sbp-2.3.12: src/SwiftNav/SBP/Navigation.hs
{-# OPTIONS_GHC -fno-warn-unused-imports #-}
{-# LANGUAGE NoImplicitPrelude #-}
{-# LANGUAGE TemplateHaskell #-}
{-# LANGUAGE RecordWildCards #-}
-- |
-- Module: SwiftNav.SBP.Navigation
-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc.
-- License: LGPL-3
-- Maintainer: Swift Navigation <dev@swiftnav.com>
-- Stability: experimental
-- Portability: portable
--
-- Geodetic navigation messages reporting GPS time, position, velocity, and
-- baseline position solutions. For position solutions, these messages define
-- several different position solutions: single-point (SPP), RTK, and pseudo-
-- absolute position solutions. The SPP is the standalone, absolute GPS
-- position solution using only a single receiver. The RTK solution is the
-- differential GPS solution, which can use either a fixed/integer or floating
-- carrier phase ambiguity. The pseudo-absolute position solution uses a user-
-- provided, well-surveyed base station position (if available) and the RTK
-- solution in tandem. When the inertial navigation mode indicates that the
-- IMU is used, all messages are reported in the vehicle body frame as defined
-- by device settings. By default, the vehicle body frame is configured to be
-- coincident with the antenna phase center. When there is no inertial
-- navigation, the solution will be reported at the phase center of the
-- antenna.
module SwiftNav.SBP.Navigation
( module SwiftNav.SBP.Navigation
) where
import BasicPrelude
import Control.Lens
import Control.Monad.Loops
import Data.Binary
import Data.Binary.Get
import Data.Binary.IEEE754
import Data.Binary.Put
import Data.ByteString.Lazy hiding (ByteString)
import Data.Int
import Data.Word
import SwiftNav.SBP.TH
import SwiftNav.SBP.Types
{-# ANN module ("HLint: ignore Use camelCase"::String) #-}
{-# ANN module ("HLint: ignore Redundant do"::String) #-}
{-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-}
msgGpsTime :: Word16
msgGpsTime = 0x0102
-- | SBP class for message MSG_GPS_TIME (0x0102).
--
-- 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.
data MsgGpsTime = MsgGpsTime
{ _msgGpsTime_wn :: !uint32
-- ^ GPS week number
, _msgGpsTime_tow :: !uint32
-- ^ GPS time of week rounded to the nearest millisecond
, _msgGpsTime_ns_residual :: !sint32
-- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to
-- 500000)
, _msgGpsTime_flags :: !uint32
-- ^ Status flags (reserved)
} deriving ( Show, Read, Eq )
instance Binary MsgGpsTime where
get = do
_msgGpsTime_wn <- getWord16le
_msgGpsTime_tow <- getWord32le
_msgGpsTime_ns_residual <- fromIntegral <$> getWord32le
_msgGpsTime_flags <- getWord8
pure MsgGpsTime {..}
put MsgGpsTime {..} = do
putWord16le _msgGpsTime_wn
putWord32le _msgGpsTime_tow
putWord32le $ fromIntegral _msgGpsTime_ns_residual
putWord8 _msgGpsTime_flags
$(makeSBP 'msgGpsTime ''MsgGpsTime)
$(makeJSON "_msgGpsTime_" ''MsgGpsTime)
$(makeLenses ''MsgGpsTime)
msgUtcTime :: Word16
msgUtcTime = 0x0103
-- | SBP class for message MSG_UTC_TIME (0x0103).
--
-- 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.
data MsgUtcTime = MsgUtcTime
{ _msgUtcTime_flags :: !uint32
-- ^ Indicates source and time validity
, _msgUtcTime_tow :: !uint32
-- ^ GPS time of week rounded to the nearest millisecond
, _msgUtcTime_year :: !uint32
-- ^ Year
, _msgUtcTime_month :: !uint32
-- ^ Month (range 1 .. 12)
, _msgUtcTime_day :: !uint32
-- ^ days in the month (range 1-31)
, _msgUtcTime_hours :: !uint32
-- ^ hours of day (range 0-23)
, _msgUtcTime_minutes :: !uint32
-- ^ minutes of hour (range 0-59)
, _msgUtcTime_seconds :: !uint32
-- ^ seconds of minute (range 0-60) rounded down
, _msgUtcTime_ns :: !uint32
-- ^ nanoseconds of second (range 0-999999999)
} deriving ( Show, Read, Eq )
instance Binary MsgUtcTime where
get = do
_msgUtcTime_flags <- getWord8
_msgUtcTime_tow <- getWord32le
_msgUtcTime_year <- getWord16le
_msgUtcTime_month <- getWord8
_msgUtcTime_day <- getWord8
_msgUtcTime_hours <- getWord8
_msgUtcTime_minutes <- getWord8
_msgUtcTime_seconds <- getWord8
_msgUtcTime_ns <- getWord32le
pure MsgUtcTime {..}
put MsgUtcTime {..} = do
putWord8 _msgUtcTime_flags
putWord32le _msgUtcTime_tow
putWord16le _msgUtcTime_year
putWord8 _msgUtcTime_month
putWord8 _msgUtcTime_day
putWord8 _msgUtcTime_hours
putWord8 _msgUtcTime_minutes
putWord8 _msgUtcTime_seconds
putWord32le _msgUtcTime_ns
$(makeSBP 'msgUtcTime ''MsgUtcTime)
$(makeJSON "_msgUtcTime_" ''MsgUtcTime)
$(makeLenses ''MsgUtcTime)
msgDops :: Word16
msgDops = 0x0208
-- | SBP class for message MSG_DOPS (0x0208).
--
-- This dilution of precision (DOP) message describes the effect of navigation
-- satellite geometry on positional measurement precision. The flags field
-- indicated whether the DOP reported corresponds to differential or SPP
-- solution.
data MsgDops = MsgDops
{ _msgDops_tow :: !uint32
-- ^ GPS Time of Week
, _msgDops_gdop :: !uint32
-- ^ Geometric Dilution of Precision
, _msgDops_pdop :: !uint32
-- ^ Position Dilution of Precision
, _msgDops_tdop :: !uint32
-- ^ Time Dilution of Precision
, _msgDops_hdop :: !uint32
-- ^ Horizontal Dilution of Precision
, _msgDops_vdop :: !uint32
-- ^ Vertical Dilution of Precision
, _msgDops_flags :: !uint32
-- ^ Indicates the position solution with which the DOPS message corresponds
} deriving ( Show, Read, Eq )
instance Binary MsgDops where
get = do
_msgDops_tow <- getWord32le
_msgDops_gdop <- getWord16le
_msgDops_pdop <- getWord16le
_msgDops_tdop <- getWord16le
_msgDops_hdop <- getWord16le
_msgDops_vdop <- getWord16le
_msgDops_flags <- getWord8
pure MsgDops {..}
put MsgDops {..} = do
putWord32le _msgDops_tow
putWord16le _msgDops_gdop
putWord16le _msgDops_pdop
putWord16le _msgDops_tdop
putWord16le _msgDops_hdop
putWord16le _msgDops_vdop
putWord8 _msgDops_flags
$(makeSBP 'msgDops ''MsgDops)
$(makeJSON "_msgDops_" ''MsgDops)
$(makeLenses ''MsgDops)
msgPosEcef :: Word16
msgPosEcef = 0x0209
-- | SBP class for message MSG_POS_ECEF (0x0209).
