NOV_B-BESTVEL

Description

This message contains the Fusion velocity data (w.r.t. local tangential plane). The velocity type and solution status fields indicate whether or not the corresponding data is valid. The msg_source field (part of the msg_type bitfield) contains the information from which receiver the message is.

 

Message fields

# Offset Field Type Unit Description
- 0

sync1

 uint8_t

-

Sync byte 1 (always 0xaa)
- 1

sync2

 uint8_t

-

Sync byte 2 (always 0x44)
- 2

sync3

 uint8_t

-

Sync byte 3 (always 0x12)
- 3

header_len

 uint8_t

bytes

Length of the header (always 28)
- 4

msg_id

 uint16_t

-

Message ID, always 99 for this message
- 6

msg_type

 uint8_t

-

See protocol documentation
- 7

reserved1

 uint8_t

-

Reserved, ignore
- 8

payload_len

 uint16_t

bytes

Payload size, always 44 for this message
- 10

reserved2

 uint16_t

-

Reserved, ignore
- 12

reserved3

 uint8_t

-

Reserved, ignore
1 13

time_status

 uint8_t

-

See protocol documentation
2 14

gps_wno

 uint16_t

-

GPS week number
3 16

gps_tow

 int32_t

ms

GPS time of week
- 20

reserved4

 uint32_t

-

Reserved, ignore
- 24

reserved5

 uint16_t

-

Reserved, ignore
- 26

reserved6

 uint16_t

-

Reserved, ignore
4 28

sol_status

 uint32_t

-

Solution status, see below
5 32

vel_type

 uint32_t

-

Velocity mode, see below
6 36

latency

 float

s

Approximate age of solution
  40

reserved7

 uint32_t

-

Reserved, ignore
7 44

hor_spd

 double

m/s

Horizontal speed over ground
8 52

trk_gnd

 double

deg

Heading of motion (w.r.t. true North)
9 60

vert_spd

 double

m/s

Vertical speed
10 68

reserved8

 uint32_t

-

Reserved, ignore

 

Solution status (sol_status):

 

Value Description
0

Solution computed
1

Insufficient observations

 

Velocity mode (vel_type):

 

Value Description
0

No fix
50

RTK fixed fix
34

RTK float fix
16

Single 3D fix
56

INS and RTK fixed fix
55

INS and RTK float fix
53

INS and single 3D fix
19

INS only

 

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