when FD is enabled.
can_setting	uint16_t	Baud rate (kbps) (See can_baudrate_t for valid baud rates). Bit 15 (CAN_BAUDRATE_KBPS_FD_ENABLE) enables CAN-FD on capable hardware.
can_receive_address	uint32_t	Receive address

DID_DEV_INFO

dev_info_t

Field	Type	Description
reserved	uint8_t	Reserved bits
buildFlags	uint8_t	Build flags: 0x1=debug mode, 0x2=dirty (see eBuildFlags)
hardwareType	uint8_t	Hardware Type: 1=uINS, 2=EVB, 3=IMX, 4=GPX (see eIsHardwareType)
hdwRunState	uint8_t	Device Run State: Bootloader, App, etc (see eHdwRunStates)
serialNumber	uint32_t	Serial number
hardwareVer	uint8_t[3]	Hardware version: [0]=major, [1]=minor, [2]=pcb/a revision
hardwareVariant	uint8_t	Hardware variant; an arbitrary number independent of version that identifies some variation of the hardware; most commonly, IMU population type on IMX-6 (see eImx6ImuPopulationType)
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 (0=production, 'c'=release candidate, 'b'=beta, 'a'=alpha, 'd'=developer, 's'=snapshot, '^'=dirty)
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

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, in bytes
message	char[256]	Message data (null-terminated string); max size of message is 256 bytes

DID_EVB_DEBUG_ARRAY

debug_array_t

Field	Type	Description
i	int32_t[9]	Debug integer values, meaning defined by current firmware debug build
f	float[9]	Debug float values, meaning defined by current firmware debug build
lf	double[3]	Debug double (long float) values, meaning defined by current firmware debug build

DID_EVB_DEV_INFO

EVB device information

dev_info_t

Field	Type	Description
reserved	uint8_t	Reserved bits
buildFlags	uint8_t	Build flags: 0x1=debug mode, 0x2=dirty (see eBuildFlags)
hardwareType	uint8_t	Hardware Type: 1=uINS, 2=EVB, 3=IMX, 4=GPX (see eIsHardwareType)
hdwRunState	uint8_t	Device Run State: Bootloader, App, etc (see eHdwRunStates)
serialNumber	uint32_t	Serial number
hardwareVer	uint8_t[3]	Hardware version: [0]=major, [1]=minor, [2]=pcb/a revision
hardwareVariant	uint8_t	Hardware variant; an arbitrary number independent of version that identifies some variation of the hardware; most commonly, IMU population type on IMX-6 (see eImx6ImuPopulationType)
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 (0=production, 'c'=release candidate, 'b'=beta, 'a'=alpha, 'd'=developer, 's'=snapshot, '^'=dirty)
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

DID_EVB_RTOS_INFO

sizes the task[] array and is not itself a task ID.

evb_rtos_info_t

Field	Type	Description
freeHeapSize	uint32_t	Heap high water mark, in free bytes remaining (lowest historical value)
mallocSize	uint32_t	Total memory allocated using RTOS pvPortMalloc(), in bytes
freeSize	uint32_t	Total memory freed using RTOS vPortFree(), in bytes
task	rtos_task_t[]	Per-task status/profiling info, indexed by eEvbRtosTask

DID_EVENT

did_event_t

Field	Type	Description
time	double	Time (uptime in seconds)
senderSN	uint32_t	Serial number of the device that generated this event
senderHdwId	uint16_t	Hardware type of the sender: 0=Host, 1=uINS, 2=EVB, 3=IMX, 4=GPX (see "Product Hardware ID")
priority	int8_t	Event priority/severity (see eEventPriority)
res8	uint8_t	Reserved for byte alignment
msgTypeID	uint16_t	Type/format of the payload in data[] (see eEventMsgTypeID)
length	uint16_t	Number of valid payload bytes in data[]
data	uint8_t[1]	Variable-length payload, length bytes; interpretation depends on msgTypeID

DID_EVENT_HEADER_SIZE

did_event_t

Field	Type	Description
time	double	Time (uptime in seconds)
senderSN	uint32_t	Serial number of the device that generated this event
senderHdwId	uint16_t	Hardware type of the sender: 0=Host, 1=uINS, 2=EVB, 3=IMX, 4=GPX (see "Product Hardware ID")
priority	int8_t	Event priority/severity (see eEventPriority)
res8	uint8_t	Reserved for byte alignment
msgTypeID	uint16_t	Type/format of the payload in data[] (see eEventMsgTypeID)
length	uint16_t	Number of valid payload bytes in data[]
data	uint8_t[1]	Variable-length payload, length bytes; interpretation depends on msgTypeID

DID_EXT_AIDING_ATTITUDE

ext_aiding_attitude_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	Attitude representation, 1=euler, 2=quaternion (see eExtAidingAttitudeType)
att	float[4]	attitude, interpreted per status: euler {roll,pitch,yaw,-} or quaternion {w,x,y,z}
var	float[9]	3x3 row-major attitude-error covariance (rad^2), in the roll/pitch/yaw tangent space. Must have a non-zero diagonal or the observation is discarded.

DID_EXT_AIDING_DIR_SPEED

ext_aiding_dir_speed_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	reserved, set to 0
speed	float	speed along direction (m/s)
var	float	observation variance (m2/s2). Must be non-zero or the observation is discarded.
offset	float[3]	point of measurement relative to IMU origin in IMU/body frame {x,y,z} (m)
direction	float[3]	unit vector, in IMU/body frame, along which speed is measured (e.g. [1,0,0] for forward-pointing airspeed)

DID_EXT_AIDING_HEADING

ext_aiding_heading_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	Heading type, 1=true, 2=magnetic, 3=course over ground (see eExtAidingHeadingType)
heading	float	heading (rad), 0 = north, positive clockwise, range [-pi, pi]
var	float	observation variance (rad^2). Must be non-zero or the observation is discarded.

DID_EXT_AIDING_POS

ext_aiding_pos_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	Frame of measurement, 1=ECEF, 2=NED (see eExtAidingFrame)
pos	double[3]	position {x,y,z} (m)
offset	float[3]	point of measurement relative to IMU origin in IMU/body frame {x,y,z} (m)
var	float[3]	observation variance, per axis, in NED (m^2). Must be non-zero or the observation is discarded.