--
-- 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).
data MsgPosEcef = MsgPosEcef
{ _msgPosEcef_tow :: !uint32
-- ^ GPS Time of Week
, _msgPosEcef_x :: !double
-- ^ ECEF X coordinate
, _msgPosEcef_y :: !double
-- ^ ECEF Y coordinate
, _msgPosEcef_z :: !double
-- ^ ECEF Z coordinate
, _msgPosEcef_accuracy :: !uint32
-- ^ Position estimated standard deviation
, _msgPosEcef_n_sats :: !uint32
-- ^ Number of satellites used in solution
, _msgPosEcef_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgPosEcef where
get = do
_msgPosEcef_tow <- getWord32le
_msgPosEcef_x <- getFloat64le
_msgPosEcef_y <- getFloat64le
_msgPosEcef_z <- getFloat64le
_msgPosEcef_accuracy <- getWord16le
_msgPosEcef_n_sats <- getWord8
_msgPosEcef_flags <- getWord8
pure MsgPosEcef {..}
put MsgPosEcef {..} = do
putWord32le _msgPosEcef_tow
putFloat64le _msgPosEcef_x
putFloat64le _msgPosEcef_y
putFloat64le _msgPosEcef_z
putWord16le _msgPosEcef_accuracy
putWord8 _msgPosEcef_n_sats
putWord8 _msgPosEcef_flags
$(makeSBP 'msgPosEcef ''MsgPosEcef)
$(makeJSON "_msgPosEcef_" ''MsgPosEcef)
$(makeLenses ''MsgPosEcef)
msgPosEcefCov :: Word16
msgPosEcefCov = 0x0214
-- | SBP class for message MSG_POS_ECEF_COV (0x0214).
--
-- 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. The message also reports the upper triangular portion
-- of the 3x3 covariance matrix. If the 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).
data MsgPosEcefCov = MsgPosEcefCov
{ _msgPosEcefCov_tow :: !uint32
-- ^ GPS Time of Week
, _msgPosEcefCov_x :: !double
-- ^ ECEF X coordinate
, _msgPosEcefCov_y :: !double
-- ^ ECEF Y coordinate
, _msgPosEcefCov_z :: !double
-- ^ ECEF Z coordinate
, _msgPosEcefCov_cov_x_x :: !float
-- ^ Estimated variance of x
, _msgPosEcefCov_cov_x_y :: !float
-- ^ Estimated covariance of x and y
, _msgPosEcefCov_cov_x_z :: !float
-- ^ Estimated covariance of x and z
, _msgPosEcefCov_cov_y_y :: !float
-- ^ Estimated variance of y
, _msgPosEcefCov_cov_y_z :: !float
-- ^ Estimated covariance of y and z
, _msgPosEcefCov_cov_z_z :: !float
-- ^ Estimated variance of z
, _msgPosEcefCov_n_sats :: !uint32
-- ^ Number of satellites used in solution
, _msgPosEcefCov_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgPosEcefCov where
get = do
_msgPosEcefCov_tow <- getWord32le
_msgPosEcefCov_x <- getFloat64le
_msgPosEcefCov_y <- getFloat64le
_msgPosEcefCov_z <- getFloat64le
_msgPosEcefCov_cov_x_x <- getFloat32le
_msgPosEcefCov_cov_x_y <- getFloat32le
_msgPosEcefCov_cov_x_z <- getFloat32le
_msgPosEcefCov_cov_y_y <- getFloat32le
_msgPosEcefCov_cov_y_z <- getFloat32le
_msgPosEcefCov_cov_z_z <- getFloat32le
_msgPosEcefCov_n_sats <- getWord8
_msgPosEcefCov_flags <- getWord8
pure MsgPosEcefCov {..}
put MsgPosEcefCov {..} = do
putWord32le _msgPosEcefCov_tow
putFloat64le _msgPosEcefCov_x
putFloat64le _msgPosEcefCov_y
putFloat64le _msgPosEcefCov_z
putFloat32le _msgPosEcefCov_cov_x_x
putFloat32le _msgPosEcefCov_cov_x_y
putFloat32le _msgPosEcefCov_cov_x_z
putFloat32le _msgPosEcefCov_cov_y_y
putFloat32le _msgPosEcefCov_cov_y_z
putFloat32le _msgPosEcefCov_cov_z_z
putWord8 _msgPosEcefCov_n_sats
putWord8 _msgPosEcefCov_flags
$(makeSBP 'msgPosEcefCov ''MsgPosEcefCov)
$(makeJSON "_msgPosEcefCov_" ''MsgPosEcefCov)
$(makeLenses ''MsgPosEcefCov)
msgPosLlh :: Word16
msgPosLlh = 0x020A
-- | SBP class for message MSG_POS_LLH (0x020A).
--
-- 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).
data MsgPosLlh = MsgPosLlh
{ _msgPosLlh_tow :: !uint32
-- ^ GPS Time of Week
, _msgPosLlh_lat :: !double
-- ^ Latitude
, _msgPosLlh_lon :: !double
-- ^ Longitude
, _msgPosLlh_height :: !double
-- ^ Height above WGS84 ellipsoid
, _msgPosLlh_h_accuracy :: !uint32
-- ^ Horizontal position estimated standard deviation
, _msgPosLlh_v_accuracy :: !uint32
-- ^ Vertical position estimated standard deviation
, _msgPosLlh_n_sats :: !uint32
-- ^ Number of satellites used in solution.
, _msgPosLlh_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgPosLlh where
get = do
_msgPosLlh_tow <- getWord32le
_msgPosLlh_lat <- getFloat64le
_msgPosLlh_lon <- getFloat64le
_msgPosLlh_height <- getFloat64le
_msgPosLlh_h_accuracy <- getWord16le
_msgPosLlh_v_accuracy <- getWord16le
_msgPosLlh_n_sats <- getWord8
_msgPosLlh_flags <- getWord8
pure MsgPosLlh {..}
put MsgPosLlh {..} = do
putWord32le _msgPosLlh_tow
putFloat64le _msgPosLlh_lat
putFloat64le _msgPosLlh_lon
putFloat64le _msgPosLlh_height
putWord16le _msgPosLlh_h_accuracy
putWord16le _msgPosLlh_v_accuracy
putWord8 _msgPosLlh_n_sats
putWord8 _msgPosLlh_flags
$(makeSBP 'msgPosLlh ''MsgPosLlh)
$(makeJSON "_msgPosLlh_" ''MsgPosLlh)
$(makeLenses ''MsgPosLlh)
msgPosLlhCov :: Word16
msgPosLlhCov = 0x0211
-- | SBP class for message MSG_POS_LLH_COV (0x0211).
