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`	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