From afa7337eab8ead193bfdded5b4ae66c204eaaa8f Mon Sep 17 00:00:00 2001 From: Asfandyar Ashraf Malik Date: Wed, 21 Aug 2013 16:58:23 +0200 Subject: [PATCH 01/12] rtklib: Add message definitions for raw measurements --- rtklib/msg/alm_t.msg | 23 +++++++++++++++++++ rtklib/msg/dgps_t.msg | 10 +++++++++ rtklib/msg/eph_t.msg | 44 ++++++++++++++++++++++++++++++++++++ rtklib/msg/geph_t.msg | 18 +++++++++++++++ rtklib/msg/gtec_t.msg | 9 ++++++++ rtklib/msg/lexeph_t.msg | 18 +++++++++++++++ rtklib/msg/lexion_t.msg | 6 +++++ rtklib/msg/nav_t.msg | 47 +++++++++++++++++++++++++++++++++++++++ rtklib/msg/obs_t.msg | 5 +++++ rtklib/msg/obsd_t.msg | 11 +++++++++ rtklib/msg/pcv_t.msg | 12 ++++++++++ rtklib/msg/peph_t.msg | 7 ++++++ rtklib/msg/sbsfcorr_t.msg | 12 ++++++++++ rtklib/msg/sbsigp_t.msg | 8 +++++++ rtklib/msg/sbsion_t.msg | 5 +++++ rtklib/msg/sbslcorr_t.msg | 10 +++++++++ rtklib/msg/sbssat_t.msg | 7 ++++++ rtklib/msg/sbssatp_t.msg | 6 +++++ rtklib/msg/seph_t.msg | 15 +++++++++++++ rtklib/msg/ssr_t.msg | 17 ++++++++++++++ rtklib/msg/sta_t.msg | 17 ++++++++++++++ rtklib/msg/tec_t.msg | 12 ++++++++++ 22 files changed, 319 insertions(+) create mode 100644 rtklib/msg/alm_t.msg create mode 100644 rtklib/msg/dgps_t.msg create mode 100644 rtklib/msg/eph_t.msg create mode 100644 rtklib/msg/geph_t.msg create mode 100644 rtklib/msg/gtec_t.msg create mode 100644 rtklib/msg/lexeph_t.msg create mode 100644 rtklib/msg/lexion_t.msg create mode 100644 rtklib/msg/nav_t.msg create mode 100644 rtklib/msg/obs_t.msg create mode 100644 rtklib/msg/obsd_t.msg create mode 100644 rtklib/msg/pcv_t.msg create mode 100644 rtklib/msg/peph_t.msg create mode 100644 rtklib/msg/sbsfcorr_t.msg create mode 100644 rtklib/msg/sbsigp_t.msg create mode 100644 rtklib/msg/sbsion_t.msg create mode 100644 rtklib/msg/sbslcorr_t.msg create mode 100644 rtklib/msg/sbssat_t.msg create mode 100644 rtklib/msg/sbssatp_t.msg create mode 100644 rtklib/msg/seph_t.msg create mode 100644 rtklib/msg/ssr_t.msg create mode 100644 rtklib/msg/sta_t.msg create mode 100644 rtklib/msg/tec_t.msg diff --git a/rtklib/msg/alm_t.msg b/rtklib/msg/alm_t.msg new file mode 100644 index 0000000..63829c4 --- /dev/null +++ b/rtklib/msg/alm_t.msg @@ -0,0 +1,23 @@ +# almanac type + +int32 sat # satellite number +int32 svh # sv health (0:ok) +int32 svconf # as and sv config +int32 week # GPS/QZS: gps week, GAL: galileo week + +time toa # Toa + +# SV orbit parameters +float64 A +float64 e +float64 i0 +float64 OMG0 +float64 omg +float64 M0 +float64 OMGd + +float64 toas # Toa (s) in week + +# SV clock parameters (af0,af1) +float64 f0 +float64 f1 \ No newline at end of file diff --git a/rtklib/msg/dgps_t.msg b/rtklib/msg/dgps_t.msg new file mode 100644 index 0000000..c702d23 --- /dev/null +++ b/rtklib/msg/dgps_t.msg @@ -0,0 +1,10 @@ +# DGPS/GNSS correction type + +time t0 # correction time + +float64 prc # pseudorange correction (PRC) (m) +float64 rrc # range rate correction (RRC) (m/s) + +int32 iod # issue of data (IOD) + +float64 udre # UDRE \ No newline at end of file diff --git a/rtklib/msg/eph_t.msg b/rtklib/msg/eph_t.msg new file mode 100644 index 0000000..a20b502 --- /dev/null +++ b/rtklib/msg/eph_t.msg @@ -0,0 +1,44 @@ +# GPS/QZS/GAL broadcast ephemeris type + +int32 sat # satellite number */ +int32 iode # IODE,IODC */ +int32 iodc +int32 sva # SV accuracy (URA index) */ +int32 svh # SV health (0:ok) */ +int32 week # GPS/QZS: gps week, GAL: galileo week */ +int32 code # GPS/QZS: code on L2, GAL: data sources */ +int32 flag # GPS/QZS: L2 P data flag */ + +# Toe,Toc,T_trans +time toe +time toc +time ttr + +# SV orbit parameters +float64 A +float64 e +float64 i0 +float64 OMG0 +float64 omg +float64 M0 +float64 deln +float64 OMGd +float64 idot +float64 crc +float64 crs +float64 cuc +float64 cus +float64 cic +float64 cis + +float64 toes # Toe (s) in week */ +float64 fit # fit interval (h) */ + +# SV clock parameters (af0,af1,af2) +float64 f0 +float64 f1 +float64 f2 + +float64[4] tgd # group delay parameters || GPS/QZS:tgd[0]=TGD + # GAL:tgd[0]=BGD || 5a/E1,tgd[1]=BGD E5b/E1 + diff --git a/rtklib/msg/geph_t.msg b/rtklib/msg/geph_t.msg new file mode 100644 index 0000000..f381259 --- /dev/null +++ b/rtklib/msg/geph_t.msg @@ -0,0 +1,18 @@ +# GLONASS broadcast ephemeris type + +int32 sat # satellite number +int32 iode # IODE (0-6 bit of tb field) +int32 frq # satellite frequency number +int32 svh # satellite health +int32 sva # satellite accuracy +int32 age # satellite age of operation + +time toe # epoch of epherides (gpst) +time tof # message frame time (gpst) + +float64[3] pos # satellite position (ecef) (m) +float64[3] vel # satellite velocity (ecef) (m/s) +float64[3] acc # satellite acceleration (ecef) (m/s^2) +float64 taun # SV clock bias (s) +float64 gamn # relative freq bias +float64 dtaun # delay between L1 and L2 (s) \ No newline at end of file diff --git a/rtklib/msg/gtec_t.msg b/rtklib/msg/gtec_t.msg new file mode 100644 index 0000000..c47f8ea --- /dev/null +++ b/rtklib/msg/gtec_t.msg @@ -0,0 +1,9 @@ +# G_TEC type + +time time # epoch time (GPST) + +int32 sat # satellite number +int32 ntype # number of stec data types +int32 ndata # number of stec data + +float32[] data # G_TEC data \ No newline at end of file diff --git a/rtklib/msg/lexeph_t.msg b/rtklib/msg/lexeph_t.msg new file mode 100644 