diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 4.14.0 +version: 4.15.0 synopsis: SwiftNav's SBP Library homepage: https://github.com/swift-nav/libsbp license: MIT diff --git a/src/SwiftNav/SBP/Linux.hs b/src/SwiftNav/SBP/Linux.hs --- a/src/SwiftNav/SBP/Linux.hs +++ b/src/SwiftNav/SBP/Linux.hs @@ -40,8 +40,7 @@ -- | SBP class for message MSG_LINUX_CPU_STATE_DEP_A (0x7F00). -- --- This message indicates the process state of the top 10 heaviest consumers --- of CPU on the system. +-- Deprecated. data MsgLinuxCpuStateDepA = MsgLinuxCpuStateDepA { _msgLinuxCpuStateDepA_index :: !Word8 -- ^ sequence of this status message, values from 0-9 @@ -80,8 +79,7 @@ -- | SBP class for message MSG_LINUX_MEM_STATE_DEP_A (0x7F01). -- --- This message indicates the process state of the top 10 heaviest consumers --- of memory on the system. +-- Deprecated. data MsgLinuxMemStateDepA = MsgLinuxMemStateDepA { _msgLinuxMemStateDepA_index :: !Word8 -- ^ sequence of this status message, values from 0-9 @@ -120,7 +118,7 @@ -- | SBP class for message MSG_LINUX_SYS_STATE_DEP_A (0x7F02). -- --- This presents a summary of CPU and memory utilization. +-- Deprecated. data MsgLinuxSysStateDepA = MsgLinuxSysStateDepA { _msgLinuxSysStateDepA_mem_total :: !Word16 -- ^ total system memory 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 @@ -73,6 +73,10 @@ -- this message precedes a set of other navigation messages referenced to the -- same time (but lacking the ns field) and indicates a more precise time of -- these messages. +-- +-- The values in this message are from GNSS measurements fused with inertial +-- measurements. To get values from GNSS measurements only use +-- MSG_GPS_TIME_GNSS. data MsgGpsTime = MsgGpsTime { _msgGpsTime_wn :: !Word16 -- ^ GPS week number @@ -119,6 +123,9 @@ -- this message precedes a set of other navigation messages referenced to the -- same time (but lacking the ns field) and indicates a more precise time of -- these messages. +-- +-- The values in this message are from GNSS measurements only. To get values +-- fused with inertial measurements use MSG_GPS_TIME. data MsgGpsTimeGnss = MsgGpsTimeGnss { _msgGpsTimeGnss_wn :: !Word16 -- ^ GPS week number @@ -157,6 +164,10 @@ -- This message reports the Universal Coordinated Time (UTC). Note the flags -- which indicate the source of the UTC offset value and source of the time -- fix. +-- +-- The values in this message are from GNSS measurements fused with inertial +-- measurements. To get values from GNSS measurements only use +-- MSG_UTC_TIME_GNSS. data MsgUtcTime = MsgUtcTime { _msgUtcTime_flags :: !Word8 -- ^ Indicates source and time validity @@ -214,6 +225,9 @@ -- This message reports the Universal Coordinated Time (UTC). Note the flags -- which indicate the source of the UTC offset value and source of the time -- fix. +-- +-- The values in this message are from GNSS measurements only. To get values +-- fused with inertial measurements use MSG_UTC_TIME. data MsgUtcTimeGnss = MsgUtcTimeGnss { _msgUtcTimeGnss_flags :: !Word8 -- ^ Indicates source and time validity @@ -272,6 +286,8 @@ -- satellite geometry on positional measurement precision. The flags field -- indicated whether the DOP reported corresponds to differential or SPP -- solution. +-- +-- The values in this message are from GNSS measurements only. data MsgDops = MsgDops { _msgDops_tow :: !Word32 -- ^ GPS Time of Week @@ -325,6 +341,10 @@ -- position solution using the base station position and the rover's RTK -- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME -- with the matching time-of-week (tow). +-- +-- The values in this message are from GNSS measurements fused with inertial +-- measurements. To get values from GNSS measurements only use +-- MSG_POS_ECEF_GNSS. data MsgPosEcef = MsgPosEcef { _msgPosEcef_tow :: !Word32 -- ^ GPS Time of Week @@ -379,6 +399,10 @@ -- pseudo-absolute position solution using the base station position and the -- rover's RTK baseline vector. The full GPS time is given by the preceding -- MSG_GPS_TIME with the matching time-of-week (tow). +-- +-- The values in this message are from GNSS measurements fused with inertial +-- measurements. To get values from GNSS measurements only use +-- MSG_POS_ECEF_COV_GNSS. data MsgPosEcefCov = MsgPosEcefCov { _msgPosEcefCov_tow :: !Word32 -- ^ GPS Time of Week @@ -452,6 +476,10 @@ -- solution using the base station position and the rover's RTK baseline -- vector. The full GPS time is given by the preceding MSG_GPS_TIME with the -- matching time-of-week (tow). +-- +-- The values in this message are from GNSS measurements fused with inertial +-- measurements. To get values from GNSS measurements only use +-- MSG_POS_LLH_GNSS. data MsgPosLlh = MsgPosLlh { _msgPosLlh_tow :: !Word32 -- ^ GPS Time of Week @@ -510,6 +538,10 @@ -- Down frame, the covariance terms follow that convention. Thus, covariances -- are reported against the "downward" measurement and care should be taken -- with the sign convention. +-- +-- The values in this message are from GNSS measurements fused with inertial +-- measurements. To get values from GNSS measurements only use +-- MSG_POS_LLH_COV_GNSS. data MsgPosLlhCov = MsgPosLlhCov { _msgPosLlhCov_tow :: !Word32 -- ^ GPS Time of Week @@ -613,6 +645,9 @@ -- -- The estimated errors are reported at a user-configurable confidence level. -- The user-configured percentile is encoded in the percentile field. +-- +-- The values in this message are from GNSS measurements fused with inertial +-- measurements. data MsgPosLlhAcc = MsgPosLlhAcc { _msgPosLlhAcc_tow :: !Word32 -- ^ GPS Time of Week @@ -695,6 +730,8 @@ -- (ECEF) coordinates. This baseline is the relative vector distance from the -- base station to the rover receiver. The full GPS time is given by the -- preceding MSG_GPS_TIME with the matching time-of-week (tow). +-- +-- The values in this message are from GNSS measurements only. data MsgBaselineEcef = MsgBaselineEcef { _msgBaselineEcef_tow :: !Word32 -- ^ GPS Time of Week @@ -747,6 +784,8 @@ -- local WGS84 tangent plane centered at the base station position. The full -- GPS time is given by the preceding MSG_GPS_TIME with the matching time-of- -- week (tow). +-- +-- The values in this message are from GNSS measurements only. data MsgBaselineNed = MsgBaselineNed { _msgBaselineNed_tow :: !Word32 -- ^ GPS Time of Week @@ -800,6 +839,10 @@ -- This message reports the velocity in Earth Centered Earth Fixed (ECEF) -- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with -- the matching time-of-week (tow). +-- +-- The values in this message are from GNSS measurements fused with inertial +-- measurements. To get values from GNSS measurements only use +-- MSG_VEL_ECEF_GNSS. data MsgVelEcef = MsgVelEcef { _msgVelEcef_tow :: !Word32 -- ^ GPS Time of Week @@ -849,6 +892,10 @@ -- This message reports the velocity in Earth Centered Earth Fixed (ECEF) -- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with -- the matching time-of-week (tow). +-- +-- The values in this message are from GNSS measurements fused with inertial +-- measurements. To get values from GNSS measurements only use +-- MSG_VEL_ECEF_COV_GNSS. data MsgVelEcefCov = MsgVelEcefCov { _msgVelEcefCov_tow :: !Word32 -- ^ GPS Time of Week @@ -919,6 +966,10 @@ -- coordinates. 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). +-- +-- The values in this message are from GNSS measurements fused with inertial +-- measurements. To get values from GNSS measurements only use +-- MSG_VEL_NED_GNSS. data MsgVelNed = MsgVelNed { _msgVelNed_tow :: !Word32 -- ^ GPS Time of Week @@ -975,6 +1026,10 @@ -- by the preceding MSG_GPS_TIME with the matching time-of-week (tow). This -- message is similar to the MSG_VEL_NED, but it includes the upper triangular -- portion of the 3x3 covariance matrix. +-- +-- The values in this message are from GNSS measurements fused with inertial +-- measurements. To get values from GNSS measurements only use +-- MSG_VEL_NED_COV_GNSS. data MsgVelNedCov = MsgVelNedCov { _msgVelNedCov_tow :: !Word32 -- ^ GPS Time of Week @@ -1046,8 +1101,11 @@ -- the position solution. If the rover receiver knows the surveyed position of -- the base station and has an RTK solution, this reports a pseudo-absolute -- position solution using the base station position and the rover's RTK --- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME --- with the matching time-of-week (tow). +-- baseline vector. The full GPS time is given by the preceding +-- MSG_GPS_TIME_GNSS with the matching time-of-week (tow). +-- +-- The values in this message are from GNSS measurements only. To get values +-- fused with inertial measurements use MSG_POS_ECEF. data MsgPosEcefGnss = MsgPosEcefGnss { _msgPosEcefGnss_tow :: !Word32 -- ^ GPS Time of Week @@ -1101,7 +1159,10 @@ -- position of the base station and has an RTK solution, this reports a -- pseudo-absolute position solution using the base station position and the -- rover's RTK baseline vector. The full GPS time is given by the preceding --- MSG_GPS_TIME with the matching time-of-week (tow). +-- MSG_GPS_TIME_GNSS with the matching time-of-week (tow). +-- +-- The values in this message are from GNSS measurements only. To get values +-- fused with inertial measurements use MSG_POS_ECEF_COV. data MsgPosEcefCovGnss = MsgPosEcefCovGnss { _msgPosEcefCovGnss_tow :: !Word32 -- ^ GPS Time of Week @@ -1173,8 +1234,11 @@ -- solution. If the rover receiver knows the surveyed position of the base -- station and has an RTK solution, this reports a pseudo-absolute position -- solution using the base station position and the rover's RTK baseline --- vector. The full GPS time is given by the preceding MSG_GPS_TIME with the --- matching time-of-week (tow). +-- vector. The full GPS time is given by the preceding MSG_GPS_TIME_GNSS with +-- the matching time-of-week (tow). +-- +-- The values in this message are from GNSS measurements only. To get values +-- fused with inertial measurements use MSG_POS_LLH. data MsgPosLlhGnss = MsgPosLlhGnss { _msgPosLlhGnss_tow :: !Word32 -- ^ GPS Time of Week @@ -1228,11 +1292,14 @@ -- This position solution message reports the absolute geodetic coordinates -- and the status (single point vs pseudo-absolute RTK) of the position -- solution as well as the upper triangle of the 3x3 covariance matrix. The --- position information and Fix Mode flags should follow the MSG_POS_LLH +-- position information and Fix Mode flags should follow the MSG_POS_LLH_GNSS -- message. Since the covariance matrix is computed in the local-level North, -- East, Down frame, the covariance terms follow with that convention. Thus, -- covariances are reported against the "downward" measurement and care should -- be taken with the sign convention. +-- +-- The values in this message are from GNSS measurements only. To get values +-- fused with inertial measurements use MSG_POS_LLH_COV. data MsgPosLlhCovGnss = MsgPosLlhCovGnss { _msgPosLlhCovGnss_tow :: !Word32 -- ^ GPS Time of Week @@ -1300,8 +1367,11 @@ -- | SBP class for message MSG_VEL_ECEF_GNSS (0x022D). -- -- This message reports the velocity in Earth Centered Earth Fixed (ECEF) --- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with --- the matching time-of-week (tow). +-- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME_GNSS +-- with the matching time-of-week (tow). +-- +-- The values in this message are from GNSS measurements only. To get values +-- fused with inertial measurements use MSG_VEL_ECEF. data MsgVelEcefGnss = MsgVelEcefGnss { _msgVelEcefGnss_tow :: !Word32 -- ^ GPS Time of Week @@ -1349,8 +1419,11 @@ -- | SBP class for message MSG_VEL_ECEF_COV_GNSS (0x0235). -- -- This message reports the velocity in Earth Centered Earth Fixed (ECEF) --- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with --- the matching time-of-week (tow). +-- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME_GNSS +-- with the matching time-of-week (tow). +-- +-- The values in this message are from GNSS measurements only. To get values +-- fused with inertial measurements use MSG_VEL_ECEF_COV. data MsgVelEcefCovGnss = MsgVelEcefCovGnss { _msgVelEcefCovGnss_tow :: !Word32 -- ^ GPS Time of Week @@ -1420,7 +1493,10 @@ -- This message reports the velocity in local North East Down (NED) -- coordinates. 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). +-- by the preceding MSG_GPS_TIME_GNSS with the matching time-of-week (tow). +-- +-- The values in this message are from GNSS measurements only. To get values +-- fused with inertial measurements use MSG_VEL_NED. data MsgVelNedGnss = MsgVelNedGnss { _msgVelNedGnss_tow :: !Word32 -- ^ GPS Time of Week @@ -1474,9 +1550,12 @@ -- This message reports the velocity in local North East Down (NED) -- coordinates. 