diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 4.1.2 +version: 4.1.3 synopsis: SwiftNav's SBP Library homepage: https://github.com/swift-nav/libsbp license: MIT diff --git a/src/SwiftNav/SBP/Msg.hs b/src/SwiftNav/SBP/Msg.hs --- a/src/SwiftNav/SBP/Msg.hs +++ b/src/SwiftNav/SBP/Msg.hs @@ -196,6 +196,7 @@ | SBPMsgResetDep MsgResetDep Msg | SBPMsgResetFilters MsgResetFilters Msg | SBPMsgSbasRaw MsgSbasRaw Msg + | SBPMsgSensorAidEvent MsgSensorAidEvent Msg | SBPMsgSetTime MsgSetTime Msg | SBPMsgSettingsReadByIndexDone MsgSettingsReadByIndexDone Msg | SBPMsgSettingsReadByIndexReq MsgSettingsReadByIndexReq Msg @@ -412,6 +413,7 @@ | _msgSBPType == msgResetDep = SBPMsgResetDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgResetFilters = SBPMsgResetFilters (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSbasRaw = SBPMsgSbasRaw (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSensorAidEvent = SBPMsgSensorAidEvent (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSetTime = SBPMsgSetTime (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -620,6 +622,7 @@ encoder (SBPMsgResetDep _ m) = put m encoder (SBPMsgResetFilters _ m) = put m encoder (SBPMsgSbasRaw _ m) = put m + encoder (SBPMsgSensorAidEvent _ m) = put m encoder (SBPMsgSetTime _ m) = put m encoder (SBPMsgSettingsReadByIndexDone _ m) = put m encoder (SBPMsgSettingsReadByIndexReq _ m) = put m @@ -832,6 +835,7 @@ | msgType == msgResetDep = SBPMsgResetDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgResetFilters = SBPMsgResetFilters <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSbasRaw = SBPMsgSbasRaw <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSensorAidEvent = SBPMsgSensorAidEvent <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSetTime = SBPMsgSetTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -1045,6 +1049,7 @@ toJSON (SBPMsgResetDep _ m) = toJSON m toJSON (SBPMsgResetFilters n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSbasRaw n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSensorAidEvent n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSetTime _ m) = toJSON m toJSON (SBPMsgSettingsReadByIndexDone _ m) = toJSON m toJSON (SBPMsgSettingsReadByIndexReq n m) = toJSON n <<>> toJSON m @@ -1252,6 +1257,7 @@ msg f (SBPMsgResetDep n m) = SBPMsgResetDep n <$> f m msg f (SBPMsgResetFilters n m) = SBPMsgResetFilters n <$> f m msg f (SBPMsgSbasRaw n m) = SBPMsgSbasRaw n <$> f m + msg f (SBPMsgSensorAidEvent n m) = SBPMsgSensorAidEvent n <$> f m msg f (SBPMsgSetTime n m) = SBPMsgSetTime n <$> f m msg f (SBPMsgSettingsReadByIndexDone n m) = SBPMsgSettingsReadByIndexDone n <$> f m msg f (SBPMsgSettingsReadByIndexReq n m) = SBPMsgSettingsReadByIndexReq n <$> f m diff --git a/src/SwiftNav/SBP/Navigation.hs b/src/SwiftNav/SBP/Navigation.hs --- a/src/SwiftNav/SBP/Navigation.hs +++ b/src/SwiftNav/SBP/Navigation.hs @@ -1620,28 +1620,31 @@ -- -- This message reports the receiver course over ground (COG) and speed over -- ground (SOG) based on the horizontal (N-E) components of the NED velocity --- vector. It also includes the vertical velocity in the form of the --- D-component of the NED velocity vector. The NED coordinate system is --- defined as the local WGS84 tangent plane centered at the current position. --- The full GPS time is given by the preceding MSG_GPS_TIME with the matching --- time-of-week (tow). Note: course over ground represents the receiver's --- direction of travel, but not necessarily the device heading. +-- vector. It also includes the vertical velocity coordinate. A flag is +-- provided to indicate whether the COG value has been frozen. When the flag +-- is set to true, the COG field is set to its last valid value until the +-- system exceeds a minimum velocity threshold. No other fields are affected +-- by this flag. The NED coordinate system is defined as the local WGS84 +-- tangent plane centered at the current position. The full GPS time is given +-- by the preceding MSG_GPS_TIME with the matching time-of-week (tow). Note: +-- course over ground represents the receiver's direction of travel, but not +-- necessarily the device heading. data MsgVelCog = MsgVelCog - { _msgVelCog_tow :: !Word32 + { _msgVelCog_tow :: !Word32 -- ^ GPS Time of Week - , _msgVelCog_cog :: !Word32 - -- ^ Course over ground relative to local north - , _msgVelCog_sog :: !Word32 - -- ^ Speed over ground - , _msgVelCog_vel_d :: !Int32 - -- ^ Velocity Down coordinate + , _msgVelCog_cog :: !Word32 + -- ^ Course over ground relative to north direction + , _msgVelCog_sog :: !Word32 + -- ^ Speed over ground (based on horizontal velocity) + , _msgVelCog_v_up :: !Int32 + -- ^ Vertical velocity component (positive up) , _msgVelCog_cog_accuracy :: !Word32 -- ^ Course over ground estimated standard deviation , _msgVelCog_sog_accuracy :: !Word32 -- ^ Speed over ground estimated standard deviation - , _msgVelCog_vel_d_accuracy :: !Word32 + , _msgVelCog_v_up_accuracy :: !Word32 -- ^ Vertical velocity estimated standard deviation - , _msgVelCog_flags :: !Word8 + , _msgVelCog_flags :: !Word16 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -1650,22 +1653,22 @@ _msgVelCog_tow <- getWord32le _msgVelCog_cog <- getWord32le _msgVelCog_sog <- getWord32le - _msgVelCog_vel_d <- (fromIntegral <$> getWord32le) + _msgVelCog_v_up <- (fromIntegral <$> getWord32le) _msgVelCog_cog_accuracy <- getWord32le _msgVelCog_sog_accuracy <- getWord32le - _msgVelCog_vel_d_accuracy <- getWord32le - _msgVelCog_flags <- getWord8 + _msgVelCog_v_up_accuracy <- getWord32le + _msgVelCog_flags <- getWord16le pure MsgVelCog {..} put MsgVelCog {..} = do putWord32le _msgVelCog_tow putWord32le _msgVelCog_cog putWord32le _msgVelCog_sog - (putWord32le . fromIntegral) _msgVelCog_vel_d + (putWord32le . fromIntegral) _msgVelCog_v_up putWord32le _msgVelCog_cog_accuracy putWord32le _msgVelCog_sog_accuracy - putWord32le _msgVelCog_vel_d_accuracy - putWord8 _msgVelCog_flags + putWord32le _msgVelCog_v_up_accuracy + putWord16le _msgVelCog_flags $(makeSBP 'msgVelCog ''MsgVelCog) $(makeJSON "_msgVelCog_" ''MsgVelCog) diff --git a/src/SwiftNav/SBP/System.hs b/src/SwiftNav/SBP/System.hs --- a/src/SwiftNav/SBP/System.hs +++ b/src/SwiftNav/SBP/System.hs @@ -417,6 +417,60 @@ $(makeJSON "_msgPpsTime_" ''MsgPpsTime) $(makeLenses ''MsgPpsTime) +msgSensorAidEvent :: Word16 +msgSensorAidEvent = 0xFF09 + +-- | SBP class for message MSG_SENSOR_AID_EVENT (0xFF09). +-- +-- This diagnostic message contains state and update status information for +-- all sensors that are being used by the fusion engine. This message will be +-- generated asynchronously to the solution messages and will be emitted +-- anytime a sensor update is being processed. +data MsgSensorAidEvent = MsgSensorAidEvent + { _msgSensorAidEvent_time :: !Word32 + -- ^ Update timestamp in milliseconds. + , _msgSensorAidEvent_sensor_type :: !Word8 + -- ^ Sensor type + , _msgSensorAidEvent_sensor_id :: !Word16 + -- ^ Sensor identifier + , _msgSensorAidEvent_sensor_state :: !Word8 + -- ^ Reserved for future use + , _msgSensorAidEvent_n_available_meas :: !Word8 + -- ^ Number of available measurements in this epoch + , _msgSensorAidEvent_n_attempted_meas :: !Word8 + -- ^ Number of attempted measurements in this epoch + , _msgSensorAidEvent_n_accepted_meas :: !Word8 + -- ^ Number of accepted measurements in this epoch + , _msgSensorAidEvent_flags :: !Word32 + -- ^ Reserved for future use + } deriving ( Show, Read, Eq ) + +instance Binary MsgSensorAidEvent where + get = do + _msgSensorAidEvent_time <- getWord32le + _msgSensorAidEvent_sensor_type <- getWord8 + _msgSensorAidEvent_sensor_id <- getWord16le + _msgSensorAidEvent_sensor_state <- getWord8 + _msgSensorAidEvent_n_available_meas <- getWord8 + _msgSensorAidEvent_n_attempted_meas <- getWord8 + _msgSensorAidEvent_n_accepted_meas <- getWord8 + _msgSensorAidEvent_flags <- getWord32le + pure MsgSensorAidEvent {..} + + put MsgSensorAidEvent {..} = do + putWord32le _msgSensorAidEvent_time + putWord8 _msgSensorAidEvent_sensor_type + putWord16le _msgSensorAidEvent_sensor_id + putWord8 _msgSensorAidEvent_sensor_state + putWord8 _msgSensorAidEvent_n_available_meas + putWord8 _msgSensorAidEvent_n_attempted_meas + putWord8 _msgSensorAidEvent_n_accepted_meas + putWord32le _msgSensorAidEvent_flags + +$(makeSBP 'msgSensorAidEvent ''MsgSensorAidEvent) +$(makeJSON "_msgSensorAidEvent_" ''MsgSensorAidEvent) +$(makeLenses ''MsgSensorAidEvent) + msgGroupMeta :: Word16 msgGroupMeta = 0xFF0A