index 0000000..e39e9b5 --- /dev/null +++ b/rtklib/msg/lexeph_t.msg @@ -0,0 +1,18 @@ + # QZSS LEX ephemeris type + +time toe # epoch time (GPST) +time tof # message frame time (GPST) + +int32 sat # satellite + +uint8 health # signal health (L1,L2,L1C,L5,LEX) +uint8 ura # URA index + +float64[3] pos # satellite position (m) +float64[3] vel # satellite velocity (m/s) +float64[3] acc # satellite acceleration (m/s2) +float64[3] jerk # satellite jerk (m/s3) +float64 af0 # satellite clock bias +float64 af1 # satellite clock drift (s,s/s) +float64 tgd # TGD +float64[8] isc # ISC \ No newline at end of file diff --git a/rtklib/msg/lexion_t.msg b/rtklib/msg/lexion_t.msg new file mode 100644 index 0000000..838d488 --- /dev/null +++ b/rtklib/msg/lexion_t.msg @@ -0,0 +1,6 @@ +# QZSS LEX ionosphere correction type + +time t0 # epoch time (GPST) +float64 tspan # valid time span (s) +float64[2] pos0 # reference position {lat,lon} (rad) +#float64[3][2] coefs # coefficients lat x lon (3 x 2) \ No newline at end of file diff --git a/rtklib/msg/nav_t.msg b/rtklib/msg/nav_t.msg new file mode 100644 index 0000000..76425cc --- /dev/null +++ b/rtklib/msg/nav_t.msg @@ -0,0 +1,47 @@ +# navigation data type + +int32 n # number of broadcast ephemeris +int32 nmax +int32 ng # number of glonass ephemeris +int32 ngmax +int32 ns # number of sbas ephemeris +int32 nsmax +int32 ne # number of precise ephemeris +int32 nemax +int32 nc # number of precise clock +int32 ncmax +int32 na # number of almanac data +int32 namax +int32 nt # number of tec data +int32 ntmax +int32 nn # number of g_tec data +int32 nnmax + +eph_t[] eph # GPS/QZS/GAL ephemeris +geph_t[] geph # GLONASS ephemeris +seph_t[] seph # SBAS ephemeris +peph_t[] peph # precise ephemeris +pclk_t[] pclk # precise clock +alm_t[] alm # almanac data +tec_t[] tec # TEC grid data +gtec_t[] gtec # G_TEC grid data + +float64[4] utc_gps # GPS delta-UTC parameters {A0,A1,T,W} +float64[4] utc_glo # GLONASS UTC GPS time parameters +float64[4] utc_gal # Galileo UTC GPS time parameters +float64[4] utc_qzs # QZS UTC GPS time parameters +float64[4] ion_gps # GPS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} +float64[4] ion_gal # Galileo iono model parameters {ai0,ai1,ai2,0} +float64[4] ion_qzs # QZSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} +int32 leaps # leap seconds (s) + +pcv_t[] pcvs # satellite antenna pcv +sbssat_t sbssat # SBAS satellite corrections +sbsion_t[] sbsion # SBAS ionosphere corrections +dgps_t[] dgps_t # DGPS corrections +ssr_t[] ssr # SSR corrections +lexeph_t[] lexeph # LEX ephemeris +lexion_t lexion # LEX ionosphere correction + +#float64[][] lam # carrier wave lengths (m) +#float64[][] cbias # code bias (0:p1-p2,1:p1-c1,2:p2-c2) (m) \ No newline at end of file diff --git a/rtklib/msg/obs_t.msg b/rtklib/msg/obs_t.msg new file mode 100644 index 0000000..cb1190f --- /dev/null +++ b/rtklib/msg/obs_t.msg @@ -0,0 +1,5 @@ +# observation data record + +int32 n # number of obervation data +int32 nmax #number of observation allocated +obsd_t[] data # observation data records \ No newline at end of file diff --git a/rtklib/msg/obsd_t.msg b/rtklib/msg/obsd_t.msg new file mode 100644 index 0000000..bc76abf --- /dev/null +++ b/rtklib/msg/obsd_t.msg @@ -0,0 +1,11 @@ + # observation data records + +time time # receiver sampling time (GPST) +uint8 sat # satellite +uint8 rcv # receiver number +uint8[] SNR # signal strength (0.25 dBHz) +uint8[] LLI # loss of lock indicator +uint8[] code # code indicator (CODE_???) +float64[] L # observation data carrier-phase (cycle) +float64[] P # observation data pseudorange (m) +float32[] D # observation data doppler frequency (Hz) diff --git a/rtklib/msg/pcv_t.msg b/rtklib/msg/pcv_t.msg new file mode 100644 index 0000000..871ca00 --- /dev/null +++ b/rtklib/msg/pcv_t.msg @@ -0,0 +1,12 @@ +# antenna parameter type + +int32 sat # satellite number (0:receiver) +int8[] type # antenna type +int8[] code # serial number or satellite code + +time ts # valid time start +time te # valid time end + +#float64[][3] off # phase center offset e/n/u or x/y/z (m) +#float64[][19] var # phase center variation (m) + # el=90,85,...,0 or nadir=0,1,2,3,... (deg) \ No newline at end of file diff --git a/rtklib/msg/peph_t.msg b/rtklib/msg/peph_t.msg new file mode 100644 index 0000000..1bf6521 --- /dev/null +++ b/rtklib/msg/peph_t.msg @@ -0,0 +1,7 @@ +# precise ephemeris type + +time time # time (GPST) +int32 index # ephemeris index for multiple files + +#float64[][4] pos # satellite position/clock (ecef) (m|s) +#float32[][4] std # satellite position/clock std (m|s) \ No newline at end of file diff --git a/rtklib/msg/sbsfcorr_t.msg b/rtklib/msg/sbsfcorr_t.msg new file mode 100644 index 0000000..6589c0e --- /dev/null +++ b/rtklib/msg/sbsfcorr_t.msg @@ -0,0 +1,12 @@ +# SBAS fast correction type + +time t0 # time of applicability (TOF) + +float64 prc # pseudorange correction (PRC) (m) +float64 rrc # range-rate correction (RRC) (m/s) +float64 dt # range-rate correction delta-time (s) + +int32 iodf # IODF (issue of date fast corr) + +int16 udre # UDRE+1 +int16 ai # degradation factor indicator \ No newline at end of file diff --git a/rtklib/msg/sbsigp_t.msg b/rtklib/msg/sbsigp_t.msg new file mode 100644 index 0000000..e28e754 --- /dev/null +++ b/rtklib/msg/sbsigp_t.msg @@ -0,0 +1,8 @@ +# SBAS ionospheric correction type + +time t0 # correction time +int16 lat # latitude (deg) +int16 lon # longitude (deg) +int16 give # GIVI+1 + +float32 delay # vertical delay estimate (m) \ No newline at end of file diff --git a/rtklib/msg/sbsion_t.msg b/rtklib/msg/sbsion_t.msg new file mode 100644 index 0000000..91093f6 --- /dev/null +++ b/rtklib/msg/sbsion_t.msg @@ -0,0 +1,5 @@ +# SBAS ionospheric corrections type + +int32 iodi # IODI (issue of date ionos corr) +int32 nigp # number of igps +sbsigp_t[] igp # ionospheric correction \ No newline at end of file diff --git a/rtklib/msg/sbslcorr_t.msg b/rtklib/msg/sbslcorr_t.msg new file mode 100644 index 0000000..1c2dd80 --- /dev/null +++ b/rtklib/msg/sbslcorr_t.msg @@ -0,0 +1,10 @@ +# SBAS long term satellite error correction type + +time t0 # correction time + +int32 iode # IODE (issue of date ephemeris) + +float64[3] dpos # delta position (m) (ecef) +float64[3] dvel # delta velocity (m/s) (ecef) +float64 daf0 # delta clock-offset(s,s/s) +float64 daf1s # delta drift (s,s/s) \ No newline at end of file diff --git a/rtklib/msg/sbssat_t.msg b/rtklib/msg/sbssat_t.msg new file mode 100644 index 0000000..ac449b5 --- /dev/null +++ b/rtklib/msg/sbssat_t.msg @@ -0,0 +1,7 @@ +# SBAS satellite corrections type + +int32 iodp # IODP (issue of date mask) +int32 nsat # number of satellites +int32 lat # system latency (s) + +sbssatp_t[] sat # satellite correction \ No newline at end of file diff --git a/rtklib/msg/sbssatp_t.msg b/rtklib/msg/sbssatp_t.msg new file mode 100644 index 0000000..b8f4756 --- /dev/null +++ b/rtklib/msg/sbssatp_t.msg @@ -0,0 +1,6 @@ +# SBAS satellite correction type + +int32 sat # satellite number + +sbsfcorr_t fcorr # fast correction +sbslcorr_t lcorr # long term correction \ No newline at end of file diff --git a/rtklib/msg/seph_t.msg b/rtklib/msg/seph_t.msg new file mode 100644 index 0000000..e1dac8f --- /dev/null +++ b/rtklib/msg/seph_t.msg @@ -0,0 +1,15 @@ +# SBAS ephemeris type + +int32 sat # satellite number + +time t0 # reference epoch time (GPST) +time tof # time of message frame (GPST) + +int32 sva # SV accuracy (URA index) +int32 svh # SV health (0:ok) + +float64[3] pos # satellite position (m) (ecef) +float64[3] vel # satellite velocity (m/s) (ecef) +float64[3] acc # satellite acceleration (m/s^2) (ecef) +float64 af0 # satellite clock-offset (s,s/s) +float64 af1 # satellite drift (s,s/s) \ No newline at end of file diff --git a/rtklib/msg/ssr_t.msg b/rtklib/msg/ssr_t.msg new file mode 100644 index 0000000..d34dc32 --- /dev/null +++ b/rtklib/msg/ssr_t.msg @@ -0,0 +1,17 @@ + # SSR correction type + +time t0 # epoch time (GPST) + +float64 udint # SSR update interval (s) + +int32 iode # issue of data +int32 ura # URA indicator +int32 refd # sat ref datum (0:ITRF,1:regional) + +float64[3] deph # delta orbit {radial,along,cross} (m) +float64[3] ddeph # dot delta orbit {radial,along,cross} (m/s) +float64[3] dclk # delta clock {c0,c1,c2} (m,m/s,m/s^2) +float64 hrclk # high-rate clock corection (m) +float32[] cbias # code biases (m) + +uint8 update # update flag (0:no update,1:update) \ No newline at end of file diff --git a/rtklib/msg/sta_t.msg b/rtklib/msg/sta_t.msg new file mode 100644 index 0000000..1932553 --- /dev/null +++ b/rtklib/msg/sta_t.msg @@ -0,0 +1,17 @@ +# station parameter type + +int8[] name # marker name +int8[] marker # marker number +int8[] antdes # antenna descriptor +int8[] antsno # antenna serial number +int8[] rectype # receiver type descriptor +int8[] recver # receiver firmware version +int8[] recsno # receiver serial number + +int32 antsetup # antenna setup id +int32 itrf # ITRF realization year +int32 deltype # antenna delta type (0:enu,1:xyz) + +int64[3] pos # station position (ecef) (m) +int64[3] del # antenna position delta (e/n/u or x/y/z) (m) +int64 hgt #/* antenna height (m) \ No newline at end of file diff --git a/rtklib/msg/tec_t.msg b/rtklib/msg/tec_t.msg new file mode 100644 index 0000000..5a0bb86 --- /dev/null +++ b/rtklib/msg/tec_t.msg @@ -0,0 +1,12 @@ +# TEC type + +time time # epoch time (GPST) + +int32[3] ndata # TEC grid data size {nlat,nlon,nhgt} + +float64 rb # earth radius (km) +float64[3] lats # latitude start/interval (deg) +float64[3] lons # longitude start/interval (deg) +float64[3] hgts # heights start/interval (km) +float64[] data # TEC grid data (tecu) +float32[] rms # RMS values (tecu) \ No newline at end of file From 9b7c1152cfa73c3154d5d7649943d18669a555ed Mon Sep 17 00:00:00 2001 From: Asfandyar Ashraf Malik Date: Wed, 21 Aug 2013 16:59:01 +0200 Subject: [PATCH 02/12] Files modified as indicated by Manuel --- rtklib/CMakeLists.txt | 6 ++-- rtklib/msg/PreciseClock.msg | 6 ++++ rtklib/msg/PreciseEphemeris.msg | 7 ++++ rtklib/msg/QzssIonosphereCorrection.msg | 6 ++++ rtklib/msg/alm_t.msg | 23 ------------ rtklib/msg/dgps_t.msg | 10 ------ rtklib/msg/eph_t.msg | 44 ----------------------- rtklib/msg/geph_t.msg | 18 ---------- rtklib/msg/gtec_t.msg | 10 +++--- rtklib/msg/lexeph_t.msg | 18 ---------- rtklib/msg/lexion_t.msg | 6 ---- rtklib/msg/nav_t.msg | 47 ------------------------- rtklib/msg/obs_t.msg | 5 --- rtklib/msg/obsd_t.msg | 11 ------ rtklib/msg/pcv_t.msg | 12 ------- rtklib/msg/peph_t.msg | 7 ---- rtklib/msg/sbsfcorr_t.msg | 12 ------- rtklib/msg/sbsigp_t.msg | 11 +++--- rtklib/msg/sbsion_t.msg | 6 ++-- rtklib/msg/sbslcorr_t.msg | 10 ------ rtklib/msg/sbssat_t.msg | 9 +++-- rtklib/msg/sbssatp_t.msg | 7 ++-- rtklib/msg/seph_t.msg | 15 -------- rtklib/msg/sta_t.msg | 26 +++++++------- rtklib/msg/tec_t.msg | 12 ------- 25 files changed, 55 insertions(+), 289 deletions(-) create mode 100644 rtklib/msg/PreciseClock.msg create mode 100644 rtklib/msg/PreciseEphemeris.msg create mode 100644 rtklib/msg/QzssIonosphereCorrection.msg delete mode 100644 rtklib/msg/alm_t.msg delete mode 100644 rtklib/msg/dgps_t.msg delete mode 100644 rtklib/msg/eph_t.msg delete mode 100644 rtklib/msg/geph_t.msg delete mode 100644 rtklib/msg/lexeph_t.msg delete mode 100644 rtklib/msg/lexion_t.msg delete mode 100644 rtklib/msg/nav_t.msg delete mode 100644 rtklib/msg/obs_t.msg delete mode 100644 rtklib/msg/obsd_t.msg delete mode 100644 rtklib/msg/pcv_t.msg delete mode 100644 rtklib/msg/peph_t.msg delete mode 100644 rtklib/msg/sbsfcorr_t.msg delete mode 100644 rtklib/msg/sbslcorr_t.msg delete mode 100644 rtklib/msg/seph_t.msg delete mode 100644 rtklib/msg/tec_t.msg diff --git a/rtklib/CMakeLists.txt b/rtklib/CMakeLists.txt index 3727836..cc97b18 100644 --- a/rtklib/CMakeLists.txt +++ b/rtklib/CMakeLists.txt @@ -6,9 +6,9 @@ rosbuild_init() find_package(LAPACK) find_package(BLAS) -if(${LAPACK_FOUND} and ${BLAS_FOUND}) +#if(${LAPACK_FOUND} and ${BLAS_FOUND}) add_definitions(-DLAPACK) -endif() +#endif() include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/rtklib) @@ -39,4 +39,4 @@ rosbuild_add_library(rtk ${src}/rinex.c ${src}/ionex.c ) -target_link_libraries(rtk ${LAPACK_LIBRARIES} ${BLAS_LIBRARIES}) +target_link_libraries(rtk ${LAPACK_LIBRARIES} ${BLAS_LIBRARIES}) \ No newline at end of file diff --git a/rtklib/msg/PreciseClock.msg b/rtklib/msg/PreciseClock.msg new file mode 100644 index 0000000..f17531f --- /dev/null +++ b/rtklib/msg/PreciseClock.msg @@ -0,0 +1,6 @@ +# precise clock type + +time time # time (GPST) +int32 index # clock index for multiple files +float64[] clk # satellite clock (s) +float32[] std # satellite clock std (s) \ No newline at end of file diff --git a/rtklib/msg/PreciseEphemeris.msg b/rtklib/msg/PreciseEphemeris.msg new file mode 100644 index 0000000..375ce28 --- /dev/null +++ b/rtklib/msg/PreciseEphemeris.msg @@ -0,0 +1,7 @@ +# precise ephemeris type + +time time # time (GPST) +int32 index # ephemeris index for multiple files + +#float64[][4] pos # satellite position/clock (ecef) (m|s) +#float32[][4] std # satellite position/clock std (m|s) \ No newline at end of file diff --git a/rtklib/msg/QzssIonosphereCorrection.msg b/rtklib/msg/QzssIonosphereCorrection.msg new file mode 100644 index 0000000..4801b02 --- /dev/null +++ b/rtklib/msg/QzssIonosphereCorrection.msg @@ -0,0 +1,6 @@ +# QZSS LEX ionosphere correction type + +time t0 # epoch time (GPST) +float64 tspan # valid time span (s) +float64[2] pos0 # reference position {lat,lon} (rad) +float64[6] coefs # coefficients lat x lon (3 x 2) \ No newline at end of file diff --git a/rtklib/msg/alm_t.msg b/rtklib/msg/alm_t.msg deleted file mode 100644 index 63829c4..0000000 --- a/rtklib/msg/alm_t.msg +++ /dev/null @@ -1,23 +0,0 @@ -# almanac type - -int32 sat # satellite number -int32 svh # sv health (0:ok) -int32 svconf # as and sv config -int32 week # GPS/QZS: gps week, GAL: galileo week - -time toa # Toa - -# SV orbit parameters -float64 A -float64 e -float64 i0 -float64 OMG0 -float64 omg -float64 M0 -float64 OMGd - -float64 toas # Toa (s) in week - -# SV clock parameters (af0,af1) -float64 f0 -float64 f1 \ No newline at end of file diff --git a/rtklib/msg/dgps_t.msg b/rtklib/msg/dgps_t.msg deleted file mode 100644 index c702d23..0000000 --- a/rtklib/msg/dgps_t.msg +++ /dev/null @@ -1,10 +0,0 @@ -# DGPS/GNSS correction type - -time t0 # correction time - -float64 prc # pseudorange correction (PRC) (m) -float64 rrc # range rate correction (RRC) (m/s) - -int32 iod # issue of data (IOD) - -float64 udre # UDRE \ No newline at end of file diff --git a/rtklib/msg/eph_t.msg b/rtklib/msg/eph_t.msg deleted file mode 100644 index a20b502..0000000 --- a/rtklib/msg/eph_t.msg +++ /dev/null @@ -1,44 +0,0 @@ -# GPS/QZS/GAL broadcast ephemeris type - -int32 sat # satellite number */ -int32 iode # IODE,IODC */ -int32 iodc -int32 sva # SV accuracy (URA index) */ -int32 svh # SV health (0:ok) */ -int32 week # GPS/QZS: gps week, GAL: galileo week */ -int32 code # GPS/QZS: code on L2, GAL: data sources */ -int32 flag # GPS/QZS: L2 P data flag */ - -# Toe,Toc,T_trans -time toe -time toc -time ttr - -# SV orbit parameters -float64 A -float64 e -float64 i0 -float64 OMG0 -float64 omg -float64 M0 -float64 deln -float64 OMGd -float64 idot -float64 crc -float64 crs -float64 cuc -float64 cus -float64 cic -float64 cis - -float64 toes # Toe (s) in week */ -float64 fit # fit interval (h) */ - -# SV clock parameters (af0,af1,af2) -float64 f0 -float64 f1 -float64 f2 - -float64[4] tgd # group delay parameters || GPS/QZS:tgd[0]=TGD - # GAL:tgd[0]=BGD || 5a/E1,tgd[1]=BGD E5b/E1 - diff --git a/rtklib/msg/geph_t.msg b/rtklib/msg/geph_t.msg deleted file mode 100644 index f381259..0000000 --- a/rtklib/msg/geph_t.msg +++ /dev/null @@ -1,18 +0,0 @@ -# GLONASS broadcast ephemeris type - -int32 sat # satellite number -int32 iode # IODE (0-6 bit of tb field) -int32 frq # satellite