DID_EXT_AIDING_SPEED

ext_aiding_speed_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	Speed type, 1=3D magnitude, 2=horizontal magnitude (see eExtAidingSpeedType)
speed	float	speed (m/s)
var	float	observation variance (m2/s2). Must be non-zero or the observation is discarded.
offset	float[3]	point of measurement relative to IMU origin in IMU/body frame {x,y,z} (m)

DID_EXT_AIDING_VEL

ext_aiding_vel_t

Field	Type	Description
timeOfWeekMs	uint32_t	GPS time of week (since Sunday morning) in milliseconds
status	uint32_t	Frame of measurement, 1=ECEF, 2=NED, 3=Body (see eExtAidingFrame)
vel	float[3]	velocity {vx,vy,vz} (m/s)
offset	float[3]	point of measurement relative to IMU origin in IMU/body frame {x,y,z} (m)
var	float[3]	observation variance, per axis, in NED (m2/s2). Must be non-zero or the observation is discarded.

DID_EXT_IMU

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 flags (eImuStatus)
I	imui_t	Combined Inertial Measurement Unit (IMU) sample: angular rate and acceleration

DID_GNSS1_SIG

gnss_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 satellite signal list (valid entries in sig[] below)
sig	gnss_sig_sv_t[160]	Per-signal tracking information list

DID_GNSS1_TIMESYNC

GNSS1 PPS time synchronization.

gnss_timepulse_t

Field	Type	Description
towOffset	double	Week seconds offset from MCU to GPS time, in seconds
towGps	double	Week seconds for next timepulse (from start of GPS week), in seconds
timeMcu	double	Local MCU week seconds, in seconds
msgTimeMs	uint32_t	Local timestamp of TIM-TP message used to validate timepulse, in milliseconds
plsTimeMs	uint32_t	Local timestamp of time sync pulse external interrupt used to validate timepulse, in milliseconds
syncCount	uint8_t	Counter for successful timesync events
badPulseAgeCount	uint8_t	Counter for failed timesync events
ppsInterruptReinitCount	uint8_t	Counter for GNSS PPS interrupt re-initialization
plsCount	uint8_t	Counter of GNSS PPS via GPIO, not interrupt
lastSyncTimeMs	uint32_t	Local timestamp of last valid PPS sync, in milliseconds
sinceLastSyncTimeMs	uint32_t	Time since last valid PPS sync, in milliseconds

DID_GNSS2_SIG

GNSS 2 signal information.

gnss_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 satellite signal list (valid entries in sig[] below)
sig	gnss_sig_sv_t[160]	Per-signal tracking information list

DID_GNSS2_TIMESYNC

GNSS2 PPS time synchronization.

gnss_timepulse_t

Field	Type	Description
towOffset	double	Week seconds offset from MCU to GPS time, in seconds
towGps	double	Week seconds for next timepulse (from start of GPS week), in seconds
timeMcu	double	Local MCU week seconds, in seconds
msgTimeMs	uint32_t	Local timestamp of TIM-TP message used to validate timepulse, in milliseconds
plsTimeMs	uint32_t	Local timestamp of time sync pulse external interrupt used to validate timepulse, in milliseconds
syncCount	uint8_t	Counter for successful timesync events
badPulseAgeCount	uint8_t	Counter for failed timesync events
ppsInterruptReinitCount	uint8_t	Counter for GNSS PPS interrupt re-initialization
plsCount	uint8_t	Counter of GNSS PPS via GPIO, not interrupt
lastSyncTimeMs	uint32_t	Local timestamp of last valid PPS sync, in milliseconds
sinceLastSyncTimeMs	uint32_t	Time since last valid PPS sync, in milliseconds

DID_GPX_BIT

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

debug_array_t

Field	Type	Description
i	int32_t[9]	Debug integer values, meaning defined by current firmware debug build
f	float[9]	Debug float values, meaning defined by current firmware debug build
lf	double[3]	Debug double (long float) values, meaning defined by current firmware debug build

DID_GPX_PORT_MONITOR

Data rate and status monitoring for each communications port.

port_monitor_t

Field	Type	Description
port	port_stats_t[6]	Per-port data rate and status statistics, one entry per communications port (see port_stats_t)
activePorts	uint8_t	Number of ports in the port[] array. FIXME: This should be moved to BEFORE the port definition, so on the receiving end, we know how many ports to expect.

DID_GPX_RTOS_INFO

gpx_rtos_info_t

Field	Type	Description
freeHeapSize	uint32_t	Heap high water mark, in free bytes remaining (lowest historical value)
mallocSize	uint32_t	Total memory allocated using RTOS pvPortMalloc(), in bytes
freeSize	uint32_t	Total memory freed using RTOS vPortFree(), in bytes
task	rtos_task_t[]	Per-task status/profiling info, indexed by eGpxRtosTask

DID_GPX_SYS_FAULT

System fault information. This is broadcast automatically every 10s if a critical fault is detected.

system_fault_t

Field	Type	Description
upTime	uint32_t	Time of fault, uptime in milliseconds
status	uint32_t	System fault status (see eSysFaultStatus)
fileNum	uint32_t	File number (source file identifier) where the fault occurred
lineNum	uint32_t	Line number within the file where the fault occurred
haltReason	uint32_t	Zephyr halt reason code
lr	uint32_t	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
taskALastFeed	uint32_t	Milliseconds since task A last ran
taskBLastFeed	uint32_t	Milliseconds since task B last ran
wdtLastFeed	uint32_t	Milliseconds since the watchdog timer was last fed
var0	uint32_t	Multi-purpose register 0, fault-specific diagnostic value
var1	uint32_t	Multi-purpose register 1, fault-specific diagnostic value
var2	uint32_t	Multi-purpose register 2, fault-specific diagnostic value
var3	uint32_t	Multi-purpose register 3, fault-specific diagnostic value

DID_GROUND_VEHICLE

ground_vehicle_t

Field	Type	Description
timeOfWeekMs	uint32_t	(ms) GPS time of week (since Sunday morning)
status	uint32_t	Ground vehicle status flags (see 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_IMUS_UNCAL

imus_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	IMUs status flags (eImusStatus)
I	imui_t[1]	Per-device Inertial Measurement Unit (IMU) samples: angular rate and acceleration

DID_IMU_MAG

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 flags (eImuStatus)
I	imui_t	Combined Inertial Measurement Unit (IMU) sample: angular rate and acceleration

