NOV_B-HEADING2

Description

This message contains only the heading from GNSS measurements; no Fusion data isused here. The heading is defined as the angle from the true North of GNSS1 to theGNSS2 vector in a clockwise direction.

 

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 1335 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 48 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

pos_type

 uint32_t

-

Positioning mode, see below
6 36

length

 float

m

Baseline length
7 40

heading

 float

deg

Heading
8 44

pitch

 float

deg

Pitch
- 48

reserved7

 uint32_t

-

Reserved, ignore
- 52

reserved8

 uint32_t

-

Reserved, ignore
- 56

reserved9

 uint32_t

-

Reserved, ignore
- 60

reserved10

 uint32_t

-

Reserved, ignore
- 64

reserved11

 uint32_t

-

Reserved, ignore
9 68

num_svs

 uint8_t

-

Number of satellites tracked
10 69

num_sol_svs

 uint8_t

-

Number of satellites used in solution
- 70

reserved12

 uint16_t

-

Reserved, ignore
11 72

sol_source_msk

 uint8_t

-

Bitfield:
-  

sol_source

 bits 3…2

-

Solution source, see below
12 73

ext_sol_stat

 uint8_t

-

Extended solution status, see below
13 74

gal_bds_sig_msk

 uint8_t

-

Galileo and BeiDou signal mask, see below
14 75

gps_glo_sig_msk

 uint8_t

-

GPS and GLONASS signal mask, see below

 

Solution status (sol_status):

 

Value Description
0

Solution computed
1

Insufficient observations

 

Positioning mode (pos_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

 

Solution source (sol_source):

 

Value Description
0

GNSS 1
1

GNSS 2

 

Extended solution status (ext_sol_stat):

 

Bit Description
bit 0 (0x01)

Solution verified

 

Galileo and BeiDou signal mask (gal_bds_sig_msk):

 

Bit Description
bit 0 (0x01)

Galileo E1
bit 2 (0x04)

Galileo E5B
bit 4 (0x10)

BeiDou B1I
bit 5 (0x20)

BeiDou B2I

 

GPS and GLONASS signal mask (gps_glo_sig_msk):

 

Bit Description
bit 0 (0x01)

GPS L1CA
bit 1 (0x02)

GPS L2C
bit 4 (0x10)

GLONASS L1OF
bit 5 (0x20)

GLONASS L2OF

 

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