frequency number -int32 svh # satellite health -int32 sva # satellite accuracy -int32 age # satellite age of operation - -time toe # epoch of epherides (gpst) -time tof # message frame time (gpst) - -float64[3] pos # satellite position (ecef) (m) -float64[3] vel # satellite velocity (ecef) (m/s) -float64[3] acc # satellite acceleration (ecef) (m/s^2) -float64 taun # SV clock bias (s) -float64 gamn # relative freq bias -float64 dtaun # delay between L1 and L2 (s) \ No newline at end of file diff --git a/rtklib/msg/gtec_t.msg b/rtklib/msg/gtec_t.msg index c47f8ea..085f543 100644 --- a/rtklib/msg/gtec_t.msg +++ b/rtklib/msg/gtec_t.msg @@ -1,9 +1,9 @@ # G_TEC type -time time # epoch time (GPST) +time time # epoch time (GPST) -int32 sat # satellite number -int32 ntype # number of stec data types -int32 ndata # number of stec data +int32 sat # satellite number +int32 ntype # number of stec data types +int32 ndata # number of stec data -float32[] data # G_TEC data \ No newline at end of file +float32[] data # G_TEC data \ No newline at end of file diff --git a/rtklib/msg/lexeph_t.msg b/rtklib/msg/lexeph_t.msg deleted file mode 100644 index e39e9b5..0000000 --- a/rtklib/msg/lexeph_t.msg +++ /dev/null @@ -1,18 +0,0 @@ - # QZSS LEX ephemeris type - -time toe # epoch time (GPST) -time tof # message frame time (GPST) - -int32 sat # satellite - -uint8 health # signal health (L1,L2,L1C,L5,LEX) -uint8 ura # URA index - -float64[3] pos # satellite position (m) -float64[3] vel # satellite velocity (m/s) -float64[3] acc # satellite acceleration (m/s2) -float64[3] jerk # satellite jerk (m/s3) -float64 af0 # satellite clock bias -float64 af1 # satellite clock drift (s,s/s) -float64 tgd # TGD -float64[8] isc # ISC \ No newline at end of file diff --git a/rtklib/msg/lexion_t.msg b/rtklib/msg/lexion_t.msg deleted file mode 100644 index 838d488..0000000 --- a/rtklib/msg/lexion_t.msg +++ /dev/null @@ -1,6 +0,0 @@ -# QZSS LEX ionosphere correction type - -time t0 # epoch time (GPST) -float64 tspan # valid time span (s) -float64[2] pos0 # reference position {lat,lon} (rad) -#float64[3][2] coefs # coefficients lat x lon (3 x 2) \ No newline at end of file diff --git a/rtklib/msg/nav_t.msg b/rtklib/msg/nav_t.msg deleted file mode 100644 index 76425cc..0000000 --- a/rtklib/msg/nav_t.msg +++ /dev/null @@ -1,47 +0,0 @@ -# navigation data type - -int32 n # number of broadcast ephemeris -int32 nmax -int32 ng # number of glonass ephemeris -int32 ngmax -int32 ns # number of sbas ephemeris -int32 nsmax -int32 ne # number of precise ephemeris -int32 nemax -int32 nc # number of precise clock -int32 ncmax -int32 na # number of almanac data -int32 namax -int32 nt # number of tec data -int32 ntmax -int32 nn # number of g_tec data -int32 nnmax - -eph_t[] eph # GPS/QZS/GAL ephemeris -geph_t[] geph # GLONASS ephemeris -seph_t[] seph # SBAS ephemeris -peph_t[] peph # precise ephemeris -pclk_t[] pclk # precise clock -alm_t[] alm # almanac data -tec_t[] tec # TEC grid data -gtec_t[] gtec # G_TEC grid data - -float64[4] utc_gps # GPS delta-UTC parameters {A0,A1,T,W} -float64[4] utc_glo # GLONASS UTC GPS time parameters -float64[4] utc_gal # Galileo UTC GPS time parameters -float64[4] utc_qzs # QZS UTC GPS time parameters -float64[4] ion_gps # GPS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} -float64[4] ion_gal # Galileo iono model parameters {ai0,ai1,ai2,0} -float64[4] ion_qzs # QZSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} -int32 leaps # leap seconds (s) - -pcv_t[] pcvs # satellite antenna pcv -sbssat_t sbssat # SBAS satellite corrections -sbsion_t[] sbsion # SBAS ionosphere corrections -dgps_t[] dgps_t # DGPS corrections -ssr_t[] ssr # SSR corrections -lexeph_t[] lexeph # LEX ephemeris -lexion_t lexion # LEX ionosphere correction - -#float64[][] lam # carrier wave lengths (m) -#float64[][] cbias # code bias (0:p1-p2,1:p1-c1,2:p2-c2) (m) \ No newline at end of file diff --git a/rtklib/msg/obs_t.msg b/rtklib/msg/obs_t.msg deleted file mode 100644 index cb1190f..0000000 --- a/rtklib/msg/obs_t.msg +++ /dev/null @@ -1,5 +0,0 @@ -# observation data record - -int32 n # number of obervation data -int32 nmax #number of observation allocated -obsd_t[] data # observation data records \ No newline at end of file diff --git a/rtklib/msg/obsd_t.msg b/rtklib/msg/obsd_t.msg deleted file mode 100644 index bc76abf..0000000 --- a/rtklib/msg/obsd_t.msg +++ /dev/null @@ -1,11 +0,0 @@ - # observation data records - -time time # receiver sampling time (GPST) -uint8 sat # satellite -uint8 rcv # receiver number -uint8[] SNR # signal strength (0.25 dBHz) -uint8[] LLI # loss of lock indicator -uint8[] code # code indicator (CODE_???) -float64[] L # observation data carrier-phase (cycle) -float64[] P # observation data pseudorange (m) -float32[] D # observation data doppler frequency (Hz) diff --git a/rtklib/msg/pcv_t.msg b/rtklib/msg/pcv_t.msg deleted file mode 100644 index 871ca00..0000000 --- a/rtklib/msg/pcv_t.msg +++ /dev/null @@ -1,12 +0,0 @@ -# antenna parameter type - -int32 sat # satellite number (0:receiver) -int8[] type # antenna type -int8[] code # serial number or satellite code - -time ts # valid time start -time te # valid time end - -#float64[][3] off # phase center offset e/n/u or x/y/z (m) -#float64[][19] var # phase center variation (m) - # el=90,85,...,0 or nadir=0,1,2,3,... (deg) \ No newline at end of file diff --git a/rtklib/msg/peph_t.msg b/rtklib/msg/peph_t.msg deleted file mode 100644 index 1bf6521..0000000 --- a/rtklib/msg/peph_t.msg +++ /dev/null @@ -1,7 +0,0 @@ -# precise ephemeris type - -time time # time (GPST) -int32 index # ephemeris index for multiple files - -#float64[][4] pos # satellite position/clock (ecef) (m|s) -#float32[][4] std # satellite position/clock std (m|s) \ No newline at end of file diff --git a/rtklib/msg/sbsfcorr_t.msg b/rtklib/msg/sbsfcorr_t.msg deleted file mode 100644 index 6589c0e..0000000 --- a/rtklib/msg/sbsfcorr_t.msg +++ /dev/null @@ -1,12 +0,0 @@ -# SBAS fast correction type - -time t0 # time of applicability (TOF) - -float64 prc # pseudorange correction (PRC) (m) -float64 rrc # range-rate correction (RRC) (m/s) -float64 dt # range-rate correction delta-time (s) - -int32 iodf # IODF (issue of date fast corr) - -int16 udre # UDRE+1 -int16 ai # degradation factor indicator \ No newline at end of file diff --git a/rtklib/msg/sbsigp_t.msg b/rtklib/msg/sbsigp_t.msg index e28e754..48655de 100644 --- a/rtklib/msg/sbsigp_t.msg +++ b/rtklib/msg/sbsigp_t.msg @@ -1,8 +1,7 @@ # SBAS ionospheric correction type -time t0 # correction time -int16 lat # latitude (deg) -int16 lon # longitude (deg) -int16 give # GIVI+1 - -float32 delay # vertical delay estimate (m) \ No newline at end of file +time t0 # correction time +int16 lat # latitude (deg) +int16 lon # longitude (deg) +int16 give # GIVI+1 +float32 delay # vertical delay estimate (m) \ No newline at end of file diff --git a/rtklib/msg/sbsion_t.msg b/rtklib/msg/sbsion_t.msg index 91093f6..6d23dbd 100644 --- a/rtklib/msg/sbsion_t.msg +++ b/rtklib/msg/sbsion_t.msg @@ -1,5 +1,5 @@ # SBAS ionospheric corrections type -int32 iodi # IODI (issue of date ionos corr) -int32 nigp # number of igps -sbsigp_t[] igp # ionospheric correction \ No newline at end of file +int32 iodi # IODI (issue of date ionos corr) +int32 nigp # number of igps +sbsigp_t[] igp # ionospheric correction \ No newline at end of file diff --git a/rtklib/msg/sbslcorr_t.msg b/rtklib/msg/sbslcorr_t.msg deleted file mode 100644 index 1c2dd80..0000000 --- a/rtklib/msg/sbslcorr_t.msg +++ /dev/null @@ -1,10 +0,0 @@ -# SBAS long term satellite error correction type - -time t0 # correction time - -int32 iode # IODE (issue of date ephemeris) - -float64[3] dpos # delta position (m) (ecef) -float64[3] dvel # delta velocity (m/s) (ecef) -float64 daf0 # delta clock-offset(s,s/s) -float64 daf1s # delta drift (s,s/s) \ No newline at end of file diff --git a/rtklib/msg/sbssat_t.msg b/rtklib/msg/sbssat_t.msg index ac449b5..de368aa 100644 --- a/rtklib/msg/sbssat_t.msg +++ b/rtklib/msg/sbssat_t.msg @@ -1,7 +1,6 @@ # SBAS satellite corrections type -int32 iodp # IODP (issue of date mask) -int32 nsat # number of satellites -int32 lat # system latency (s) - -sbssatp_t[] sat # satellite correction \ No newline at end of file +int32 iodp # IODP (issue of date mask) +int32 nsat # number of satellites +int32 lat # system latency (s) +sbssatp_t[] sat # satellite correction \ No newline at end of file diff --git a/rtklib/msg/sbssatp_t.msg b/rtklib/msg/sbssatp_t.msg index b8f4756..930c03f 100644 --- a/rtklib/msg/sbssatp_t.msg +++ b/rtklib/msg/sbssatp_t.msg @@ -1,6 +1,5 @@ # SBAS satellite correction type -int32 sat # satellite number - -sbsfcorr_t fcorr # fast correction -sbslcorr_t lcorr # long term correction \ No newline at end of file +int32 sat # satellite number +SbasFastCorrection fcorr # fast correction +SbasLongTermErrorCorrection lcorr # long term correction \ No newline at end of file diff --git a/rtklib/msg/seph_t.msg b/rtklib/msg/seph_t.msg deleted file mode 100644 index e1dac8f..0000000 --- a/rtklib/msg/seph_t.msg +++ /dev/null @@ -1,15 +0,0 @@ -# SBAS ephemeris type - -int32 sat # satellite number - -time t0 # reference epoch time (GPST) -time tof # time of message frame (GPST) - -int32 sva # SV accuracy (URA index) -int32 svh # SV health (0:ok) - -float64[3] pos # satellite position (m) (ecef) -float64[3] vel # satellite velocity (m/s) (ecef) -float64[3] acc # satellite acceleration (m/s^2) (ecef) -float64 af0 # satellite clock-offset (s,s/s) -float64 af1 # satellite drift (s,s/s) \ No newline at end of file diff --git a/rtklib/msg/sta_t.msg b/rtklib/msg/sta_t.msg index 1932553..9c334a4 100644 --- a/rtklib/msg/sta_t.msg +++ b/rtklib/msg/sta_t.msg @@ -1,17 +1,17 @@ # station parameter type -int8[] name # marker name -int8[] marker # marker number -int8[] antdes # antenna descriptor -int8[] antsno # antenna serial number -int8[] rectype # receiver type descriptor -int8[] recver # receiver firmware version -int8[] recsno # receiver serial number +std_msgs/String name # marker name +std_msgs/String marker # marker number +std_msgs/String antdes # antenna descriptor +std_msgs/String antsno # antenna serial number +std_msgs/String rectype # receiver type descriptor +std_msgs/String recver # receiver firmware version +std_msgs/String recsno # receiver serial number -int32 antsetup # antenna setup id -int32 itrf # ITRF realization year -int32 deltype # antenna delta type (0:enu,1:xyz) +int32 antsetup # antenna setup id +int32 itrf # ITRF realization year +int32 deltype # antenna delta type (0:enu,1:xyz) -int64[3] pos # station