orientation.ksy

# Copyright (C) 2015-2023 Swift Navigation Inc.
# Contact: https://support.swiftnav.com
#
# This source is subject to the license found in the file 'LICENSE' which must
# be distributed together with this source. All other rights reserved.
#
# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
#
# Orientation Messages
#
# Automatically generated from spec/yaml/swiftnav/sbp/orientation.yaml with generate.py.
# Do not modify by hand!

meta:
  id: orientation
  endian: le
  imports: [  ]

types:

  msg_baseline_heading:
    doc: |
      This message reports the baseline heading pointing from the base station
      to the rover relative to True North. The full GPS time is given by the
      preceding MSG_GPS_TIME with the matching time-of-week (tow). It is
      intended that time-matched RTK mode is used when the base station is
      moving.
    seq:
      - id: tow
        doc: |
          GPS Time of Week
        type: u4
      - id: heading
        doc: |
          Heading
        type: u4
      - id: n_sats
        doc: |
          Number of satellites used in solution
        type: u1
      - id: flags
        doc: |
          Status flags
        type: u1
  
  msg_orient_quat:
    doc: |
      This message reports the quaternion vector describing the vehicle body
      frame's orientation with respect to a local-level NED frame. The
      components of the vector should sum to a unit vector assuming that the
      LSB of each component as a value of 2^-31. This message will only be
      available in future INS versions of Swift Products and is not produced
      by Piksi Multi or Duro.
    seq:
      - id: tow
        doc: |
          GPS Time of Week
        type: u4
      - id: w
        doc: |
          Real component
        type: s4
      - id: x
        doc: |
          1st imaginary component
        type: s4
      - id: y
        doc: |
          2nd imaginary component
        type: s4
      - id: z
        doc: |
          3rd imaginary component
        type: s4
      - id: w_accuracy
        doc: |
          Estimated standard deviation of w
        type: f4
      - id: x_accuracy
        doc: |
          Estimated standard deviation of x
        type: f4
      - id: y_accuracy
        doc: |
          Estimated standard deviation of y
        type: f4
      - id: z_accuracy
        doc: |
          Estimated standard deviation of z
        type: f4
      - id: flags
        doc: |
          Status flags
        type: u1
  
  msg_orient_euler:
    doc: |
      This message reports the yaw, pitch, and roll angles of the vehicle body
      frame. The rotations should applied intrinsically in the order yaw,
      pitch, and roll in order to rotate the from a frame aligned with the
      local-level NED frame to the vehicle body frame.  This message will only
      be available in future INS versions of Swift Products and is not
      produced by Piksi Multi or Duro.
    seq:
      - id: tow
        doc: |
          GPS Time of Week
        type: u4
      - id: roll
        doc: |
          rotation about the forward axis of the vehicle
        type: s4
      - id: pitch
        doc: |
          rotation about the rightward axis of the vehicle
        type: s4
      - id: yaw
        doc: |
          rotation about the downward axis of the vehicle
        type: s4
      - id: roll_accuracy
        doc: |
          Estimated standard deviation of roll
        type: f4
      - id: pitch_accuracy
        doc: |
          Estimated standard deviation of pitch
        type: f4
      - id: yaw_accuracy
        doc: |
          Estimated standard deviation of yaw
        type: f4
      - id: flags
        doc: |
          Status flags
        type: u1
  
  msg_angular_rate:
    doc: |
      This message reports the orientation rates in the vehicle body frame.
      The values represent the measurements a strapped down gyroscope would
      make and are not equivalent to the time derivative of the Euler angles.
      The orientation and origin of the user frame is specified via device
      settings. By convention, the vehicle x-axis is expected to be aligned
      with the forward direction, while the vehicle y-axis is expected to be
      aligned with the right direction, and the vehicle z-axis should be
      aligned with the down direction. This message will only be available in
      future INS versions of Swift Products and is not produced by Piksi Multi
      or Duro.
    seq:
      - id: tow
        doc: |
          GPS Time of Week
        type: u4
      - id: x
        doc: |
          angular rate about x axis
        type: s4
      - id: y
        doc: |
          angular rate about y axis
        type: s4
      - id: z
        doc: |
          angular rate about z axis
        type: s4
      - id: flags
        doc: |
          Status flags
        type: u1