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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

uint8_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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