position (ecef) (m) -int64[3] del # antenna position delta (e/n/u or x/y/z) (m) -int64 hgt #/* antenna height (m) \ No newline at end of file +geometry_msgs/Vector3 pos # station position (ecef) (m) +geometry_msgs/Vector3 del # antenna position delta (e/n/u or x/y/z) (m) +int64 hgt # antenna height (m) \ No newline at end of file diff --git a/rtklib/msg/tec_t.msg b/rtklib/msg/tec_t.msg deleted file mode 100644 index 5a0bb86..0000000 --- a/rtklib/msg/tec_t.msg +++ /dev/null @@ -1,12 +0,0 @@ -# TEC type - -time time # epoch time (GPST) - -int32[3] ndata # TEC grid data size {nlat,nlon,nhgt} - -float64 rb # earth radius (km) -float64[3] lats # latitude start/interval (deg) -float64[3] lons # longitude start/interval (deg) -float64[3] hgts # heights start/interval (km) -float64[] data # TEC grid data (tecu) -float32[] rms # RMS values (tecu) \ No newline at end of file From 2d92a0894a870e63221e7c93579d172032fd3fe3 Mon Sep 17 00:00:00 2001 From: Asfandyar Ashraf Malik Date: Wed, 21 Aug 2013 17:47:50 +0200 Subject: [PATCH 03/12] Committing some msg files with modification in which I improved the indentation of the code --- rtklib/msg/Almanac.msg | 22 ++++++++++++++++ rtklib/msg/AntennaParameter.msg | 12 +++++++++ rtklib/msg/DifferentialGnss.msg | 10 ++++++++ rtklib/msg/Ephemeris.msg | 3 +++ rtklib/msg/GlonassEphemeris.msg | 18 +++++++++++++ rtklib/msg/Navigation.msg | 30 ++++++++++++++++++++++ rtklib/msg/Observation.msg | 3 +++ rtklib/msg/ObservationData.msg | 11 ++++++++ rtklib/msg/QzssEphemeris.msg | 18 +++++++++++++ rtklib/msg/SbasEphemeris.msg | 13 ++++++++++ rtklib/msg/SbasFastCorrection.msg | 9 +++++++ rtklib/msg/SbasLongTermErrorCorrection.msg | 8 ++++++ rtklib/msg/TotalElectronContent.msg | 12 +++++++++ 13 files changed, 169 insertions(+) create mode 100644 rtklib/msg/Almanac.msg create mode 100644 rtklib/msg/AntennaParameter.msg create mode 100644 rtklib/msg/DifferentialGnss.msg create mode 100644 rtklib/msg/Ephemeris.msg create mode 100644 rtklib/msg/GlonassEphemeris.msg create mode 100644 rtklib/msg/Navigation.msg create mode 100644 rtklib/msg/Observation.msg create mode 100644 rtklib/msg/ObservationData.msg create mode 100644 rtklib/msg/QzssEphemeris.msg create mode 100644 rtklib/msg/SbasEphemeris.msg create mode 100644 rtklib/msg/SbasFastCorrection.msg create mode 100644 rtklib/msg/SbasLongTermErrorCorrection.msg create mode 100644 rtklib/msg/TotalElectronContent.msg diff --git a/rtklib/msg/Almanac.msg b/rtklib/msg/Almanac.msg new file mode 100644 index 0000000..6a49608 --- /dev/null +++ b/rtklib/msg/Almanac.msg @@ -0,0 +1,22 @@ +# The almanac consists of coarse orbit and status information for each satellite in the constellation, an ionospheric model, and information to relate GNSS derived time to Coordinated Universal Time (UTC) + +int32 sat # satellite number +int32 svh # sv health (0:ok) +int32 svconf # as and sv config +int32 week # GPS/QZS: gps week, GAL: galileo week +time toa # Toa + +# SV orbit parameters +float64 A +float64 e +float64 i0 +float64 OMG0 +float64 omg +float64 M0 +float64 OMGd + +float64 toas # Toa (s) in week + +# SV clock parameters (af0,af1) +float64 f0 +float64 f1 \ No newline at end of file diff --git a/rtklib/msg/AntennaParameter.msg b/rtklib/msg/AntennaParameter.msg new file mode 100644 index 0000000..6d39b22 --- /dev/null +++ b/rtklib/msg/AntennaParameter.msg @@ -0,0 +1,12 @@ +# antenna parameter type + +int32 sat # satellite number (0:receiver) +int8[] type # antenna type +int8[] code # serial number or satellite code + +time ts # valid time start +time te # valid time end + +#float64[][3] off # phase center offset e/n/u or x/y/z (m) +#float64[][19] var # phase center variation (m) + # el=90,85,...,0 or nadir=0,1,2,3,... (deg) \ No newline at end of file diff --git a/rtklib/msg/DifferentialGnss.msg b/rtklib/msg/DifferentialGnss.msg new file mode 100644 index 0000000..04bb3ef --- /dev/null +++ b/rtklib/msg/DifferentialGnss.msg @@ -0,0 +1,10 @@ +# DGPS/GNSS correction type + +time t0 # correction time + +float64 prc # pseudorange correction (PRC) (m) +float64 rrc # range rate correction (RRC) (m/s) + +int32 iod # issue of data (IOD) + +float64 udre # UDRE \ No newline at end of file diff --git a/rtklib/msg/Ephemeris.msg b/rtklib/msg/Ephemeris.msg new file mode 100644 index 0000000..57e7dc1 --- /dev/null +++ b/rtklib/msg/Ephemeris.msg @@ -0,0 +1,3 @@ +# GPS/QZS/GAL broadcast ephemeris type + +int32 sat # satellite number diff --git a/rtklib/msg/GlonassEphemeris.msg b/rtklib/msg/GlonassEphemeris.msg new file mode 100644 index 0000000..6087c5e --- /dev/null +++ b/rtklib/msg/GlonassEphemeris.msg @@ -0,0 +1,18 @@ +# GLONASS broadcast ephemeris type + +int32 sat # satellite number +int32 iode # IODE (0-6 bit of tb field) +int32 frq # satellite frequency number +int32 svh # satellite health +int32 sva # satellite accuracy +int32 age # satellite age of operation + +time toe # epoch of epherides (gpst) +time tof # message frame time (gpst) + +geometry_msgs/Vector3 pos # satellite position (ecef) (m) +geometry_msgs/Vector3 vel # satellite velocity (ecef) (m/s) +geometry_msgs/Vector3 acc # satellite acceleration (ecef) (m/s^2) +float64 taun # SV clock bias (s) +float64 gamn # relative freq bias +float64 dtaun # delay between L1 and L2 (s) \ No newline at end of file diff --git