DID_INFIELD_CAL

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	(ms) Number of samples used in IMU average. sampleTimeMs = 0 means "imu" member contains the IMU bias from flash.
imu	imui_t[1]	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	(ms) GPS time of week
Ncal_samples	uint32_t	Number of calibration samples collected
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 detected/rejected
magHdg	float	(rad) Heading from magnetometer
insHdg	float	(rad) Heading from INS
magInsHdgDelta	float	(rad) Difference between mag heading and (INS heading plus mag declination)
nis	float	Normalized innovation squared (likelihood metric) of the current mag heading update
nis_threshold	float	Threshold for maximum NIS, above which the mag update is rejected as an outlier
Wcal	float[9]	Magnetometer calibration matrix (row-major 3x3). Must be initialized with a unit matrix, not zeros!
activeCalSet	uint32_t	Active calibration set (0 or 1)
magHdgOffset	float	(rad) Offset between magnetometer heading and estimated heading
Tcal	float	Scaled computed variance between calibrated magnetometer samples
bias_cal	float[3]	(uT) Magnetometer calibration bias. Calibrated magnetometer output can be produced using: Bcal = Wcal * (Braw - bias_cal)

DID_INL2_NED_SIGMA

inl2_ned_sigma_t

Field	Type	Description
timeOfWeekMs	unsigned	(ms) GPS time of week (since Sunday morning)
StdPosNed	float[3]	(m) NED position error sigma
StdVelNed	float[3]	(m/s) NED velocity error sigma
StdAttNed	float[3]	(rad) NED attitude error sigma
StdAccBias	float[3]	(m/s^2) Acceleration bias error sigma
StdGyrBias	float[3]	(rad/s) Angular rate bias error sigma
StdBarBias	float	(m) Barometric altitude bias error sigma
StdMagDeclination	float	(rad) Mag declination error sigma

DID_INL2_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: W, X, Y, Z
ve	float[3]	Velocity in ECEF frame, in meters/second
ecef	double[3]	Position in ECEF frame, in meters
biasPqr	float[3]	Gyro bias estimate, in radians/second
biasAcc	float[3]	Accelerometer bias estimate, in meters/second^2
biasBaro	float	Barometer bias estimate (altitude), in meters
magDec	float	Magnetic declination estimate, in radians
magInc	float	Magnetic inclination estimate, in radians

DID_INL2_STATUS

inl2_status_t

Field	Type	Description
ahrs	int	Non-zero while the filter is running in AHRS-only mode (prior to full INS/GNSS navigation)
zero_accel	int	Non-zero when zero-acceleration condition is detected
zero_angrate	int	Non-zero when zero-angular-rate condition is detected
accel_motion	int	Non-zero when accelerometer-sensed motion is detected
rot_motion	int	Non-zero when rotational motion is detected
zero_vel	int	Non-zero when zero-velocity condition is detected
ahrs_gnss_cnt	int	Counter of sequential valid GNSS data (for switching from AHRS to navigation)
hdg_err	float	Estimated heading error, in radians
hdg_coarse	int	Flag whether a coarse (uncertain) initial heading has been established
hdg_aligned	int	Flag whether initial attitude error has converged (heading alignment complete)
hdg_aligning	int	Flag whether heading alignment is currently in progress
ekf_init_done	int	Hot EKF initialization completed
mag_cal_good	int	Flag whether the magnetometer calibration is good
mag_cal_done	int	Flag whether the magnetometer calibration process has completed
stat_magfield	int	Flag whether the magnetic field is stationary/consistent (suitable for mag calibration)

DID_MANUFACTURING_INFO

manufacturing_info_t

Field	Type	Description
serialNumber	uint32_t	Inertial Sense serial number
hardwareId	uint16_t	Hardware ID: packed identifier, encoding the Hardware Type, hardwareVer Major, and hardwareVer Minor (see ENCODE_HDW_ID/DECODE_HDW_TYPE macros)
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	Reserved
uid	uint32_t[4]	Microcontroller unique identifier, 128 bits for SAM / 96 for STM32

DID_PIMU_MAG

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	Integration period in seconds for delta theta and delta velocity. Configured using DID_FLASH_CONFIG.startupNavDtMs
status	uint32_t	IMU status flags (eImuStatus)
theta	float[3]	IMU delta theta: gyroscope {p,q,r} integral over dt, in radians, in sensor/body frame
vel	float[3]	IMU delta velocity: accelerometer {x,y,z} integral over dt, in meters/second, in sensor/body frame

DID_PORT_MONITOR

port_monitor_t

Field	Type	Description
port	port_stats_t[6]	Per-port data rate and status statistics, one entry per communications port (see port_stats_t)
activePorts	uint8_t	Number of ports in the port[] array. FIXME: This should be moved to BEFORE the port definition, so on the receiving end, we know how many ports to expect.

DID_POSITION_MEASUREMENT

pos_measurement_t

Field	Type	Description
timeOfWeek	double	GPS time of week (since Sunday morning), s
ecef	double[3]	Position in ECEF (earth-centered earth-fixed) frame, m
psi	float	Heading with respect to NED frame, rad
accuracyCovUD	float[6]	Upper Diagonal of the 3x3 position accuracy covariance matrix (indices: [0 1 2 / _ 3 4 / _ _ 5])

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 flags (eImuStatus)
I	imui_t	Combined Inertial Measurement Unit (IMU) sample: angular rate and acceleration

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]	Magnetometer X, Y, Z in microtesla (uT), in body frame

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	Integration period in seconds for delta theta and delta velocity. Configured using DID_FLASH_CONFIG.startupNavDtMs
status	uint32_t	IMU status flags (eImuStatus)
theta	float[3]	IMU delta theta: gyroscope {p,q,r} integral over dt, in radians, in sensor/body frame
vel	float[3]	IMU delta velocity: accelerometer {x,y,z} integral over dt, in meters/second, in sensor/body frame

DID_ROS_COVARIANCE_POSE_TWIST

INL2 EKF 6x6 covariance matrices packed in arrays containing their elements on main diagonal and below

ros_covariance_pose_twist_t

Field	Type	Description
timeOfWeek	double	GPS time of week (since Sunday morning), in seconds
covPoseLD	float[21]	Lower-diagonal pose covariance (attitude rad^2, position m^2); see index layout above
covTwistLD	float[21]	Lower-diagonal twist covariance (velocity (m/s)^2, angular rate (rad/s)^2); see index layout above

DID_RTOS_INFO

rtos_info_t

Field	Type	Description
freeHeapSize	uint32_t	Heap high water mark, in free bytes remaining (lowest historical value)
mallocSize	uint32_t	Total memory allocated using RTOS pvPortMalloc(), in bytes
freeSize	uint32_t	Total memory freed using RTOS vPortFree(), in bytes
task	rtos_task_t[]	Per-task status/profiling info, indexed by eImxRtosTask

DID_RUNTIME_PROFILER

System runtime profiler

runtime_profiler_t

Field	Type	Description
p	runtime_profile_t[4]	Timing statistics for each profiled code section, RUNTIME_PROFILE_COUNT entries

