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