--
-- 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 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.
data MsgPosLlhCov = MsgPosLlhCov
{ _msgPosLlhCov_tow :: !uint32
-- ^ GPS Time of Week
, _msgPosLlhCov_lat :: !double
-- ^ Latitude
, _msgPosLlhCov_lon :: !double
-- ^ Longitude
, _msgPosLlhCov_height :: !double
-- ^ Height above WGS84 ellipsoid
, _msgPosLlhCov_cov_n_n :: !float
-- ^ Estimated variance of northing
, _msgPosLlhCov_cov_n_e :: !float
-- ^ Covariance of northing and easting
, _msgPosLlhCov_cov_n_d :: !float
-- ^ Covariance of northing and downward measurement
, _msgPosLlhCov_cov_e_e :: !float
-- ^ Estimated variance of easting
, _msgPosLlhCov_cov_e_d :: !float
-- ^ Covariance of easting and downward measurement
, _msgPosLlhCov_cov_d_d :: !float
-- ^ Estimated variance of downward measurement
, _msgPosLlhCov_n_sats :: !uint32
-- ^ Number of satellites used in solution.
, _msgPosLlhCov_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgPosLlhCov where
get = do
_msgPosLlhCov_tow <- getWord32le
_msgPosLlhCov_lat <- getFloat64le
_msgPosLlhCov_lon <- getFloat64le
_msgPosLlhCov_height <- getFloat64le
_msgPosLlhCov_cov_n_n <- getFloat32le
_msgPosLlhCov_cov_n_e <- getFloat32le
_msgPosLlhCov_cov_n_d <- getFloat32le
_msgPosLlhCov_cov_e_e <- getFloat32le
_msgPosLlhCov_cov_e_d <- getFloat32le
_msgPosLlhCov_cov_d_d <- getFloat32le
_msgPosLlhCov_n_sats <- getWord8
_msgPosLlhCov_flags <- getWord8
pure MsgPosLlhCov {..}
put MsgPosLlhCov {..} = do
putWord32le _msgPosLlhCov_tow
putFloat64le _msgPosLlhCov_lat
putFloat64le _msgPosLlhCov_lon
putFloat64le _msgPosLlhCov_height
putFloat32le _msgPosLlhCov_cov_n_n
putFloat32le _msgPosLlhCov_cov_n_e
putFloat32le _msgPosLlhCov_cov_n_d
putFloat32le _msgPosLlhCov_cov_e_e
putFloat32le _msgPosLlhCov_cov_e_d
putFloat32le _msgPosLlhCov_cov_d_d
putWord8 _msgPosLlhCov_n_sats
putWord8 _msgPosLlhCov_flags
$(makeSBP 'msgPosLlhCov ''MsgPosLlhCov)
$(makeJSON "_msgPosLlhCov_" ''MsgPosLlhCov)
$(makeLenses ''MsgPosLlhCov)
msgBaselineEcef :: Word16
msgBaselineEcef = 0x020B
-- | SBP class for message MSG_BASELINE_ECEF (0x020B).
--
-- This message reports the baseline solution in Earth Centered Earth Fixed
-- (ECEF) coordinates. This baseline is the relative vector distance from the
-- base station to the rover receiver. The full GPS time is given by the
-- preceding MSG_GPS_TIME with the matching time-of-week (tow).
data MsgBaselineEcef = MsgBaselineEcef
{ _msgBaselineEcef_tow :: !uint32
-- ^ GPS Time of Week
, _msgBaselineEcef_x :: !sint32
-- ^ Baseline ECEF X coordinate
, _msgBaselineEcef_y :: !sint32
-- ^ Baseline ECEF Y coordinate
, _msgBaselineEcef_z :: !sint32
-- ^ Baseline ECEF Z coordinate
, _msgBaselineEcef_accuracy :: !uint32
-- ^ Position estimated standard deviation
, _msgBaselineEcef_n_sats :: !uint32
-- ^ Number of satellites used in solution
, _msgBaselineEcef_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgBaselineEcef where
get = do
_msgBaselineEcef_tow <- getWord32le
_msgBaselineEcef_x <- fromIntegral <$> getWord32le
_msgBaselineEcef_y <- fromIntegral <$> getWord32le
_msgBaselineEcef_z <- fromIntegral <$> getWord32le
_msgBaselineEcef_accuracy <- getWord16le
_msgBaselineEcef_n_sats <- getWord8
_msgBaselineEcef_flags <- getWord8
pure MsgBaselineEcef {..}
put MsgBaselineEcef {..} = do
putWord32le _msgBaselineEcef_tow
putWord32le $ fromIntegral _msgBaselineEcef_x
putWord32le $ fromIntegral _msgBaselineEcef_y
putWord32le $ fromIntegral _msgBaselineEcef_z
putWord16le _msgBaselineEcef_accuracy
putWord8 _msgBaselineEcef_n_sats
putWord8 _msgBaselineEcef_flags
$(makeSBP 'msgBaselineEcef ''MsgBaselineEcef)
$(makeJSON "_msgBaselineEcef_" ''MsgBaselineEcef)
$(makeLenses ''MsgBaselineEcef)
msgBaselineNed :: Word16
msgBaselineNed = 0x020C
-- | SBP class for message MSG_BASELINE_NED (0x020C).
--
-- This message reports the baseline solution in North East Down (NED)
-- coordinates. This baseline is the relative vector distance from the base
-- station to the rover receiver, and NED coordinate system is defined at the
-- local WGS84 tangent plane centered at the base station position. The full
-- GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-
-- week (tow).
data MsgBaselineNed = MsgBaselineNed
{ _msgBaselineNed_tow :: !uint32
-- ^ GPS Time of Week
, _msgBaselineNed_n :: !sint32
-- ^ Baseline North coordinate
, _msgBaselineNed_e :: !sint32
-- ^ Baseline East coordinate
, _msgBaselineNed_d :: !sint32
-- ^ Baseline Down coordinate
, _msgBaselineNed_h_accuracy :: !uint32
-- ^ Horizontal position estimated standard deviation
, _msgBaselineNed_v_accuracy :: !uint32
-- ^ Vertical position estimated standard deviation
, _msgBaselineNed_n_sats :: !uint32
-- ^ Number of satellites used in solution
, _msgBaselineNed_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgBaselineNed where
get = do
_msgBaselineNed_tow <- getWord32le
_msgBaselineNed_n <- fromIntegral <$> getWord32le
_msgBaselineNed_e <- fromIntegral <$> getWord32le
_msgBaselineNed_d <- fromIntegral <$> getWord32le
_msgBaselineNed_h_accuracy <- getWord16le
_msgBaselineNed_v_accuracy <- getWord16le
_msgBaselineNed_n_sats <- getWord8
_msgBaselineNed_flags <- getWord8
pure MsgBaselineNed {..}
put MsgBaselineNed {..} = do
putWord32le _msgBaselineNed_tow
putWord32le $ fromIntegral _msgBaselineNed_n
putWord32le $ fromIntegral _msgBaselineNed_e
putWord32le $ fromIntegral _msgBaselineNed_d
putWord16le _msgBaselineNed_h_accuracy
putWord16le _msgBaselineNed_v_accuracy
putWord8 _msgBaselineNed_n_sats
putWord8 _msgBaselineNed_flags
$(makeSBP 'msgBaselineNed ''MsgBaselineNed)
$(makeJSON "_msgBaselineNed_" ''MsgBaselineNed)
$(makeLenses ''MsgBaselineNed)
msgVelEcef :: Word16
msgVelEcef = 0x020D
-- | SBP class for message MSG_VEL_ECEF (0x020D).
