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NOV_B-HEADING2

Description:

This message contains only the heading from GNSS measurements; no Fusion data is
used here. The heading is defined as the angle from the true North of GNSS1 to the
GNSS2 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

uint8_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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