DID_SCOMP

sensor_compensation_v1p4_t

Field	Type	Description
timeMs	uint32_t	Time since boot up, in milliseconds
pqr	sensor_comp_unit_t[NUM_IMU_DEVICES_V1P4]	Per-IMU gyro temperature-compensation state
acc	sensor_comp_unit_t[NUM_IMU_DEVICES_V1P4]	Per-IMU accelerometer temperature-compensation state
mag	sensor_comp_unit_t[NUM_MAG_DEVICES_V1P4]	Per-magnetometer temperature-compensation state
referenceImu	imui_t	Reference/truth IMU sample used during calibration
referenceMag	float[3]	(uT) Reference/truth magnetometer sample used during calibration
sampleCount	uint32_t	Number of samples collected for the current calibration state
calState	uint32_t	Current calibration state/step
status	uint32_t	Calibration status flags
alignAccel	float[3]	(m/s^2) Accelerometer reading used for alignment/leveling during calibration

DID_SENSORS_ADC

sys_sensors_adc_t

Field	Type	Description
time	double	Time since boot up in seconds
imu	sensors_imu_w_temp_t[1]	Per-device raw IMU (gyro/accel) + temperature samples
mag	sensors_mag_t[1]	Magnetometers
bar	float	Barometric pressure
barTemp	float	(°C) Temperature of barometric pressure sensor
humidity	float	Relative humidity as a percent (%rH). Range is 0% - 100%
ana	float[4]	ADC analog input

DID_SENSORS_ADC_SIGMA

sys_sensors_adc_t

Field	Type	Description
time	double	Time since boot up in seconds
imu	sensors_imu_w_temp_t[1]	Per-device raw IMU (gyro/accel) + temperature samples
mag	sensors_mag_t[1]	Magnetometers
bar	float	Barometric pressure
barTemp	float	(°C) Temperature of barometric pressure sensor
humidity	float	Relative humidity as a percent (%rH). Range is 0% - 100%
ana	float[4]	ADC analog input

DID_SENSORS_MCAL

Temperature compensated and motion calibrated IMU output.

sensors_w_temp_t

Field	Type	Description
imus	imus_t	Per-device gyro/accelerometer samples (see imus_t)
temp	float[1]	(°C) Temperature of IMU. Units only apply for calibrated data.
mag	mag_xyz_t[1]	(uT) Magnetometers. Units only apply for calibrated data.

DID_SENSORS_TCAL

Temperature compensated IMU output.

sensors_w_temp_t

Field	Type	Description
imus	imus_t	Per-device gyro/accelerometer samples (see imus_t)
temp	float[1]	(°C) Temperature of IMU. Units only apply for calibrated data.
mag	mag_xyz_t[1]	(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. Units only apply for calibrated data.
mpu	sensors_mpu_t[1]	Per-device combined IMU + magnetometer sample

DID_SENSORS_UCAL

Uncalibrated IMU output.

sensors_w_temp_t

Field	Type	Description
imus	imus_t	Per-device gyro/accelerometer samples (see imus_t)
temp	float[1]	(°C) Temperature of IMU. Units only apply for calibrated data.
mag	mag_xyz_t[1]	(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 6th, 1980
timeOfWeekMs	uint32_t	(ms) GPS time of week (since Sunday morning)
pin	uint16_t	Strobe input pin (i.e. G1, G2, G5, G9, G11, G12, G13, G15)
count	uint16_t	Strobe serial index number, incremented once per detected strobe edge

DID_SURVEY_IN

survey_in_t

Field	Type	Description
state	uint32_t	State of current survey (see eSurveyInStatus)
maxDurationSec	uint32_t	Maximum duration the survey will run, in seconds, if minAccuracy is not first achieved (ignored if 0)
minAccuracy	float	Required horizontal accuracy for the survey to complete before maxDurationSec elapses, in meters (ignored if 0)
elapsedTimeSec	uint32_t	Elapsed time of the survey, in seconds
hAccuracy	float	Approximate horizontal accuracy of the survey's current position estimate, in meters
lla	double[3]	Current surveyed position: latitude, longitude, altitude (deg, deg, m)

DID_SYS_FAULT

instead encode a single small integer value (1-7) at SYS_FAULT_STATUS_CRITICAL_ERROR_pos identifying the specific critical fault that caused a reset, since only one critical fault can be active/reported at a time.

system_fault_t

Field	Type	Description
upTime	uint32_t	Time of fault, uptime in milliseconds
status	uint32_t	System fault status (see eSysFaultStatus)
fileNum	uint32_t	File number (source file identifier) where the fault occurred
lineNum	uint32_t	Line number within the file where the fault occurred
haltReason	uint32_t	Zephyr halt reason code
lr	uint32_t	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
taskALastFeed	uint32_t	Milliseconds since task A last ran
taskBLastFeed	uint32_t	Milliseconds since task B last ran
wdtLastFeed	uint32_t	Milliseconds since the watchdog timer was last fed
var0	uint32_t	Multi-purpose register 0, fault-specific diagnostic value
var1	uint32_t	Multi-purpose register 1, fault-specific diagnostic value
var2	uint32_t	Multi-purpose register 2, fault-specific diagnostic value
var3	uint32_t	Multi-purpose register 3, fault-specific diagnostic value

DID_SYS_PARAMS

sys_params_t

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

DID_TIME_PULSE

is_time_t

Field	Type	Description
week	uint32_t	GPS number of weeks since January 6th, 1980
timeOfWeekMs	uint32_t	(ms) GPS time of week (since Sunday morning) of the timepulse event
status	uint32_t	Timepulse status flags
syncCnt	uint32_t	Count of timepulse sync events since power-on
reserved	uint32_t[4]	Reserved for future use

DID_WHEEL_ENCODER

wheel_encoder_t

Field	Type	Description
timeOfWeek	double	(s) (Do not use, internal development only) Time of measurement, seconds into current GNSS week
status	uint32_t	Wheel encoder status bits
theta_l	float	(rad) (Do not use, internal development only) Left wheel angle
theta_r	float	(rad) (Do not use, internal development only) Right wheel angle
omega_l	float	(rad/s) Left wheel angular rate. Positive when wheel is turning toward the forward direction of the vehicle. Use WHEEL_CFG_BITS_DIRECTION_REVERSE_LEFT in DID_FLASH_CONFIG::wheelConfig to reverse this.
omega_r	float	(rad/s) Right wheel angular rate. Positive when wheel is turning toward the forward direction of the vehicle. Use WHEEL_CFG_BITS_DIRECTION_REVERSE_RIGHT in DID_FLASH_CONFIG::wheelConfig to reverse this.
wrap_count_l	uint32_t	(Do not use, internal development only) Left wheel revolution (wrap-around) count
wrap_count_r	uint32_t	(Do not use, internal development only) Right wheel revolution (wrap-around) count
var_wheel_omega	float	(rad2/s2) Wheel encoder velocity noise variance
var_wheel_theta	float	(rad^2) Wheel encoder angle noise variance