--
-- This message reports the velocity in Earth Centered Earth Fixed (ECEF)
-- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with
-- the matching time-of-week (tow).
data MsgVelEcef = MsgVelEcef
{ _msgVelEcef_tow :: !uint32
-- ^ GPS Time of Week
, _msgVelEcef_x :: !sint32
-- ^ Velocity ECEF X coordinate
, _msgVelEcef_y :: !sint32
-- ^ Velocity ECEF Y coordinate
, _msgVelEcef_z :: !sint32
-- ^ Velocity ECEF Z coordinate
, _msgVelEcef_accuracy :: !uint32
-- ^ Velocity estimated standard deviation
, _msgVelEcef_n_sats :: !uint32
-- ^ Number of satellites used in solution
, _msgVelEcef_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgVelEcef where
get = do
_msgVelEcef_tow <- getWord32le
_msgVelEcef_x <- fromIntegral <$> getWord32le
_msgVelEcef_y <- fromIntegral <$> getWord32le
_msgVelEcef_z <- fromIntegral <$> getWord32le
_msgVelEcef_accuracy <- getWord16le
_msgVelEcef_n_sats <- getWord8
_msgVelEcef_flags <- getWord8
pure MsgVelEcef {..}
put MsgVelEcef {..} = do
putWord32le _msgVelEcef_tow
putWord32le $ fromIntegral _msgVelEcef_x
putWord32le $ fromIntegral _msgVelEcef_y
putWord32le $ fromIntegral _msgVelEcef_z
putWord16le _msgVelEcef_accuracy
putWord8 _msgVelEcef_n_sats
putWord8 _msgVelEcef_flags
$(makeSBP 'msgVelEcef ''MsgVelEcef)
$(makeJSON "_msgVelEcef_" ''MsgVelEcef)
$(makeLenses ''MsgVelEcef)
msgVelEcefCov :: Word16
msgVelEcefCov = 0x0215
-- | SBP class for message MSG_VEL_ECEF_COV (0x0215).
--
-- This message reports the velocity in Earth Centered Earth Fixed (ECEF)
-- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with
-- the matching time-of-week (tow).
data MsgVelEcefCov = MsgVelEcefCov
{ _msgVelEcefCov_tow :: !uint32
-- ^ GPS Time of Week
, _msgVelEcefCov_x :: !sint32
-- ^ Velocity ECEF X coordinate
, _msgVelEcefCov_y :: !sint32
-- ^ Velocity ECEF Y coordinate
, _msgVelEcefCov_z :: !sint32
-- ^ Velocity ECEF Z coordinate
, _msgVelEcefCov_cov_x_x :: !float
-- ^ Estimated variance of x
, _msgVelEcefCov_cov_x_y :: !float
-- ^ Estimated covariance of x and y
, _msgVelEcefCov_cov_x_z :: !float
-- ^ Estimated covariance of x and z
, _msgVelEcefCov_cov_y_y :: !float
-- ^ Estimated variance of y
, _msgVelEcefCov_cov_y_z :: !float
-- ^ Estimated covariance of y and z
, _msgVelEcefCov_cov_z_z :: !float
-- ^ Estimated variance of z
, _msgVelEcefCov_n_sats :: !uint32
-- ^ Number of satellites used in solution
, _msgVelEcefCov_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgVelEcefCov where
get = do
_msgVelEcefCov_tow <- getWord32le
_msgVelEcefCov_x <- fromIntegral <$> getWord32le
_msgVelEcefCov_y <- fromIntegral <$> getWord32le
_msgVelEcefCov_z <- fromIntegral <$> getWord32le
_msgVelEcefCov_cov_x_x <- getFloat32le
_msgVelEcefCov_cov_x_y <- getFloat32le
_msgVelEcefCov_cov_x_z <- getFloat32le
_msgVelEcefCov_cov_y_y <- getFloat32le
_msgVelEcefCov_cov_y_z <- getFloat32le
_msgVelEcefCov_cov_z_z <- getFloat32le
_msgVelEcefCov_n_sats <- getWord8
_msgVelEcefCov_flags <- getWord8
pure MsgVelEcefCov {..}
put MsgVelEcefCov {..} = do
putWord32le _msgVelEcefCov_tow
putWord32le $ fromIntegral _msgVelEcefCov_x
putWord32le $ fromIntegral _msgVelEcefCov_y
putWord32le $ fromIntegral _msgVelEcefCov_z
putFloat32le _msgVelEcefCov_cov_x_x
putFloat32le _msgVelEcefCov_cov_x_y
putFloat32le _msgVelEcefCov_cov_x_z
putFloat32le _msgVelEcefCov_cov_y_y
putFloat32le _msgVelEcefCov_cov_y_z
putFloat32le _msgVelEcefCov_cov_z_z
putWord8 _msgVelEcefCov_n_sats
putWord8 _msgVelEcefCov_flags
$(makeSBP 'msgVelEcefCov ''MsgVelEcefCov)
$(makeJSON "_msgVelEcefCov_" ''MsgVelEcefCov)
$(makeLenses ''MsgVelEcefCov)
msgVelNed :: Word16
msgVelNed = 0x020E
-- | SBP class for message MSG_VEL_NED (0x020E).
--
-- This message reports the velocity in local North East Down (NED)
-- coordinates. The NED coordinate system is defined as the local WGS84 tangent
-- plane centered at the current position. The full GPS time is given by the
-- preceding MSG_GPS_TIME with the matching time-of-week (tow).
data MsgVelNed = MsgVelNed
{ _msgVelNed_tow :: !uint32
-- ^ GPS Time of Week
, _msgVelNed_n :: !sint32
-- ^ Velocity North coordinate
, _msgVelNed_e :: !sint32
-- ^ Velocity East coordinate
, _msgVelNed_d :: !sint32
-- ^ Velocity Down coordinate
, _msgVelNed_h_accuracy :: !uint32
-- ^ Horizontal velocity estimated standard deviation
, _msgVelNed_v_accuracy :: !uint32
-- ^ Vertical velocity estimated standard deviation
, _msgVelNed_n_sats :: !uint32
-- ^ Number of satellites used in solution
, _msgVelNed_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgVelNed where
get = do
_msgVelNed_tow <- getWord32le
_msgVelNed_n <- fromIntegral <$> getWord32le
_msgVelNed_e <- fromIntegral <$> getWord32le
_msgVelNed_d <- fromIntegral <$> getWord32le
_msgVelNed_h_accuracy <- getWord16le
_msgVelNed_v_accuracy <- getWord16le
_msgVelNed_n_sats <- getWord8
_msgVelNed_flags <- getWord8
pure MsgVelNed {..}
put MsgVelNed {..} = do
putWord32le _msgVelNed_tow
putWord32le $ fromIntegral _msgVelNed_n
putWord32le $ fromIntegral _msgVelNed_e
putWord32le $ fromIntegral _msgVelNed_d
putWord16le _msgVelNed_h_accuracy
putWord16le _msgVelNed_v_accuracy
putWord8 _msgVelNed_n_sats
putWord8 _msgVelNed_flags
$(makeSBP 'msgVelNed ''MsgVelNed)
$(makeJSON "_msgVelNed_" ''MsgVelNed)
$(makeLenses ''MsgVelNed)
msgVelNedCov :: Word16
msgVelNedCov = 0x0212
-- | SBP class for message MSG_VEL_NED_COV (0x0212).