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). This --- message is similar to the MSG_VEL_NED, but it includes the upper triangular --- portion of the 3x3 covariance matrix. +-- by the preceding MSG_GPS_TIME_GNSS with the matching time-of-week (tow). +-- This message is similar to the MSG_VEL_NED_GNSS, but it includes the upper +-- triangular portion of the 3x3 covariance matrix. +-- +-- The values in this message are from GNSS measurements only. To get values +-- fused with inertial measurements use MSG_VEL_NED_COV. data MsgVelNedCovGnss = MsgVelNedCovGnss { _msgVelNedCovGnss_tow :: !Word32 -- ^ GPS Time of Week @@ -1552,6 +1631,9 @@ -- preceding MSG_GPS_TIME with the matching time-of-week (tow). This message -- is only produced by inertial versions of Swift products and is not -- available from Piksi Multi or Duro. +-- +-- The values in this message are from GNSS measurements fused with inertial +-- measurements. data MsgVelBody = MsgVelBody { _msgVelBody_tow :: !Word32 -- ^ GPS Time of Week @@ -1621,14 +1703,17 @@ -- 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 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 +-- 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. +-- +-- The values in this message are from GNSS measurements fused with inertial +-- measurements. data MsgVelCog = MsgVelCog { _msgVelCog_tow :: !Word32 -- ^ GPS Time of Week @@ -1707,17 +1792,7 @@ -- | SBP class for message MSG_GPS_TIME_DEP_A (0x0100). -- --- This message reports the GPS time, representing the time since the GPS --- epoch began on midnight January 6, 1980 UTC. GPS time counts the weeks and --- seconds of the week. The weeks begin at the Saturday/Sunday transition. GPS --- week 0 began at the beginning of the GPS time scale. --- --- Within each week number, the GPS time of the week is between between 0 and --- 604800 seconds (=60*60*24*7). Note that GPS time does not accumulate leap --- seconds, and as of now, has a small offset from UTC. In a message stream, --- this message precedes a set of other navigation messages referenced to the --- same time (but lacking the ns field) and indicates a more precise time of --- these messages. +-- Deprecated. data MsgGpsTimeDepA = MsgGpsTimeDepA { _msgGpsTimeDepA_wn :: !Word16 -- ^ GPS week number @@ -1753,8 +1828,7 @@ -- | SBP class for message MSG_DOPS_DEP_A (0x0206). -- --- This dilution of precision (DOP) message describes the effect of navigation --- satellite geometry on positional measurement precision. +-- Deprecated. data MsgDopsDepA = MsgDopsDepA { _msgDopsDepA_tow :: !Word32 -- ^ GPS Time of Week @@ -1797,13 +1871,7 @@ -- | SBP class for message MSG_POS_ECEF_DEP_A (0x0200). -- --- The position solution message reports absolute Earth Centered Earth Fixed --- (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of --- the position solution. If the rover receiver knows the surveyed position of --- the base station and has an RTK solution, this reports a pseudo-absolute --- position solution using the base station position and the rover's RTK --- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME --- with the matching time-of-week (tow). +-- Deprecated. data MsgPosEcefDepA = MsgPosEcefDepA { _msgPosEcefDepA_tow :: !Word32 -- ^ GPS Time of Week @@ -1850,13 +1918,7 @@ -- | SBP class for message MSG_POS_LLH_DEP_A (0x0201). -- --- This position solution message reports the absolute geodetic coordinates --- and the status (single point vs pseudo-absolute RTK) of the position --- solution. If the rover receiver knows the surveyed position of the base --- station and has an RTK solution, this reports a pseudo-absolute position --- solution using the base station position and the rover's RTK baseline --- vector. The full GPS time is given by the preceding MSG_GPS_TIME with the --- matching time-of-week (tow). +-- Deprecated. data MsgPosLlhDepA = MsgPosLlhDepA { _msgPosLlhDepA_tow :: !Word32 -- ^ GPS Time of Week @@ -1907,10 +1969,7 @@ -- | SBP class for message MSG_BASELINE_ECEF_DEP_A (0x0202). -- --- This message reports the baseline solution in Earth Centered Earth Fixed --- (ECEF) coordinates. This baseline is the relative vector distance from the --- base station to the rover receiver. The full GPS time is given by the --- preceding MSG_GPS_TIME with the matching time-of-week (tow). +-- Deprecated. data MsgBaselineEcefDepA = MsgBaselineEcefDepA { _msgBaselineEcefDepA_tow :: !Word32 -- ^ GPS Time of Week @@ -1957,12 +2016,7 @@ -- | SBP class for message MSG_BASELINE_NED_DEP_A (0x0203). -- --- This message reports the baseline solution in North East Down (NED) --- coordinates. This baseline is the relative vector distance from the base --- station to the rover receiver, and NED coordinate system is defined at the --- local WGS84 tangent plane centered at the base station position. The full --- GPS time is given by the preceding MSG_GPS_TIME with the matching time-of- --- week (tow). +-- Deprecated. data MsgBaselineNedDepA = MsgBaselineNedDepA { _msgBaselineNedDepA_tow :: !Word32 -- ^ GPS Time of Week @@ -2013,9 +2067,7 @@ -- | SBP class for message MSG_VEL_ECEF_DEP_A (0x0204). -- --- This message reports the velocity in Earth Centered Earth Fixed (ECEF) --- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with --- the matching time-of-week (tow). +-- Deprecated. data MsgVelEcefDepA = MsgVelEcefDepA { _msgVelEcefDepA_tow :: !Word32 -- ^ GPS Time of Week @@ -2062,10 +2114,7 @@ -- | SBP class for message MSG_VEL_NED_DEP_A (0x0205). -- --- This message reports the velocity in local North East Down (NED) --- coordinates. 