DIDs

gen_3axis_sensor_t

Field	Type	Description
time	double	Time in seconds (meaning is source-dependent; typically time since boot up or GPS time of week)
val	float[3]	3-axis sensor value {x,y,z} (units are source-dependent)

Enumerations and Defines

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

General

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_MAX	0x00000007
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_32G	0x00000004
SENSOR_CFG_ACC_FS_MAX	0x00000007
SENSOR_CFG_ACC_FS_MASK	0x00000070
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	0x001F0000
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_DISABLE_MAGNETOMETER	0x00400000
SENSOR_CFG_DISABLE_BAROMETER	0x00800000
SENSOR_CFG_IMU_FAULT_DETECT_MASK	0xFF000000
SENSOR_CFG_IMU_FAULT_DETECT_GYR	0x01000000
SENSOR_CFG_IMU_FAULT_DETECT_ACC	0x02000000
SENSOR_CFG_IMU_FAULT_DETECT_OFFLINE	0x04000000
SENSOR_CFG_IMU_FAULT_DETECT_LARGE_BIAS	0x08000000
SENSOR_CFG_IMU_FAULT_DETECT_SENSOR_NOISE	0x10000000

DID_FLASH_CONFIG.sysCfgBits

(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
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_GNSS1_FUSION	0x00004000
SYS_CFG_BITS_DISABLE_GNSS2_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_ENABLE_GNSS_ANTENNA_OFFSET_ESTIMATION	0x00200000
SYS_CFG_BITS_BOR_LEVEL_0	0x0
SYS_CFG_BITS_BOR_LEVEL_1	0x1
SYS_CFG_BITS_BOR_LEVEL_2	0x2
SYS_CFG_BITS_BOR_LEVEL_3	0x3
SYS_CFG_BITS_BOR_THRESHOLD_MASK	0x00C00000
SYS_CFG_BITS_BOR_THRESHOLD_OFFSET	22
SYS_CFG_USE_REFERENCE_IMU_IN_EKF	0x01000000
SYS_CFG_EKF_REF_POINT_STATIONARY_ON_STROBE_INPUT	0x02000000

DID_GPX_FLASH_CFG.sysCfgBits

(eGpxSysConfigBits)

Field	Value
GPX_SYS_CFG_BITS_DISABLE_VCC_RF	0x00000001
GPX_SYS_CFG_BITS_BOR_LEVEL_0	0x0
GPX_SYS_CFG_BITS_BOR_LEVEL_1	0x1
GPX_SYS_CFG_BITS_BOR_LEVEL_2	0x2
GPX_SYS_CFG_BITS_BOR_LEVEL_3	0x3
GPX_SYS_CFG_BITS_BOR_THRESHOLD_MASK	0x00C00000
GPX_SYS_CFG_BITS_BOR_THRESHOLD_OFFSET	22

DID_GPX_STATUS.hdwStatus

(eGPXHdwStatusFlags)

Field	Value
GPX_HDW_STATUS_GNSS1_SATELLITE_RX	0x00000001
GPX_HDW_STATUS_GNSS2_SATELLITE_RX	0x00000002
GPX_HDW_STATUS_GNSS1_TIME_OF_WEEK_VALID	0x00000004
GPX_HDW_STATUS_GNSS2_TIME_OF_WEEK_VALID	0x00000008
GPX_HDW_STATUS_GNSS1_RESET_COUNT_MASK	0x00000070
GPX_HDW_STATUS_GNSS1_RESET_COUNT_OFFSET	4
GPX_HDW_STATUS_FAULT_GNSS1_INIT	0x00000080
GPX_HDW_STATUS_GNSS1_FAULT_FLAG_OFFSET	7
GPX_HDW_STATUS_GNSS2_RESET_COUNT_MASK	0x00000700
GPX_HDW_STATUS_GNSS2_RESET_COUNT_OFFSET	8
GPX_HDW_STATUS_FAULT_GNSS2_INIT	0x00000800
GPX_HDW_STATUS_GNSS2_FAULT_FLAG_OFFSET	11
GPX_HDW_STATUS_GNSS_FW_UPDATE_REQUIRED	0x00001000
GPX_HDW_STATUS_LED_ENABLED	0x00002000
GPX_HDW_STATUS_SYSTEM_RESET_REQUIRED	0x00004000
GPX_HDW_STATUS_FLASH_WRITE_PENDING	0x00008000
GPX_HDW_STATUS_ERR_COM_TX_LIMITED	0x00010000
GPX_HDW_STATUS_ERR_COM_RX_OVERRUN	0x00020000
GPX_HDW_STATUS_ERR_COM_MASK	0x00030000
GPX_HDW_STATUS_ERR_NO_GNSS1_PPS	0x00040000
GPX_HDW_STATUS_ERR_NO_GNSS2_PPS	0x00080000
GPX_HDW_STATUS_ERR_PPS_MASK	0x000C0000
GPX_HDW_STATUS_ERR_LOW_CNO_GNSS1	0x00100000
GPX_HDW_STATUS_ERR_LOW_CNO_GNSS2	0x00200000
GPX_HDW_STATUS_ERR_CNO_GNSS1_IR	0x00400000
GPX_HDW_STATUS_ERR_CNO_GNSS2_IR	0x00800000
GPX_HDW_STATUS_ERR_CNO_MASK	0x00F00000
GPX_HDW_STATUS_BIT_RUNNING	0x01000000
GPX_HDW_STATUS_BIT_PASSED	0x02000000
GPX_HDW_STATUS_BIT_FAULT	0x03000000
GPX_HDW_STATUS_BIT_MASK	0x03000000
GPX_HDW_STATUS_BIT_OFFSET	24
GPX_HDW_STATUS_ERR_TEMPERATURE	0x04000000
GPX_HDW_STATUS_GNSS_PPS_TIMESYNC	0x08000000
GPX_HDW_STATUS_RESET_CAUSE_MASK	0x70000000
GPX_HDW_STATUS_RESET_CAUSE_BACKUP_MODE	0x10000000
GPX_HDW_STATUS_RESET_CAUSE_SOFT	0x20000000
GPX_HDW_STATUS_RESET_CAUSE_HDW	0x40000000
GPX_HDW_STATUS_FAULT_SYS_CRITICAL	0x80000000

DID_GPX_STATUS.rtkMode

(eRTKConfigBits)