--
-- This message reports the velocity in local North East Down (NED)
-- coordinates. The NED coordinate system is defined as the local WGS84 tangent
-- plane centered at the current position. The full GPS time is given by the
-- preceding MSG_GPS_TIME with the matching time-of-week (tow). This message is
-- similar to the MSG_VEL_NED, but it includes the upper triangular portion of
-- the 3x3 covariance matrix.
data MsgVelNedCov = MsgVelNedCov
{ _msgVelNedCov_tow :: !uint32
-- ^ GPS Time of Week
, _msgVelNedCov_n :: !sint32
-- ^ Velocity North coordinate
, _msgVelNedCov_e :: !sint32
-- ^ Velocity East coordinate
, _msgVelNedCov_d :: !sint32
-- ^ Velocity Down coordinate
, _msgVelNedCov_cov_n_n :: !float
-- ^ Estimated variance of northward measurement
, _msgVelNedCov_cov_n_e :: !float
-- ^ Covariance of northward and eastward measurement
, _msgVelNedCov_cov_n_d :: !float
-- ^ Covariance of northward and downward measurement
, _msgVelNedCov_cov_e_e :: !float
-- ^ Estimated variance of eastward measurement
, _msgVelNedCov_cov_e_d :: !float
-- ^ Covariance of eastward and downward measurement
, _msgVelNedCov_cov_d_d :: !float
-- ^ Estimated variance of downward measurement
, _msgVelNedCov_n_sats :: !uint32
-- ^ Number of satellites used in solution
, _msgVelNedCov_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgVelNedCov where
get = do
_msgVelNedCov_tow <- getWord32le
_msgVelNedCov_n <- fromIntegral <$> getWord32le
_msgVelNedCov_e <- fromIntegral <$> getWord32le
_msgVelNedCov_d <- fromIntegral <$> getWord32le
_msgVelNedCov_cov_n_n <- getFloat32le
_msgVelNedCov_cov_n_e <- getFloat32le
_msgVelNedCov_cov_n_d <- getFloat32le
_msgVelNedCov_cov_e_e <- getFloat32le
_msgVelNedCov_cov_e_d <- getFloat32le
_msgVelNedCov_cov_d_d <- getFloat32le
_msgVelNedCov_n_sats <- getWord8
_msgVelNedCov_flags <- getWord8
pure MsgVelNedCov {..}
put MsgVelNedCov {..} = do
putWord32le _msgVelNedCov_tow
putWord32le $ fromIntegral _msgVelNedCov_n
putWord32le $ fromIntegral _msgVelNedCov_e
putWord32le $ fromIntegral _msgVelNedCov_d
putFloat32le _msgVelNedCov_cov_n_n
putFloat32le _msgVelNedCov_cov_n_e
putFloat32le _msgVelNedCov_cov_n_d
putFloat32le _msgVelNedCov_cov_e_e
putFloat32le _msgVelNedCov_cov_e_d
putFloat32le _msgVelNedCov_cov_d_d
putWord8 _msgVelNedCov_n_sats
putWord8 _msgVelNedCov_flags
$(makeSBP 'msgVelNedCov ''MsgVelNedCov)
$(makeJSON "_msgVelNedCov_" ''MsgVelNedCov)
$(makeLenses ''MsgVelNedCov)
msgVelBody :: Word16
msgVelBody = 0x0213
-- | SBP class for message MSG_VEL_BODY (0x0213).
--
-- This message reports the velocity in the Vehicle Body Frame. By convention,
-- the x-axis should point out the nose of the vehicle and represent the
-- forward direction, while as the y-axis should point out the right hand side
-- of the vehicle. Since this is a right handed system, z should point out the
-- bottom of the vehicle. The orientation and origin of the Vehicle Body Frame
-- are specified via the device settings. The full GPS time is given by the
-- preceding MSG_GPS_TIME with the matching time-of-week (tow).
data MsgVelBody = MsgVelBody
{ _msgVelBody_tow :: !uint32
-- ^ GPS Time of Week
, _msgVelBody_x :: !sint32
-- ^ Velocity in x direction
, _msgVelBody_y :: !sint32
-- ^ Velocity in y direction
, _msgVelBody_z :: !sint32
-- ^ Velocity in z direction
, _msgVelBody_cov_x_x :: !float
-- ^ Estimated variance of x
, _msgVelBody_cov_x_y :: !float
-- ^ Covariance of x and y
, _msgVelBody_cov_x_z :: !float
-- ^ Covariance of x and z
, _msgVelBody_cov_y_y :: !float
-- ^ Estimated variance of y
, _msgVelBody_cov_y_z :: !float
-- ^ Covariance of y and z
, _msgVelBody_cov_z_z :: !float
-- ^ Estimated variance of z
, _msgVelBody_n_sats :: !uint32
-- ^ Number of satellites used in solution
, _msgVelBody_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgVelBody where
get = do
_msgVelBody_tow <- getWord32le
_msgVelBody_x <- fromIntegral <$> getWord32le
_msgVelBody_y <- fromIntegral <$> getWord32le
_msgVelBody_z <- fromIntegral <$> getWord32le
_msgVelBody_cov_x_x <- getFloat32le
_msgVelBody_cov_x_y <- getFloat32le
_msgVelBody_cov_x_z <- getFloat32le
_msgVelBody_cov_y_y <- getFloat32le
_msgVelBody_cov_y_z <- getFloat32le
_msgVelBody_cov_z_z <- getFloat32le
_msgVelBody_n_sats <- getWord8
_msgVelBody_flags <- getWord8
pure MsgVelBody {..}
put MsgVelBody {..} = do
putWord32le _msgVelBody_tow
putWord32le $ fromIntegral _msgVelBody_x
putWord32le $ fromIntegral _msgVelBody_y
putWord32le $ fromIntegral _msgVelBody_z
putFloat32le _msgVelBody_cov_x_x
putFloat32le _msgVelBody_cov_x_y
putFloat32le _msgVelBody_cov_x_z
putFloat32le _msgVelBody_cov_y_y
putFloat32le _msgVelBody_cov_y_z
putFloat32le _msgVelBody_cov_z_z
putWord8 _msgVelBody_n_sats
putWord8 _msgVelBody_flags
$(makeSBP 'msgVelBody ''MsgVelBody)
$(makeJSON "_msgVelBody_" ''MsgVelBody)
$(makeLenses ''MsgVelBody)
msgAgeCorrections :: Word16
msgAgeCorrections = 0x0210
-- | SBP class for message MSG_AGE_CORRECTIONS (0x0210).
