ark::ins::NovatelMessageHeader

Defined in header “ark/ins/novatel/wire.hh”.

“Long form” Novatel message header. This is packed and setup as it would be in the protocol itself.

Variables

  • uint8_t sync
    Three synchronization bytes.

  • uint8_t header_length
    Header length, in bytes.

  • NovatelMessageId message_id
    The message identfier.

  • uint8_t message_type
    The message type. Bits 0-04 are the measurement source, bits 5-6 indicate if the message is binary or not (0 is binary, 1 is ASCII, and 2 is NMEA). Bit 7 indicates if this is a response (1) or original (0) message.

  • uint8_t port_address
    The port address/identifier.

  • uint16_t body_length
    The length of the body of the message.

  • uint16_t sequence_number
    The sequence counter, counting down from N-1 to 0, where N is the number of related logs, and 0 means it is the last in the set. Usually 0.

  • uint8_t idle_cpu_time
    Time the processor is idle. Time is from 0 - 200, with 0 indicating the processor is fully loaded.

  • uint8_t time_quality
    Time quality.

  • uint16_t gps_reference_week
    The GPS reference week number.

  • uint32_t gps_milliseconds
    The milliseconds from the beginning of the GPS reference week.

  • NovatelReceiverStatus receiver_status
    The receiver status (bitmask).

  • uint16_t reserved
    Reserved fields.

  • uint16_t receiver_software_version
    The software version (0-65535) of the receiver software.