Field	Value
RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_DEPRECATED	0x00000001
RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING	0x00000002
RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING	0x00000004
RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_DEPRECATED	0x00000008
RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_MASK	(RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING|RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_DEPRECATED)
RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_MASK	(RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING|RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_DEPRECATED)
RTK_CFG_BITS_ROVER_MODE_MASK	0x0000000F
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_UBLOX_SER0	0x00000010
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_UBLOX_SER1	0x00000020
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_UBLOX_SER2	0x00000040
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_UBLOX_USB	0x00000080
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_RTCM3_SER0	0x00000100
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_RTCM3_SER1	0x00000200
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_RTCM3_SER2	0x00000400
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_RTCM3_USB	0x00000800
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_UBLOX_SER0	0x00001000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_UBLOX_SER1	0x00002000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_UBLOX_SER2	0x00004000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_UBLOX_USB	0x00008000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_RTCM3_SER0	0x00010000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_RTCM3_SER1	0x00020000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_RTCM3_SER2	0x00040000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_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_GNSS_PORT_PASS_THROUGH	0x00800000
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_RTCM3_CUR_PORT	0x01000000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_RTCM3_CUR_PORT	0x02000000
RTK_CFG_BITS_BASE_OUTPUT_RTCM3_CLEAR_CUR_PORT	0x04000000
RTK_CFG_BITS_MULTIPATH_MITIGATION	0x08000000
RTK_CFG_BITS_BASE_OUTPUT_RTCM3_CUR_PORT_MASK	(RTK_CFG_BITS_BASE_OUTPUT_GNSS1_RTCM3_CUR_PORT|RTK_CFG_BITS_BASE_OUTPUT_GNSS2_RTCM3_CUR_PORT)
RTK_CFG_BITS_BASE_UBLOX_MASK	(RTK_CFG_BITS_BASE_GNSS1_UBLOX_MASK|RTK_CFG_BITS_BASE_GNSS2_UBLOX_MASK)
RTK_CFG_BITS_BASE_RTCM3_MASK	(RTK_CFG_BITS_BASE_GNSS1_RTCM3_MASK|RTK_CFG_BITS_BASE_GNSS2_RTCM3_MASK)
RTK_CFG_BITS_BASE_MODE	(RTK_CFG_BITS_BASE_UBLOX_MASK|RTK_CFG_BITS_BASE_RTCM3_MASK)
RTK_CFG_BITS_ROVER_MODE_ONBOARD_MASK	(RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_DEPRECATED|RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_DEPRECATED)
RTK_CFG_BITS_ALL_MODES_MASK	(RTK_CFG_BITS_ROVER_MODE_MASK|RTK_CFG_BITS_BASE_MODE)

DID_GPX_STATUS.status

(eGpxStatus)

Field	Value
GPX_STATUS_COM_PARSE_ERR_COUNT_MASK	0x0000000F
GPX_STATUS_COM_PARSE_ERR_COUNT_OFFSET	0
GPX_STATUS_COM0_RX_TRAFFIC_DETECTED	0x00000010
GPX_STATUS_COM1_RX_TRAFFIC_DETECTED	0x00000020
GPX_STATUS_COM2_RX_TRAFFIC_DETECTED	0x00000040
GPX_STATUS_USB_RX_TRAFFIC_DETECTED	0x00000080
GPX_STATUS_UPDATE_CONFIRMED	0x00000100
GPX_STATUS_GENERAL_FAULT_MASK	0xFFDF0000
GPX_STATUS_FAULT_RTK_QUEUE_LIMITED	0x00010000
GPX_STATUS_FAULT_GNSS_RCVR_TIME	0x00100000
GPX_STATUS_FAULT_RTOS_TASK_PERIOD_OVERRUN	0x00200000
GPX_STATUS_FAULT_DMA	0x00800000
GPX_STATUS_FATAL_MASK	0x1F000000
GPX_STATUS_FATAL_OFFSET	24
GPX_STATUS_FATAL_RESET_LOW_POW	(int)1
GPX_STATUS_FATAL_RESET_BROWN	(int)2
GPX_STATUS_FATAL_RESET_WATCHDOG	(int)3
GPX_STATUS_FATAL_CPU_EXCEPTION	(int)4
GPX_STATUS_FATAL_UNHANDLED_INTERRUPT	(int)5
GPX_STATUS_FATAL_STACK_OVERFLOW	(int)6
GPX_STATUS_FATAL_KERNEL_OOPS	(int)7
GPX_STATUS_FATAL_KERNEL_PANIC	(int)8
GPX_STATUS_FATAL_UNALIGNED_ACCESS	(int)9
GPX_STATUS_FATAL_MEMORY_ERROR	(int)10
GPX_STATUS_FATAL_BUS_ERROR	(int)11
GPX_STATUS_FATAL_USAGE_ERROR	(int)12
GPX_STATUS_FATAL_DIV_ZERO	(int)13
GPX_STATUS_FATAL_SER0_REINIT	(int)14
GPX_STATUS_FATAL_UNKNOWN	0x1F
GPX_STATUS_FAULT_RP	0x20000000
GPX_STATUS_FAULT_UNUSED	0xC0000000

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_GNSS_LOW_LEVEL_CONFIG	10
SYS_CMD_DISABLE_SERIAL_PORT_BRIDGE	11
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_TO_GNSS1	12
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_TO_GNSS2	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_GNSS1	17
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_TO_GNSS1	18
SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_CUR_PORT_TO_GNSS2	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_GPX_ENABLE_RTOS_STATS	41
SYS_CMD_GPX_SAVE_PERSISTENT_MESSAGES	42
SYS_CMD_GNSS_RCVR_QUIET_MODE	60
SYS_CMD_GNSS_RCVR_SOFT_RESET	61
SYS_CMD_GNSS_RCVR_HARD_RESET	62
SYS_CMD_GNSS_RCVR_PWR_CYCLE	63
SYS_CMD_RESET_EKF_STATES	70
SYS_CMD_CLEAR_ERROR_STATUS	71
SYS_CMD_SAVE_FLASH	97
SYS_CMD_SAVE_GNSS_ASSIST_TO_FLASH_RESET	98
SYS_CMD_SOFTWARE_RESET	99
SYS_CMD_MANF_UNLOCK	1122334455
SYS_CMD_MANF_ERASE_CALIBRATION_MOTION	1357924678
SYS_CMD_MANF_ERASE_CALIBRATION	1357924679
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
SYS_CMD_MANF_LED_ON	1357924684
SYS_CMD_MANF_LED_OFF	1357924685
SYS_CMD_FAULT_TEST_TRIG_MALLOC	57005
SYS_CMD_FAULT_TEST_TRIG_HARD_FAULT	57006
SYS_CMD_FAULT_TEST_TRIG_WATCHDOG	57007
SYS_CMD_FAULT_TEST_TRIG_FLASH_TORN_WRITE	57008