--
-- This message reports the Age of the corrections used for the current
-- Differential solution
data MsgAgeCorrections = MsgAgeCorrections
{ _msgAgeCorrections_tow :: !uint32
-- ^ GPS Time of Week
, _msgAgeCorrections_age :: !uint32
-- ^ Age of the corrections (0xFFFF indicates invalid)
} deriving ( Show, Read, Eq )
instance Binary MsgAgeCorrections where
get = do
_msgAgeCorrections_tow <- getWord32le
_msgAgeCorrections_age <- getWord16le
pure MsgAgeCorrections {..}
put MsgAgeCorrections {..} = do
putWord32le _msgAgeCorrections_tow
putWord16le _msgAgeCorrections_age
$(makeSBP 'msgAgeCorrections ''MsgAgeCorrections)
$(makeJSON "_msgAgeCorrections_" ''MsgAgeCorrections)
$(makeLenses ''MsgAgeCorrections)
msgGpsTimeDepA :: Word16
msgGpsTimeDepA = 0x0100
-- | SBP class for message MSG_GPS_TIME_DEP_A (0x0100).
--
-- This message reports the GPS time, representing the time since the GPS epoch
-- began on midnight January 6, 1980 UTC. GPS time counts the weeks and seconds
-- of the week. The weeks begin at the Saturday/Sunday transition. GPS week 0
-- began at the beginning of the GPS time scale. Within each week number, the
-- GPS time of the week is between between 0 and 604800 seconds (=60*60*24*7).
-- Note that GPS time does not accumulate leap seconds, and as of now, has a
-- small offset from UTC. In a message stream, this message precedes a set of
-- other navigation messages referenced to the same time (but lacking the ns
-- field) and indicates a more precise time of these messages.
data MsgGpsTimeDepA = MsgGpsTimeDepA
{ _msgGpsTimeDepA_wn :: !uint32
-- ^ GPS week number
, _msgGpsTimeDepA_tow :: !uint32
-- ^ GPS time of week rounded to the nearest millisecond
, _msgGpsTimeDepA_ns_residual :: !sint32
-- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to
-- 500000)
, _msgGpsTimeDepA_flags :: !uint32
-- ^ Status flags (reserved)
} deriving ( Show, Read, Eq )
instance Binary MsgGpsTimeDepA where
get = do
_msgGpsTimeDepA_wn <- getWord16le
_msgGpsTimeDepA_tow <- getWord32le
_msgGpsTimeDepA_ns_residual <- fromIntegral <$> getWord32le
_msgGpsTimeDepA_flags <- getWord8
pure MsgGpsTimeDepA {..}
put MsgGpsTimeDepA {..} = do
putWord16le _msgGpsTimeDepA_wn
putWord32le _msgGpsTimeDepA_tow
putWord32le $ fromIntegral _msgGpsTimeDepA_ns_residual
putWord8 _msgGpsTimeDepA_flags
$(makeSBP 'msgGpsTimeDepA ''MsgGpsTimeDepA)
$(makeJSON "_msgGpsTimeDepA_" ''MsgGpsTimeDepA)
$(makeLenses ''MsgGpsTimeDepA)
msgDopsDepA :: Word16
msgDopsDepA = 0x0206
-- | 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.
data MsgDopsDepA = MsgDopsDepA
{ _msgDopsDepA_tow :: !uint32
-- ^ GPS Time of Week
, _msgDopsDepA_gdop :: !uint32
-- ^ Geometric Dilution of Precision
, _msgDopsDepA_pdop :: !uint32
-- ^ Position Dilution of Precision
, _msgDopsDepA_tdop :: !uint32
-- ^ Time Dilution of Precision
, _msgDopsDepA_hdop :: !uint32
-- ^ Horizontal Dilution of Precision
, _msgDopsDepA_vdop :: !uint32
-- ^ Vertical Dilution of Precision
} deriving ( Show, Read, Eq )
instance Binary MsgDopsDepA where
get = do
_msgDopsDepA_tow <- getWord32le
_msgDopsDepA_gdop <- getWord16le
_msgDopsDepA_pdop <- getWord16le
_msgDopsDepA_tdop <- getWord16le
_msgDopsDepA_hdop <- getWord16le
_msgDopsDepA_vdop <- getWord16le
pure MsgDopsDepA {..}
put MsgDopsDepA {..} = do
putWord32le _msgDopsDepA_tow
putWord16le _msgDopsDepA_gdop
putWord16le _msgDopsDepA_pdop
putWord16le _msgDopsDepA_tdop
putWord16le _msgDopsDepA_hdop
putWord16le _msgDopsDepA_vdop
$(makeSBP 'msgDopsDepA ''MsgDopsDepA)
$(makeJSON "_msgDopsDepA_" ''MsgDopsDepA)
$(makeLenses ''MsgDopsDepA)
msgPosEcefDepA :: Word16
msgPosEcefDepA = 0x0200
-- | 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).
data MsgPosEcefDepA = MsgPosEcefDepA
{ _msgPosEcefDepA_tow :: !uint32
-- ^ GPS Time of Week
, _msgPosEcefDepA_x :: !double
-- ^ ECEF X coordinate
, _msgPosEcefDepA_y :: !double
-- ^ ECEF Y coordinate
, _msgPosEcefDepA_z :: !double
-- ^ ECEF Z coordinate
, _msgPosEcefDepA_accuracy :: !uint32
-- ^ Position accuracy estimate (not implemented). Defaults to 0.
, _msgPosEcefDepA_n_sats :: !uint32
-- ^ Number of satellites used in solution
, _msgPosEcefDepA_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgPosEcefDepA where
get = do
_msgPosEcefDepA_tow <- getWord32le
_msgPosEcefDepA_x <- getFloat64le
_msgPosEcefDepA_y <- getFloat64le
_msgPosEcefDepA_z <- getFloat64le
_msgPosEcefDepA_accuracy <- getWord16le
_msgPosEcefDepA_n_sats <- getWord8
_msgPosEcefDepA_flags <- getWord8
pure MsgPosEcefDepA {..}
put MsgPosEcefDepA {..} = do
putWord32le _msgPosEcefDepA_tow
putFloat64le _msgPosEcefDepA_x
putFloat64le _msgPosEcefDepA_y
putFloat64le _msgPosEcefDepA_z
putWord16le _msgPosEcefDepA_accuracy
putWord8 _msgPosEcefDepA_n_sats
putWord8 _msgPosEcefDepA_flags
$(makeSBP 'msgPosEcefDepA ''MsgPosEcefDepA)
$(makeJSON "_msgPosEcefDepA_" ''MsgPosEcefDepA)
$(makeLenses ''MsgPosEcefDepA)
msgPosLlhDepA :: Word16
msgPosLlhDepA = 0x0201
-- | 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).
data MsgPosLlhDepA = MsgPosLlhDepA
{ _msgPosLlhDepA_tow :: !uint32
-- ^ GPS Time of Week
, _msgPosLlhDepA_lat :: !double
-- ^ Latitude
, _msgPosLlhDepA_lon :: !double
-- ^ Longitude
, _msgPosLlhDepA_height :: !double
-- ^ Height
, _msgPosLlhDepA_h_accuracy :: !uint32
-- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0.