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). +-- Deprecated. data MsgVelNedDepA = MsgVelNedDepA { _msgVelNedDepA_tow :: !Word32 -- ^ GPS Time of Week @@ -2116,9 +2165,7 @@ -- | SBP class for message MSG_BASELINE_HEADING_DEP_A (0x0207). -- --- This message reports the baseline heading pointing from the base station to --- the rover relative to True North. The full GPS time is given by the --- preceding MSG_GPS_TIME with the matching time-of-week (tow). +-- Deprecated. data MsgBaselineHeadingDepA = MsgBaselineHeadingDepA { _msgBaselineHeadingDepA_tow :: !Word32 -- ^ GPS Time of Week @@ -2153,9 +2200,7 @@ -- | SBP class for message MSG_PROTECTION_LEVEL_DEP_A (0x0216). -- --- This message reports the local vertical and horizontal protection levels --- associated with a given LLH position solution. The full GPS time is given --- by the preceding MSG_GPS_TIME with the matching time-of-week (tow). +-- Deprecated. data MsgProtectionLevelDepA = MsgProtectionLevelDepA { _msgProtectionLevelDepA_tow :: !Word32 -- ^ GPS Time of Week diff --git a/src/SwiftNav/SBP/Observation.hs b/src/SwiftNav/SBP/Observation.hs --- a/src/SwiftNav/SBP/Observation.hs +++ b/src/SwiftNav/SBP/Observation.hs @@ -418,10 +418,7 @@ -- | SBP class for message MSG_EPHEMERIS_GPS_DEP_E (0x0081). -- --- The ephemeris message returns a set of satellite orbit parameters that is --- used to calculate GPS satellite position, velocity, and clock offset. --- Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD- --- GPS-200, Table 20-III) for more details. +-- Deprecated. data MsgEphemerisGpsDepE = MsgEphemerisGpsDepE { _msgEphemerisGpsDepE_common :: !EphemerisCommonContentDepA -- ^ Values common for all ephemeris types @@ -536,8 +533,7 @@ -- | SBP class for message MSG_EPHEMERIS_GPS_DEP_F (0x0086). -- --- This observation message has been deprecated in favor of ephemeris message --- using floats for size reduction. +-- Deprecated. data MsgEphemerisGpsDepF = MsgEphemerisGpsDepF { _msgEphemerisGpsDepF_common :: !EphemerisCommonContentDepB -- ^ Values common for all ephemeris types @@ -1012,8 +1008,7 @@ -- | SBP class for message MSG_EPHEMERIS_GAL_DEP_A (0x0095). -- --- This observation message has been deprecated in favor of an ephemeris --- message with explicit source of NAV data. +-- Deprecated. data MsgEphemerisGalDepA = MsgEphemerisGalDepA { _msgEphemerisGalDepA_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types @@ -1256,6 +1251,9 @@ msgEphemerisSbasDepA :: Word16 msgEphemerisSbasDepA = 0x0082 +-- | SBP class for message MSG_EPHEMERIS_SBAS_DEP_A (0x0082). +-- +-- Deprecated. data MsgEphemerisSbasDepA = MsgEphemerisSbasDepA { _msgEphemerisSbasDepA_common :: !EphemerisCommonContentDepA -- ^ Values common for all ephemeris types @@ -1298,10 +1296,7 @@ -- | SBP class for message MSG_EPHEMERIS_GLO_DEP_A (0x0083). -- --- The ephemeris message returns a set of satellite orbit parameters that is --- used to calculate GLO satellite position, velocity, and clock offset. --- Please see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate --- information (ephemeris parameters)" for more details. +-- Deprecated. data MsgEphemerisGloDepA = MsgEphemerisGloDepA { _msgEphemerisGloDepA_common :: !EphemerisCommonContentDepA -- ^ Values common for all ephemeris types @@ -1344,8 +1339,7 @@ -- | SBP class for message MSG_EPHEMERIS_SBAS_DEP_B (0x0084). -- --- This observation message has been deprecated in favor of ephemeris message --- using floats for size reduction. +-- Deprecated. data MsgEphemerisSbasDepB = MsgEphemerisSbasDepB { _msgEphemerisSbasDepB_common :: !EphemerisCommonContentDepB -- ^ Values common for all ephemeris types @@ -1428,10 +1422,7 @@ -- | SBP class for message MSG_EPHEMERIS_GLO_DEP_B (0x0085). -- --- The ephemeris message returns a set of satellite orbit parameters