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_CRITICAL_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_EKF_STATES_INVALID	0x00080000
GFC_INIT_IMU	0x00100000
GFC_INIT_BAROMETER	0x00200000
GFC_INIT_MAGNETOMETER	0x00400000
GFC_INIT_I2C	0x00800000
GFC_CHIP_ERASE_INVALID	0x01000000
GFC_EKF_GNSS_TIME_FAULT	0x02000000
GFC_GNSS_RECEIVER_TIME	0x04000000
GFC_GNSS_GENERAL_FAULT	0x08000000
GFC_EKF_INPUT_INVALID_IMU	0x10000000
GFC_GNSS_RTOS_ERROR	0x20000000
GFC_GPX_STATUS_COMMON_MASK	GFC_GNSS1_INIT|GFC_GNSS2_INIT|GFC_GNSS_TX_LIMITED|GFC_GNSS_RX_OVERRUN|GFC_GNSS_CRITICAL_FAULT|GFC_GNSS_RECEIVER_TIME|GFC_GNSS_GENERAL_FAULT

GPS Navigation Fix Type

(eGnssNavFixStatus)

Field	Value
GNSS_NAV_FIX_NONE	0x00000000
GNSS_NAV_FIX_POSITIONING_3D	0x00000001
GNSS_NAV_FIX_POSITIONING_RTK_FLOAT	0x00000002
GNSS_NAV_FIX_POSITIONING_RTK_FIX	0x00000003

GPS Status

(eGnssStatus)

Field	Value
GNSS_STATUS_NUM_SATS_USED_MASK	0x000000FF
GNSS_STATUS_FIX_NONE	0x00000000
GNSS_STATUS_FIX_DEAD_RECKONING_ONLY	0x00000100
GNSS_STATUS_FIX_2D	0x00000200
GNSS_STATUS_FIX_3D	0x00000300
GNSS_STATUS_FIX_GNSS_PLUS_DEAD_RECK	0x00000400
GNSS_STATUS_FIX_TIME_ONLY	0x00000500
GNSS_STATUS_FIX_REF_LLA	0x00000600
GNSS_STATUS_FIX_UNUSED2	0x00000700
GNSS_STATUS_FIX_DGPS	0x00000800
GNSS_STATUS_FIX_SBAS	0x00000900
GNSS_STATUS_FIX_RTK_SINGLE	0x00000A00
GNSS_STATUS_FIX_RTK_FLOAT	0x00000B00
GNSS_STATUS_FIX_RTK_FIX	0x00000C00
GNSS_STATUS_FIX_MASK	0x00001F00
GNSS_STATUS_FIX_BIT_OFFSET	(int)8
GNSS_STATUS_FLAGS_FIX_OK	0x00010000
GNSS_STATUS_FLAGS_DGPS_USED	0x00020000
GNSS_STATUS_FLAGS_RTK_FIX_AND_HOLD	0x00040000
GNSS_STATUS_FLAGS_UNUSED_1	0x00080000
GNSS_STATUS_FLAGS_GNSS1_RTK_POSITION_ENABLED	0x00100000
GNSS_STATUS_FLAGS_STATIC_MODE	0x00200000
GNSS_STATUS_FLAGS_GNSS2_RTK_COMPASS_ENABLED	0x00400000
GNSS_STATUS_FLAGS_GNSS1_RTK_RAW_GNSS_DATA_ERROR	0x00800000
GNSS_STATUS_FLAGS_GNSS1_RTK_BASE_DATA_MISSING	0x01000000
GNSS_STATUS_FLAGS_GNSS1_RTK_BASE_POSITION_MOVING	0x02000000
GNSS_STATUS_FLAGS_GNSS1_RTK_BASE_POSITION_INVALID	0x03000000
GNSS_STATUS_FLAGS_GNSS1_RTK_BASE_POSITION_MASK	0x03000000
GNSS_STATUS_FLAGS_GNSS1_RTK_POSITION_VALID	0x04000000
GNSS_STATUS_FLAGS_GNSS2_RTK_COMPASS_VALID	0x08000000
GNSS_STATUS_FLAGS_GNSS2_RTK_COMPASS_BASELINE_BAD	0x00002000
GNSS_STATUS_FLAGS_GNSS2_RTK_COMPASS_BASELINE_UNSET	0x00004000
GNSS_STATUS_FLAGS_GNSS_NMEA_DATA	0x00008000
GNSS_STATUS_FLAGS_GNSS_PPS_TIMESYNC	0x10000000
GNSS_STATUS_FLAGS_MASK	0x1FFFE000
GNSS_STATUS_FLAGS_BIT_OFFSET	(int)16
GNSS_STATUS_FLAGS_RTK_COV_ECEF_PACKED_VALID	0x20000000
GNSS_STATUS_FLAGS_UNUSED_3	0x40000000
GNSS_STATUS_FLAGS_UNUSED_4	0x80000000

Hardware Status Flags

(eHdwStatusFlags)

Field	Value
HDW_STATUS_MOTION_GYR	0x00000001
HDW_STATUS_MOTION_ACC	0x00000002
HDW_STATUS_MOTION_MASK	0x00000003
HDW_STATUS_IMU_FAULT_REJECT_GYR	0x00000004
HDW_STATUS_IMU_FAULT_REJECT_ACC	0x00000008
HDW_STATUS_IMU_FAULT_REJECT_MASK	0x0000000C
HDW_STATUS_GNSS_SATELLITE_RX_VALID	0x00000010
HDW_STATUS_STROBE_IN_EVENT	0x00000020
HDW_STATUS_GNSS_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_IMU_SATURATION_MASK	(int)(HDW_STATUS_SATURATION_GYR|HDW_STATUS_SATURATION_ACC)
HDW_STATUS_SATURATION_MASK	0x00000F00
HDW_STATUS_SATURATION_OFFSET	8
HDW_STATUS_SYSTEM_RESET_REQUIRED	0x00001000
HDW_STATUS_ERR_GNSS_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_GNSS_PPS	0x00040000
HDW_STATUS_GNSS_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_FAILED	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 Shock Options

(eImuShockOptions)

Field	Value
IMU_SHOCK_OPTIONS_ENABLE	0x01
IMU_SHOCK_OPTIONS_FAST_RECOVERY	0x02

IMU Status

(eImuStatus)