, _msgPosLlhDepA_v_accuracy :: !uint32
-- ^ Vertical position accuracy estimate (not implemented). Defaults to 0.
, _msgPosLlhDepA_n_sats :: !uint32
-- ^ Number of satellites used in solution.
, _msgPosLlhDepA_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgPosLlhDepA where
get = do
_msgPosLlhDepA_tow <- getWord32le
_msgPosLlhDepA_lat <- getFloat64le
_msgPosLlhDepA_lon <- getFloat64le
_msgPosLlhDepA_height <- getFloat64le
_msgPosLlhDepA_h_accuracy <- getWord16le
_msgPosLlhDepA_v_accuracy <- getWord16le
_msgPosLlhDepA_n_sats <- getWord8
_msgPosLlhDepA_flags <- getWord8
pure MsgPosLlhDepA {..}
put MsgPosLlhDepA {..} = do
putWord32le _msgPosLlhDepA_tow
putFloat64le _msgPosLlhDepA_lat
putFloat64le _msgPosLlhDepA_lon
putFloat64le _msgPosLlhDepA_height
putWord16le _msgPosLlhDepA_h_accuracy
putWord16le _msgPosLlhDepA_v_accuracy
putWord8 _msgPosLlhDepA_n_sats
putWord8 _msgPosLlhDepA_flags
$(makeSBP 'msgPosLlhDepA ''MsgPosLlhDepA)
$(makeJSON "_msgPosLlhDepA_" ''MsgPosLlhDepA)
$(makeLenses ''MsgPosLlhDepA)
msgBaselineEcefDepA :: Word16
msgBaselineEcefDepA = 0x0202
-- | SBP class for message MSG_BASELINE_ECEF_DEP_A (0x0202).
--
-- This message reports the baseline solution in Earth Centered Earth Fixed
-- (ECEF) coordinates. This baseline is the relative vector distance from the
-- base station to the rover receiver. The full GPS time is given by the
-- preceding MSG_GPS_TIME with the matching time-of-week (tow).
data MsgBaselineEcefDepA = MsgBaselineEcefDepA
{ _msgBaselineEcefDepA_tow :: !uint32
-- ^ GPS Time of Week
, _msgBaselineEcefDepA_x :: !sint32
-- ^ Baseline ECEF X coordinate
, _msgBaselineEcefDepA_y :: !sint32
-- ^ Baseline ECEF Y coordinate
, _msgBaselineEcefDepA_z :: !sint32
-- ^ Baseline ECEF Z coordinate
, _msgBaselineEcefDepA_accuracy :: !uint32
-- ^ Position accuracy estimate
, _msgBaselineEcefDepA_n_sats :: !uint32
-- ^ Number of satellites used in solution
, _msgBaselineEcefDepA_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgBaselineEcefDepA where
get = do
_msgBaselineEcefDepA_tow <- getWord32le
_msgBaselineEcefDepA_x <- fromIntegral <$> getWord32le
_msgBaselineEcefDepA_y <- fromIntegral <$> getWord32le
_msgBaselineEcefDepA_z <- fromIntegral <$> getWord32le
_msgBaselineEcefDepA_accuracy <- getWord16le
_msgBaselineEcefDepA_n_sats <- getWord8
_msgBaselineEcefDepA_flags <- getWord8
pure MsgBaselineEcefDepA {..}
put MsgBaselineEcefDepA {..} = do
putWord32le _msgBaselineEcefDepA_tow
putWord32le $ fromIntegral _msgBaselineEcefDepA_x
putWord32le $ fromIntegral _msgBaselineEcefDepA_y
putWord32le $ fromIntegral _msgBaselineEcefDepA_z
putWord16le _msgBaselineEcefDepA_accuracy
putWord8 _msgBaselineEcefDepA_n_sats
putWord8 _msgBaselineEcefDepA_flags
$(makeSBP 'msgBaselineEcefDepA ''MsgBaselineEcefDepA)
$(makeJSON "_msgBaselineEcefDepA_" ''MsgBaselineEcefDepA)
$(makeLenses ''MsgBaselineEcefDepA)
msgBaselineNedDepA :: Word16
msgBaselineNedDepA = 0x0203
-- | SBP class for message MSG_BASELINE_NED_DEP_A (0x0203).
--
-- This message reports the baseline solution in North East Down (NED)
-- coordinates. This baseline is the relative vector distance from the base
-- station to the rover receiver, and NED coordinate system is defined at the
-- local WGS84 tangent plane centered at the base station position. The full
-- GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-
-- week (tow).
data MsgBaselineNedDepA = MsgBaselineNedDepA
{ _msgBaselineNedDepA_tow :: !uint32
-- ^ GPS Time of Week
, _msgBaselineNedDepA_n :: !sint32
-- ^ Baseline North coordinate
, _msgBaselineNedDepA_e :: !sint32
-- ^ Baseline East coordinate
, _msgBaselineNedDepA_d :: !sint32
-- ^ Baseline Down coordinate
, _msgBaselineNedDepA_h_accuracy :: !uint32
-- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0.
, _msgBaselineNedDepA_v_accuracy :: !uint32
-- ^ Vertical position accuracy estimate (not implemented). Defaults to 0.
, _msgBaselineNedDepA_n_sats :: !uint32
-- ^ Number of satellites used in solution
, _msgBaselineNedDepA_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgBaselineNedDepA where
get = do
_msgBaselineNedDepA_tow <- getWord32le
_msgBaselineNedDepA_n <- fromIntegral <$> getWord32le
_msgBaselineNedDepA_e <- fromIntegral <$> getWord32le
_msgBaselineNedDepA_d <- fromIntegral <$> getWord32le
_msgBaselineNedDepA_h_accuracy <- getWord16le
_msgBaselineNedDepA_v_accuracy <- getWord16le
_msgBaselineNedDepA_n_sats <- getWord8
_msgBaselineNedDepA_flags <- getWord8
pure MsgBaselineNedDepA {..}
put MsgBaselineNedDepA {..} = do
putWord32le _msgBaselineNedDepA_tow
putWord32le $ fromIntegral _msgBaselineNedDepA_n
putWord32le $ fromIntegral _msgBaselineNedDepA_e
putWord32le $ fromIntegral _msgBaselineNedDepA_d
putWord16le _msgBaselineNedDepA_h_accuracy
putWord16le _msgBaselineNedDepA_v_accuracy
putWord8 _msgBaselineNedDepA_n_sats
putWord8 _msgBaselineNedDepA_flags
$(makeSBP 'msgBaselineNedDepA ''MsgBaselineNedDepA)
$(makeJSON "_msgBaselineNedDepA_" ''MsgBaselineNedDepA)
$(makeLenses ''MsgBaselineNedDepA)
msgVelEcefDepA :: Word16
msgVelEcefDepA = 0x0204
-- | SBP class for message MSG_VEL_ECEF_DEP_A (0x0204).
