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tracking.ksy
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# 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.
#
# Satellite code and carrier-phase tracking messages from the device.
#
# Automatically generated from spec/yaml/swiftnav/sbp/tracking.yaml with generate.py.
# Do not modify by hand!
meta:
id: tracking
endian: le
imports: [ gnss ]
types:
msg_tracking_state_detailed_dep_a:
doc: |
The tracking message returns a set tracking channel parameters for a
single tracking channel useful for debugging issues.
seq:
- id: recv_time
doc: |
Receiver clock time.
type: u8
- id: tot
doc: |
Time of transmission of signal from satellite. TOW only valid when
TOW status is decoded or propagated. WN only valid when week number
valid flag is set.
type: gnss::gps_time
- id: p
doc: |
Pseudorange observation. Valid only when pseudorange valid flag is
set.
type: u4
- id: p_std
doc: |
Pseudorange observation standard deviation. Valid only when
pseudorange valid flag is set.
type: u2
- id: l
doc: |
Carrier phase observation with typical sign convention. Valid only
when PLL pessimistic lock is achieved.
type: gnss::carrier_phase
- id: cn0
doc: |
Carrier-to-Noise density
type: u1
- id: lock
doc: |
Lock time. It is encoded according to DF402 from the RTCM 10403.2
Amendment 2 specification. Valid values range from 0 to 15.
type: u2
- id: sid
doc: |
GNSS signal identifier.
type: gnss::gnss_signal
- id: doppler
doc: |
Carrier Doppler frequency.
type: s4
- id: doppler_std
doc: |
Carrier Doppler frequency standard deviation.
type: u2
- id: uptime
doc: |
Number of seconds of continuous tracking. Specifies how much time
signal is in continuous track.
type: u4
- id: clock_offset
doc: |
TCXO clock offset. Valid only when valid clock valid flag is set.
type: s2
- id: clock_drift
doc: |
TCXO clock drift. Valid only when valid clock valid flag is set.
type: s2
- id: corr_spacing
doc: |
Early-Prompt (EP) and Prompt-Late (PL) correlators spacing.
type: u2
- id: acceleration
doc: |
Acceleration. Valid only when acceleration valid flag is set.
type: s1
- id: sync_flags
doc: |
Synchronization status flags.
type: u1
- id: tow_flags
doc: |
TOW status flags.
type: u1
- id: track_flags
doc: |
Tracking loop status flags.
type: u1
- id: nav_flags
doc: |
Navigation data status flags.
type: u1
- id: pset_flags
doc: |
Parameters sets flags.
type: u1
- id: misc_flags
doc: |
Miscellaneous flags.
type: u1
msg_tracking_state_detailed_dep:
doc: |
Deprecated.
seq:
- id: recv_time
doc: |
Receiver clock time.
type: u8
- id: tot
doc: |
Time of transmission of signal from satellite. TOW only valid when
TOW status is decoded or propagated. WN only valid when week number
valid flag is set.
type: gnss::gps_time_dep
- id: p
doc: |
Pseudorange observation. Valid only when pseudorange valid flag is
set.
type: u4
- id: p_std
doc: |
Pseudorange observation standard deviation. Valid only when
pseudorange valid flag is set.
type: u2
- id: l
doc: |
Carrier phase observation with typical sign convention. Valid only
when PLL pessimistic lock is achieved.
type: gnss::carrier_phase
- id: cn0
doc: |
Carrier-to-Noise density
type: u1
- id: lock
doc: |
Lock time. It is encoded according to DF402 from the RTCM 10403.2
Amendment 2 specification. Valid values range from 0 to 15.
type: u2
- id: sid
doc: |
GNSS signal identifier.
type: gnss::gnss_signal_dep
- id: doppler
doc: |
Carrier Doppler frequency.
type: s4
- id: doppler_std
doc: |
Carrier Doppler frequency standard deviation.
type: u2
- id: uptime
doc: |
Number of seconds of continuous tracking. Specifies how much time
signal is in continuous track.
type: u4
- id: clock_offset
doc: |
TCXO clock offset. Valid only when valid clock valid flag is set.
type: s2
- id: clock_drift
doc: |
TCXO clock drift. Valid only when valid clock valid flag is set.
type: s2
- id: corr_spacing
doc: |
Early-Prompt (EP) and Prompt-Late (PL) correlators spacing.
type: u2
- id: acceleration
doc: |
Acceleration. Valid only when acceleration valid flag is set.