Field	Value
IMU_STATUS_GYR_X_OK	0x00000001
IMU_STATUS_GYR_Y_OK	0x00000002
IMU_STATUS_GYR_Z_OK	0x00000004
IMU_STATUS_ACC_X_OK	0x00000008
IMU_STATUS_ACC_Y_OK	0x00000010
IMU_STATUS_ACC_Z_OK	0x00000020
IMU_STATUS_IMU_OK_BITSIZE	6
IMU_STATUS_IMU_OK_MASK	IMU_STATUS_GYR_X_OK|IMU_STATUS_GYR_Y_OK|IMU_STATUS_GYR_Z_OK|IMU_STATUS_ACC_X_OK|IMU_STATUS_ACC_Y_OK|IMU_STATUS_ACC_Z_OK
IMU_STATUS_GYR_OK_MASK	IMU_STATUS_GYR_X_OK|IMU_STATUS_GYR_Y_OK|IMU_STATUS_GYR_Z_OK
IMU_STATUS_ACC_OK_MASK	IMU_STATUS_ACC_X_OK|IMU_STATUS_ACC_Y_OK|IMU_STATUS_ACC_Z_OK
IMU_STATUS_SHOCK_PRESENT	0x00000040
IMU_STATUS_MAG_UPDATE	0x00000100
IMU_STATUS_REFERENCE_IMU_PRESENT	0x00000200
IMU_STATUS_GYR_FAULT_REJECT	0x01000000
IMU_STATUS_ACC_FAULT_REJECT	0x02000000
IMU_STATUS_SATURATION_GYR	0x40000000
IMU_STATUS_SATURATION_ACC	0x80000000
IMU_STATUS_SATURATION_MASK	0xC0000000

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_GNSS_AIDING_HEADING	0x00000080
INS_STATUS_GNSS_AIDING_POS	0x00000100
INS_STATUS_GNSS_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_GNSS_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_OR_NO_CAL	0x00800000
INS_STATUS_GNSS_NAV_FIX_MASK	0x03000000
INS_STATUS_GNSS_NAV_FIX_OFFSET	24
INS_STATUS_RTK_COMPASSING_VALID	0x04000000
INS_STATUS_RTK_RAW_GNSS_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_GNSS_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
MAG_CAL_STATE_RECAL_MODE_NOT_SUPPORTED	(int)202

RTK Configuration

(eRTKConfigBits)

Field	Value
RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_DEPRECATED	0x00000001
RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING	0x00000002
RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING	0x00000004
RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_DEPRECATED	0x00000008
RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_MASK	(RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING|RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_DEPRECATED)
RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_MASK	(RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING|RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_DEPRECATED)
RTK_CFG_BITS_ROVER_MODE_MASK	0x0000000F
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_UBLOX_SER0	0x00000010
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_UBLOX_SER1	0x00000020
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_UBLOX_SER2	0x00000040
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_UBLOX_USB	0x00000080
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_RTCM3_SER0	0x00000100
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_RTCM3_SER1	0x00000200
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_RTCM3_SER2	0x00000400
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_RTCM3_USB	0x00000800
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_UBLOX_SER0	0x00001000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_UBLOX_SER1	0x00002000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_UBLOX_SER2	0x00004000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_UBLOX_USB	0x00008000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_RTCM3_SER0	0x00010000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_RTCM3_SER1	0x00020000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_RTCM3_SER2	0x00040000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_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_GNSS_PORT_PASS_THROUGH	0x00800000
RTK_CFG_BITS_BASE_OUTPUT_GNSS1_RTCM3_CUR_PORT	0x01000000
RTK_CFG_BITS_BASE_OUTPUT_GNSS2_RTCM3_CUR_PORT	0x02000000
RTK_CFG_BITS_BASE_OUTPUT_RTCM3_CLEAR_CUR_PORT	0x04000000
RTK_CFG_BITS_MULTIPATH_MITIGATION	0x08000000
RTK_CFG_BITS_BASE_OUTPUT_RTCM3_CUR_PORT_MASK	(RTK_CFG_BITS_BASE_OUTPUT_GNSS1_RTCM3_CUR_PORT|RTK_CFG_BITS_BASE_OUTPUT_GNSS2_RTCM3_CUR_PORT)
RTK_CFG_BITS_BASE_UBLOX_MASK	(RTK_CFG_BITS_BASE_GNSS1_UBLOX_MASK|RTK_CFG_BITS_BASE_GNSS2_UBLOX_MASK)
RTK_CFG_BITS_BASE_RTCM3_MASK	(RTK_CFG_BITS_BASE_GNSS1_RTCM3_MASK|RTK_CFG_BITS_BASE_GNSS2_RTCM3_MASK)
RTK_CFG_BITS_BASE_MODE	(RTK_CFG_BITS_BASE_UBLOX_MASK|RTK_CFG_BITS_BASE_RTCM3_MASK)
RTK_CFG_BITS_ROVER_MODE_ONBOARD_MASK	(RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_DEPRECATED|RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_DEPRECATED)
RTK_CFG_BITS_ALL_MODES_MASK	(RTK_CFG_BITS_ROVER_MODE_MASK|RTK_CFG_BITS_BASE_MODE)

RTK Solution Status

(eRtkSolStatus)

Field	Value
rtk_solution_status_none	0
rtk_solution_status_fix	1
rtk_solution_status_float	2
rtk_solution_status_sbas	3
rtk_solution_status_dgps	4
rtk_solution_status_single	5

Raw GPS Data Type

(eRawDataType)

Field	Value
raw_data_type_observation	1
raw_data_type_ephemeris	2
raw_data_type_glonass_ephemeris	3
raw_data_type_sbas	4
raw_data_type_base_station_antenna_position	5
raw_data_type_ionosphere_model_utc_alm	6

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
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_GNSS1_FUSION	0x00004000
SYS_CFG_BITS_DISABLE_GNSS2_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_ENABLE_GNSS_ANTENNA_OFFSET_ESTIMATION	0x00200000
SYS_CFG_BITS_BOR_LEVEL_0	0x0
SYS_CFG_BITS_BOR_LEVEL_1	0x1
SYS_CFG_BITS_BOR_LEVEL_2	0x2
SYS_CFG_BITS_BOR_LEVEL_3	0x3
SYS_CFG_BITS_BOR_THRESHOLD_MASK	0x00C00000
SYS_CFG_BITS_BOR_THRESHOLD_OFFSET	22
SYS_CFG_USE_REFERENCE_IMU_IN_EKF	0x01000000
SYS_CFG_EKF_REF_POINT_STATIONARY_ON_STROBE_INPUT	0x02000000