that is --- used to calculate GLO satellite position, velocity, and clock offset. --- Please see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate --- information (ephemeris parameters)" for more details. +-- Deprecated. data MsgEphemerisGloDepB = MsgEphemerisGloDepB { _msgEphemerisGloDepB_common :: !EphemerisCommonContentDepB -- ^ Values common for all ephemeris types @@ -1642,10 +1633,7 @@ -- | SBP class for message MSG_EPHEMERIS_DEP_D (0x0080). -- --- The ephemeris message returns a set of satellite orbit parameters that is --- used to calculate GPS satellite position, velocity, and clock offset. --- Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD- --- GPS-200, Table 20-III) for more details. +-- Deprecated. data MsgEphemerisDepD = MsgEphemerisDepD { _msgEphemerisDepD_tgd :: !Double -- ^ Group delay differential between L1 and L2 @@ -2042,10 +2030,7 @@ -- | SBP class for message MSG_EPHEMERIS_DEP_C (0x0047). -- --- The ephemeris message returns a set of satellite orbit parameters that is --- used to calculate GPS satellite position, velocity, and clock offset. --- Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD- --- GPS-200, Table 20-III) for more details. +-- Deprecated. data MsgEphemerisDepC = MsgEphemerisDepC { _msgEphemerisDepC_tgd :: !Double -- ^ Group delay differential between L1 and L2 @@ -2376,10 +2361,7 @@ -- | SBP class for message MSG_OBS_DEP_B (0x0043). -- --- This observation message has been deprecated in favor of observations that --- are more interoperable. This message should be used for observations --- referenced to a nominal pseudorange which are not interoperable with most --- 3rd party GNSS receivers or typical RTCMv3 observations. +-- Deprecated. data MsgObsDepB = MsgObsDepB { _msgObsDepB_header :: !ObservationHeaderDep -- ^ Header of a GPS observation message @@ -2407,12 +2389,7 @@ -- | SBP class for message MSG_OBS_DEP_C (0x0049). -- --- The GPS observations message reports all the raw pseudorange and carrier --- phase observations for the satellites being tracked by the device. Carrier --- phase observation here is represented as a 40-bit fixed point number with --- Q32.8 layout (i.e. 32-bits of whole cycles and 8-bits of fractional --- cycles). The observations are interoperable with 3rd party receivers and --- conform with typical RTCMv3 GNSS observations. +-- Deprecated. data MsgObsDepC = MsgObsDepC { _msgObsDepC_header :: !ObservationHeaderDep -- ^ Header of a GPS observation message @@ -2489,7 +2466,7 @@ -- | SBP class for message MSG_SV_CONFIGURATION_GPS_DEP (0x0091). -- --- Please see ICD-GPS-200 (Chapter 20.3.3.5.1.4) for more details. +-- Deprecated. data MsgSvConfigurationGpsDep = MsgSvConfigurationGpsDep { _msgSvConfigurationGpsDep_t_nmct :: !GpsTimeSec -- ^ Navigation Message Correction Table Validity Time @@ -2588,6 +2565,10 @@ msgGnssCapb :: Word16 msgGnssCapb = 0x0096 +-- | SBP class for message MSG_GNSS_CAPB (0x0096). +-- +-- Bit masks of signal capabilities for each GNSS satellite PRN. +-- Please see ICD-GPS-200 (Chapter 20.3.3.5.1.4) for more details. data MsgGnssCapb = MsgGnssCapb { _msgGnssCapb_t_nmct :: !GpsTimeSec -- ^ Navigation Message Correction Table Validity Time @@ -2614,7 +2595,7 @@ -- | SBP class for message MSG_GROUP_DELAY_DEP_A (0x0092). -- --- Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. +-- Deprecated. data MsgGroupDelayDepA = MsgGroupDelayDepA { _msgGroupDelayDepA_t_op :: !GpsTimeDep -- ^ Data Predict Time of Week @@ -2655,7 +2636,7 @@ -- | SBP class for message MSG_GROUP_DELAY_DEP_B (0x0093). -- --- Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. +-- Deprecated. data MsgGroupDelayDepB = MsgGroupDelayDepB { _msgGroupDelayDepB_t_op :: !GpsTimeSec -- ^ Data Predict Time of Week @@ -2837,10 +2818,7 @@ -- | SBP class for message MSG_ALMANAC_GPS_DEP (0x0070). -- --- The almanac message returns a set of satellite orbit parameters. Almanac --- data is not very precise and is considered valid for up to several months. --- Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD- --- GPS-200, Chapter 20.3.3.5.1.2 Almanac Data) for more details. +-- Deprecated. data MsgAlmanacGpsDep = MsgAlmanacGpsDep { _msgAlmanacGpsDep_common :: !AlmanacCommonContentDep -- ^ Values common for all almanac types @@ -2961,10 +2939,7 @@ -- | SBP class for message MSG_ALMANAC_GLO_DEP (0x0071). -- --- The almanac message returns a set of satellite orbit parameters. Almanac --- data