--
-- This message reports the velocity in Earth Centered Earth Fixed (ECEF)
-- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with
-- the matching time-of-week (tow).
data MsgVelEcefDepA = MsgVelEcefDepA
{ _msgVelEcefDepA_tow :: !uint32
-- ^ GPS Time of Week
, _msgVelEcefDepA_x :: !sint32
-- ^ Velocity ECEF X coordinate
, _msgVelEcefDepA_y :: !sint32
-- ^ Velocity ECEF Y coordinate
, _msgVelEcefDepA_z :: !sint32
-- ^ Velocity ECEF Z coordinate
, _msgVelEcefDepA_accuracy :: !uint32
-- ^ Velocity accuracy estimate (not implemented). Defaults to 0.
, _msgVelEcefDepA_n_sats :: !uint32
-- ^ Number of satellites used in solution
, _msgVelEcefDepA_flags :: !uint32
-- ^ Status flags (reserved)
} deriving ( Show, Read, Eq )
instance Binary MsgVelEcefDepA where
get = do
_msgVelEcefDepA_tow <- getWord32le
_msgVelEcefDepA_x <- fromIntegral <$> getWord32le
_msgVelEcefDepA_y <- fromIntegral <$> getWord32le
_msgVelEcefDepA_z <- fromIntegral <$> getWord32le
_msgVelEcefDepA_accuracy <- getWord16le
_msgVelEcefDepA_n_sats <- getWord8
_msgVelEcefDepA_flags <- getWord8
pure MsgVelEcefDepA {..}
put MsgVelEcefDepA {..} = do
putWord32le _msgVelEcefDepA_tow
putWord32le $ fromIntegral _msgVelEcefDepA_x
putWord32le $ fromIntegral _msgVelEcefDepA_y
putWord32le $ fromIntegral _msgVelEcefDepA_z
putWord16le _msgVelEcefDepA_accuracy
putWord8 _msgVelEcefDepA_n_sats
putWord8 _msgVelEcefDepA_flags
$(makeSBP 'msgVelEcefDepA ''MsgVelEcefDepA)
$(makeJSON "_msgVelEcefDepA_" ''MsgVelEcefDepA)
$(makeLenses ''MsgVelEcefDepA)
msgVelNedDepA :: Word16
msgVelNedDepA = 0x0205
-- | SBP class for message MSG_VEL_NED_DEP_A (0x0205).
--
-- This message reports the velocity in local North East Down (NED)
-- coordinates. The NED coordinate system is defined as the local WGS84 tangent
-- plane centered at the current position. The full GPS time is given by the
-- preceding MSG_GPS_TIME with the matching time-of-week (tow).
data MsgVelNedDepA = MsgVelNedDepA
{ _msgVelNedDepA_tow :: !uint32
-- ^ GPS Time of Week
, _msgVelNedDepA_n :: !sint32
-- ^ Velocity North coordinate
, _msgVelNedDepA_e :: !sint32
-- ^ Velocity East coordinate
, _msgVelNedDepA_d :: !sint32
-- ^ Velocity Down coordinate
, _msgVelNedDepA_h_accuracy :: !uint32
-- ^ Horizontal velocity accuracy estimate (not implemented). Defaults to 0.
, _msgVelNedDepA_v_accuracy :: !uint32
-- ^ Vertical velocity accuracy estimate (not implemented). Defaults to 0.
, _msgVelNedDepA_n_sats :: !uint32
-- ^ Number of satellites used in solution
, _msgVelNedDepA_flags :: !uint32
-- ^ Status flags (reserved)
} deriving ( Show, Read, Eq )
instance Binary MsgVelNedDepA where
get = do
_msgVelNedDepA_tow <- getWord32le
_msgVelNedDepA_n <- fromIntegral <$> getWord32le
_msgVelNedDepA_e <- fromIntegral <$> getWord32le
_msgVelNedDepA_d <- fromIntegral <$> getWord32le
_msgVelNedDepA_h_accuracy <- getWord16le
_msgVelNedDepA_v_accuracy <- getWord16le
_msgVelNedDepA_n_sats <- getWord8
_msgVelNedDepA_flags <- getWord8
pure MsgVelNedDepA {..}
put MsgVelNedDepA {..} = do
putWord32le _msgVelNedDepA_tow
putWord32le $ fromIntegral _msgVelNedDepA_n
putWord32le $ fromIntegral _msgVelNedDepA_e
putWord32le $ fromIntegral _msgVelNedDepA_d
putWord16le _msgVelNedDepA_h_accuracy
putWord16le _msgVelNedDepA_v_accuracy
putWord8 _msgVelNedDepA_n_sats
putWord8 _msgVelNedDepA_flags
$(makeSBP 'msgVelNedDepA ''MsgVelNedDepA)
$(makeJSON "_msgVelNedDepA_" ''MsgVelNedDepA)
$(makeLenses ''MsgVelNedDepA)
msgBaselineHeadingDepA :: Word16
msgBaselineHeadingDepA = 0x0207
-- | 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).
data MsgBaselineHeadingDepA = MsgBaselineHeadingDepA
{ _msgBaselineHeadingDepA_tow :: !uint32
-- ^ GPS Time of Week
, _msgBaselineHeadingDepA_heading :: !uint32
-- ^ Heading
, _msgBaselineHeadingDepA_n_sats :: !uint32
-- ^ Number of satellites used in solution
, _msgBaselineHeadingDepA_flags :: !uint32
-- ^ Status flags
} deriving ( Show, Read, Eq )
instance Binary MsgBaselineHeadingDepA where
get = do
_msgBaselineHeadingDepA_tow <- getWord32le
_msgBaselineHeadingDepA_heading <- getWord32le
_msgBaselineHeadingDepA_n_sats <- getWord8
_msgBaselineHeadingDepA_flags <- getWord8
pure MsgBaselineHeadingDepA {..}
put MsgBaselineHeadingDepA {..} = do
putWord32le _msgBaselineHeadingDepA_tow
putWord32le _msgBaselineHeadingDepA_heading
putWord8 _msgBaselineHeadingDepA_n_sats
putWord8 _msgBaselineHeadingDepA_flags
$(makeSBP 'msgBaselineHeadingDepA ''MsgBaselineHeadingDepA)
$(makeJSON "_msgBaselineHeadingDepA_" ''MsgBaselineHeadingDepA)
$(makeLenses ''MsgBaselineHeadingDepA)