type: s1
- id: sync_flags
doc: |
Synchronization status flags.
type: u1
- id: tow_flags
doc: |
TOW status flags.
type: u1
- id: track_flags
doc: |
Tracking loop status flags.
type: u1
- id: nav_flags
doc: |
Navigation data status flags.
type: u1
- id: pset_flags
doc: |
Parameters sets flags.
type: u1
- id: misc_flags
doc: |
Miscellaneous flags.
type: u1
tracking_channel_state:
doc: |
Tracking channel state for a specific satellite signal and measured
signal power.
seq:
- id: sid
doc: |
GNSS signal being tracked
type: gnss::gnss_signal
- id: fcn
doc: |
Frequency channel number (GLONASS only)
type: u1
- id: cn0
doc: |
Carrier-to-Noise density. Zero implies invalid cn0.
type: u1
msg_tracking_state:
doc: |
The tracking message returns a variable-length array of tracking channel
states. It reports status and carrier-to-noise density measurements for
all tracked satellites.
seq:
- id: states
doc: |
Signal tracking channel state
type: tracking_channel_state
repeat: eos
measurement_state:
doc: |
Measurement Engine tracking channel state for a specific satellite
signal and measured signal power. The mesid field for Glonass can either
carry the FCN as 100 + FCN where FCN is in [-7, +6] or the Slot ID (from
1 to 28).
seq:
- id: mesid
doc: |
Measurement Engine GNSS signal being tracked (carries either Glonass
FCN or SLOT)
type: gnss::gnss_signal
- id: cn0
doc: |
Carrier-to-Noise density. Zero implies invalid cn0.
type: u1
msg_measurement_state:
doc: |
The tracking message returns a variable-length array of tracking channel
states. It reports status and carrier-to-noise density measurements for
all tracked satellites.
seq:
- id: states
doc: |
ME signal tracking channel state
type: measurement_state
repeat: eos
tracking_channel_correlation:
doc: |
Structure containing in-phase and quadrature correlation components.
seq:
- id: i
doc: |
In-phase correlation
type: s2
- id: q
doc: |
Quadrature correlation
type: s2
msg_tracking_iq:
doc: |
When enabled, a tracking channel can output the correlations at each
update interval.
seq:
- id: channel
doc: |
Tracking channel of origin
type: u1
- id: sid
doc: |
GNSS signal identifier
type: gnss::gnss_signal
- id: corrs
doc: |
Early, Prompt and Late correlations
type: tracking_channel_correlation
repeat: expr
repeat-expr: 3
tracking_channel_correlation_dep:
doc: |
Structure containing in-phase and quadrature correlation components.
seq:
- id: i
doc: |
In-phase correlation
type: s4
- id: q
doc: |
Quadrature correlation
type: s4
msg_tracking_iq_dep_b:
doc: |
Deprecated.
seq:
- id: channel
doc: |
Tracking channel of origin
type: u1
- id: sid
doc: |
GNSS signal identifier
type: gnss::gnss_signal
- id: corrs
doc: |
Early, Prompt and Late correlations
type: tracking_channel_correlation_dep
repeat: expr
repeat-expr: 3
msg_tracking_iq_dep_a:
doc: |
Deprecated.
seq:
- id: channel
doc: |
Tracking channel of origin
type: u1
- id: sid
doc: |
GNSS signal identifier
type: gnss::gnss_signal_dep
- id: corrs
doc: |
Early, Prompt and Late correlations
type: tracking_channel_correlation_dep
repeat: expr
repeat-expr: 3
tracking_channel_state_dep_a:
doc: |
Deprecated.
seq:
- id: state
doc: |
Status of tracking channel
type: u1
- id: prn
doc: |
PRN-1 being tracked
type: u1
- id: cn0
doc: |
Carrier-to-noise density
type: f4
msg_tracking_state_dep_a:
doc: |
Deprecated.
seq:
- id: states
doc: |
Satellite tracking channel state
type: tracking_channel_state_dep_a
repeat: eos
tracking_channel_state_dep_b:
doc: |
Deprecated.
seq:
- id: state
doc: |
Status of tracking channel
type: u1
- id: sid
doc: |
GNSS signal being tracked
type: gnss::gnss_signal_dep
- id: cn0
doc: |
Carrier-to-noise density
type: f4
msg_tracking_state_dep_b:
doc: |
Deprecated.
seq:
- id: states
doc: |
Signal tracking channel state
type: tracking_channel_state_dep_b
repeat: eos