is not very precise and is considered valid for up to several months. --- Please see the GLO ICD 5.1 "Chapter 4.5 Non-immediate information and --- almanac" for details. +-- Deprecated. data MsgAlmanacGloDep = MsgAlmanacGloDep { _msgAlmanacGloDep_common :: !AlmanacCommonContentDep -- ^ Values common for all almanac types diff --git a/src/SwiftNav/SBP/Piksi.hs b/src/SwiftNav/SBP/Piksi.hs --- a/src/SwiftNav/SBP/Piksi.hs +++ b/src/SwiftNav/SBP/Piksi.hs @@ -106,7 +106,7 @@ -- | SBP class for message MSG_RESET_DEP (0x00B2). -- --- This message from the host resets the Piksi back into the bootloader. +-- Deprecated. data MsgResetDep = MsgResetDep deriving ( Show, Read, Eq ) @@ -191,7 +191,7 @@ -- | SBP class for message MSG_INIT_BASE_DEP (0x0023). -- --- Deprecated +-- Deprecated. data MsgInitBaseDep = MsgInitBaseDep deriving ( Show, Read, Eq ) @@ -399,7 +399,7 @@ -- | SBP class for message MSG_UART_STATE_DEPA (0x0018). -- --- Deprecated +-- Deprecated. data MsgUartStateDepa = MsgUartStateDepa { _msgUartStateDepa_uart_a :: !UARTChannel -- ^ State of UART A diff --git a/src/SwiftNav/SBP/Signing.hs b/src/SwiftNav/SBP/Signing.hs --- a/src/SwiftNav/SBP/Signing.hs +++ b/src/SwiftNav/SBP/Signing.hs @@ -182,6 +182,9 @@ msgCertificateChainDep :: Word16 msgCertificateChainDep = 0x0C05 +-- | SBP class for message MSG_CERTIFICATE_CHAIN_DEP (0x0C05). +-- +-- Deprecated. data MsgCertificateChainDep = MsgCertificateChainDep { _msgCertificateChainDep_root_certificate :: ![Word8] -- ^ SHA-1 fingerprint of the root certificate @@ -280,7 +283,7 @@ -- | SBP class for message MSG_ECDSA_SIGNATURE_DEP_B (0x0C07). -- --- An ECDSA-256 signature using SHA-256 as the message digest algorithm. +-- Deprecated. data MsgEcdsaSignatureDepB = MsgEcdsaSignatureDepB { _msgEcdsaSignatureDepB_flags :: !Word8 -- ^ Describes the format of the `signed\_messages` field below. @@ -341,7 +344,7 @@ -- | SBP class for message MSG_ECDSA_SIGNATURE_DEP_A (0x0C06). -- --- An ECDSA-256 signature using SHA-256 as the message digest algorithm. +-- Deprecated. data MsgEcdsaSignatureDepA = MsgEcdsaSignatureDepA { _msgEcdsaSignatureDepA_flags :: !Word8 -- ^ Describes the format of the `signed\_messages` field below. @@ -393,6 +396,9 @@ msgEd25519CertificateDep :: Word16 msgEd25519CertificateDep = 0x0C02 +-- | SBP class for message MSG_ED25519_CERTIFICATE_DEP (0x0C02). +-- +-- Deprecated. data MsgEd25519CertificateDep = MsgEd25519CertificateDep { _msgEd25519CertificateDep_n_msg :: !Word8 -- ^ Total number messages that make up the certificate. First nibble is the @@ -423,6 +429,9 @@ msgEd25519SignatureDepA :: Word16 msgEd25519SignatureDepA = 0x0C01 +-- | SBP class for message MSG_ED25519_SIGNATURE_DEP_A (0x0C01). +-- +-- Deprecated. data MsgEd25519SignatureDepA = MsgEd25519SignatureDepA { _msgEd25519SignatureDepA_signature :: ![Word8] -- ^ ED25519 signature for messages. @@ -451,6 +460,9 @@ msgEd25519SignatureDepB :: Word16 msgEd25519SignatureDepB = 0x0C03 +-- | SBP class for message MSG_ED25519_SIGNATURE_DEP_B (0x0C03). +-- +-- Deprecated. data MsgEd25519SignatureDepB = MsgEd25519SignatureDepB { _msgEd25519SignatureDepB_stream_counter :: !Word8 -- ^ Signature message counter. Zero indexed and incremented with each diff --git a/src/SwiftNav/SBP/SolutionMeta.hs b/src/SwiftNav/SBP/SolutionMeta.hs --- a/src/SwiftNav/SBP/SolutionMeta.hs +++ b/src/SwiftNav/SBP/SolutionMeta.hs @@ -71,10 +71,6 @@ -- | SBP class for message MSG_SOLN_META_DEP_A (0xFF0F). -- -- Deprecated. --- --- This message contains all metadata about the sensors received and/or used --- in computing the Fuzed Solution. It focuses primarily, but not only, on --- GNSS metadata. data MsgSolnMetaDepA = MsgSolnMetaDepA { _msgSolnMetaDepA_pdop :: !Word16 -- ^ Position Dilution of Precision as per last available DOPS from PVT diff --git a/src/SwiftNav/SBP/Ssr.hs b/src/SwiftNav/SBP/Ssr.hs --- a/src/SwiftNav/SBP/Ssr.hs +++ b/src/SwiftNav/SBP/Ssr.hs @@ -515,12 +515,7 @@ -- | SBP class for message MSG_SSR_STEC_CORRECTION_DEP (0x05FB). -- --- The Slant Total Electron Content per space vehicle, given as polynomial --- approximation for a given tile. This should be combined with the --- MSG_SSR_GRIDDED_CORRECTION message to get the state space representation of --- the atmospheric delay. --- --- It is typically equivalent to the QZSS CLAS Sub Type 8 messages. +-- Deprecated. data MsgSsrStecCorrectionDep = MsgSsrStecCorrectionDep { _msgSsrStecCorrectionDep_header :: !STECHeader -- ^ Header of a STEC polynomial coefficient message. @@ -764,13 +759,7 @@ -- | SBP class for message MSG_SSR_TILE_DEFINITION_DEP_A (0x05F6). -- --- Provides the correction point coordinates for the atmospheric correction --- values in the MSG_SSR_STEC_CORRECTION_DEP and MSG_SSR_GRIDDED_CORRECTION --- messages. --- --- Based on ETSI TS 137 355 V16.1.0 (LTE Positioning Protocol) information --- element GNSS-SSR-CorrectionPoints. SBP only supports gridded arrays of --- correction points, not lists of points. +-- Deprecated. data MsgSsrTileDefinitionDepA = MsgSsrTileDefinitionDepA { _msgSsrTileDefinitionDepA_tile_set_id :: !Word16 -- ^ Unique identifier of the tile set this tile belongs to. @@ -862,13 +851,7 @@ -- | SBP class for message MSG_SSR_TILE_DEFINITION_DEP_B (0x05F7). -- --- Provides the correction point coordinates for the atmospheric correction --- values in the MSG_SSR_STEC_CORRECTION and MSG_SSR_GRIDDED_CORRECTION --- messages. --- --- Based on ETSI TS 137 355 V16.1.0 (LTE Positioning Protocol) information --- element GNSS-SSR-CorrectionPoints. SBP only supports gridded arrays of --- correction points, not lists of points. +-- Deprecated. data MsgSsrTileDefinitionDepB = MsgSsrTileDefinitionDepB { _msgSsrTileDefinitionDepB_ssr_sol_id :: !Word8 -- ^ SSR Solution ID. @@ -1111,6 +1094,9 @@ msgSsrSatelliteApcDep :: Word16 msgSsrSatelliteApcDep = 0x0604 +-- | SBP class for message MSG_SSR_SATELLITE_APC_DEP (0x0604). +-- +-- Deprecated. data MsgSsrSatelliteApcDep = MsgSsrSatelliteApcDep { _msgSsrSatelliteApcDep_apc :: ![SatelliteAPC] -- ^ Satellite antenna phase center corrections @@ -1169,6 +1155,9 @@ msgSsrOrbitClockDepA :: Word16 msgSsrOrbitClockDepA = 0x05DC +-- | SBP class for message MSG_SSR_ORBIT_CLOCK_DEP_A (0x05DC). +-- +-- Deprecated. data MsgSsrOrbitClockDepA = MsgSsrOrbitClockDepA { _msgSsrOrbitClockDepA_time :: !GpsTimeSec -- ^ GNSS reference time of the correction @@ -1365,6 +1354,9 @@ msgSsrStecCorrectionDepA :: Word16 msgSsrStecCorrectionDepA = 0x05EB +-- | SBP class for message MSG_SSR_STEC_CORRECTION_DEP_A (0x05EB). +-- +-- Deprecated. data MsgSsrStecCorrectionDepA = MsgSsrStecCorrectionDepA { _msgSsrStecCorrectionDepA_header :: !STECHeaderDepA -- ^ Header of a STEC message @@ -1389,6 +1381,9 @@ msgSsrGriddedCorrectionNoStdDepA :: Word16 msgSsrGriddedCorrectionNoStdDepA = 0x05F0 +-- | SBP class for message MSG_SSR_GRIDDED_CORRECTION_NO_STD_DEP_A (0x05F0). +-- +-- Deprecated. data MsgSsrGriddedCorrectionNoStdDepA = MsgSsrGriddedCorrectionNoStdDepA { _msgSsrGriddedCorrectionNoStdDepA_header :: !GriddedCorrectionHeaderDepA -- ^ Header of a Gridded Correction message @@ -1421,6 +1416,9 @@ msgSsrGriddedCorrectionDepA :: Word16 msgSsrGriddedCorrectionDepA = 0x05FA +-- | SBP class for message MSG_SSR_GRIDDED_CORRECTION_DEP_A (0x05FA). +-- +-- Deprecated. data MsgSsrGriddedCorrectionDepA = MsgSsrGriddedCorrectionDepA { _msgSsrGriddedCorrectionDepA_header :: !GriddedCorrectionHeaderDepA -- ^ Header of a Gridded Correction message @@ -1453,6 +1451,9 @@ msgSsrGridDefinitionDepA :: Word16 msgSsrGridDefinitionDepA = 0x05F5 +-- | SBP class for message MSG_SSR_GRID_DEFINITION_DEP_A (0x05F5). +-- +-- Deprecated. data MsgSsrGridDefinitionDepA = MsgSsrGridDefinitionDepA { _msgSsrGridDefinitionDepA_header :: !GridDefinitionHeaderDepA -- ^ Header of a Gridded Correction message @@ -1582,11 +1583,11 @@ , _codePhaseBiasesSatSig_code_bias_bound_mu :: !Word8 -- ^ Code Bias Mean. Range: 0-1.275 m , _codePhaseBiasesSatSig_code_bias_bound_sig :: !Word8 - -- ^ Code Bias Standard Deviation. Range: 0-1.275 m + -- ^ Code Bias Standard Deviation. Range: 0-1.275 m , _codePhaseBiasesSatSig_phase_bias_bound_mu :: !Word8 -- ^ Phase Bias Mean. Range: 0-1.275 m , _codePhaseBiasesSatSig_phase_bias_bound_sig :: !Word8 - -- ^ Phase Bias Standard Deviation. Range: 0-1.275 m + -- ^ Phase Bias Standard Deviation. Range: 0-1.275 m } deriving ( Show, Read, Eq ) instance Binary CodePhaseBiasesSatSig where diff --git a/src/SwiftNav/SBP/Tracking.hs b/src/SwiftNav/SBP/Tracking.hs --- a/src/SwiftNav/SBP/Tracking.hs +++ b/src/SwiftNav/SBP/Tracking.hs @@ -442,8 +442,7 @@ -- | SBP class for message MSG_TRACKING_IQ_DEP_B (0x002C). -- --- When enabled, a tracking channel can output the correlations at each update --- interval. +-- Deprecated. data MsgTrackingIqDepB = MsgTrackingIqDepB { _msgTrackingIqDepB_channel :: !Word8 -- ^ Tracking channel of origin