a/rtklib/msg/Navigation.msg b/rtklib/msg/Navigation.msg new file mode 100644 index 0000000..1aaf2d1 --- /dev/null +++ b/rtklib/msg/Navigation.msg @@ -0,0 +1,30 @@ +# navigation data type + +eph_t[] eph # GPS/QZS/GAL ephemeris +geph_t[] geph # GLONASS ephemeris +seph_t[] seph # SBAS ephemeris +peph_t[] peph # precise ephemeris +pclk_t[] pclk # precise clock +alm_t[] alm # almanac data +tec_t[] tec # TEC grid data +gtec_t[] gtec # G_TEC grid data + +float64[4] utc_gps # GPS delta-UTC parameters {A0,A1,T,W} +float64[4] utc_glo # GLONASS UTC GPS time parameters +float64[4] utc_gal # Galileo UTC GPS time parameters +float64[4] utc_qzs # QZS UTC GPS time parameters +float64[8] ion_gps # GPS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} +float64[4] ion_gal # Galileo iono model parameters {ai0,ai1,ai2,0} +float64[8] ion_qzs # QZSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} +int32 leaps # leap seconds (s) + +AntennaParameter[] pcvs # satellite antenna pcv +sbssat_t sbssat # SBAS satellite corrections +sbsion_t[] sbsion # SBAS ionosphere corrections +DifferentialGnss[] dgps_t # DGPS corrections +ssr_t[] ssr # SSR corrections +QzssEphemeris[] lexeph # LEX ephemeris +QzssIonosphereCorrection lexion # LEX ionosphere correction + +lam[] lamcwl # carrier wave lengths (m) +cbias[] codebias # code bias (0:p1-p2,1:p1-c1,2:p2-c2) (m) \ No newline at end of file diff --git a/rtklib/msg/Observation.msg b/rtklib/msg/Observation.msg new file mode 100644 index 0000000..0327b1d --- /dev/null +++ b/rtklib/msg/Observation.msg @@ -0,0 +1,3 @@ +# observation data record + +ObservationData[] data # observation data records \ No newline at end of file diff --git a/rtklib/msg/ObservationData.msg b/rtklib/msg/ObservationData.msg new file mode 100644 index 0000000..c7534b3 --- /dev/null +++ b/rtklib/msg/ObservationData.msg @@ -0,0 +1,11 @@ + # observation data records + +time time # receiver sampling time (GPST) +uint8 sat # satellite +uint8 rcv # receiver number +uint8[] SNR # signal strength (0.25 dBHz) +uint8[] LLI # loss of lock indicator +uint8[] code # code indicator (CODE_???) +float64[] L # observation data carrier-phase (cycle) +float64[] P # observation data pseudorange (m) +float32[] D # observation data doppler frequency (Hz) diff --git a/rtklib/msg/QzssEphemeris.msg b/rtklib/msg/QzssEphemeris.msg new file mode 100644 index 0000000..e39e9b5 --- /dev/null +++ b/rtklib/msg/QzssEphemeris.msg @@ -0,0 +1,18 @@ + # QZSS LEX ephemeris type + +time toe # epoch time (GPST) +time tof # message frame time (GPST) + +int32 sat # satellite + +uint8 health # signal health (L1,L2,L1C,L5,LEX) +uint8 ura # URA index + +float64[3] pos # satellite position (m) +float64[3] vel # satellite velocity (m/s) +float64[3] acc # satellite acceleration (m/s2) +float64[3] jerk # satellite jerk (m/s3) +float64 af0 # satellite clock bias +float64 af1 # satellite clock drift (s,s/s) +float64 tgd # TGD +float64[8] isc # ISC \ No newline at end of file diff --git a/rtklib/msg/SbasEphemeris.msg b/rtklib/msg/SbasEphemeris.msg new file mode 100644 index 0000000..d5fba19 --- /dev/null +++ b/rtklib/msg/SbasEphemeris.msg @@ -0,0 +1,13 @@ +# SBAS ephemeris type + +int32 sat # satellite number +time t0 # reference epoch time (GPST) +time tof # time of message frame (GPST) +int32 sva # SV accuracy (URA index) +int32 svh # SV health (0:ok) + +geometry_msgs/Vector3 pos # satellite position (m) (ecef) +geometry_msgs/Vector3 vel # satellite velocity (m/s) (ecef) +geometry_msgs/Vector3 acc # satellite acceleration (m/s^2) (ecef) +float64 af0 # satellite clock-offset (s,s/s) +float64 af1 # satellite drift (s,s/s) \ No newline at end of file diff --git a/rtklib/msg/SbasFastCorrection.msg b/rtklib/msg/SbasFastCorrection.msg new file mode 100644 index 0000000..1aed802 --- /dev/null +++ b/rtklib/msg/SbasFastCorrection.msg @@ -0,0 +1,9 @@ +# SBAS fast correction type + +time t0 # time of applicability (TOF) +float64 prc # pseudorange correction (PRC) (m) +float64 rrc # range-rate correction (RRC) (m/s) +float64 dt # range-rate correction delta-time (s) +int32 iodf # IODF (issue of date fast corr) +int16 udre # UDRE+1 +int16 ai # degradation factor indicator \ No newline at end of file diff --git a/rtklib/msg/SbasLongTermErrorCorrection.msg b/rtklib/msg/SbasLongTermErrorCorrection.msg new file mode 100644 index 0000000..483bee2 --- /dev/null +++ b/rtklib/msg/SbasLongTermErrorCorrection.msg @@ -0,0 +1,8 @@ +# SBAS long term satellite error correction type + +time t0 # correction time +int32 iode # IODE (issue of date ephemeris) +geometry_msgs/Vector3 dpos # delta position (m) (ecef) +geometry_msgs/Vector3 dvel # delta velocity (m/s) (ecef) +float64 daf0 # delta clock-offset(s,s/s) +float64 daf1s # delta drift (s,s/s) \ No newline at end of file diff --git a/rtklib/msg/TotalElectronContent.msg b/rtklib/msg/TotalElectronContent.msg new file mode 100644 index 0000000..bc06fdd --- /dev/null +++ b/rtklib/msg/TotalElectronContent.msg @@ -0,0 +1,12 @@ +# TEC type + +time time # epoch time (GPST) + +int32[3] ndata # TEC grid data size {nlat,nlon,nhgt} + +float64 rb # earth radius (km) +float64[3] lats # latitude start/interval (deg) +float64[3] lons # longitude start/interval (deg) +float64[3] hgts # heights start/interval (km) +float64[] data # TEC grid data (tecu) +float32[] rms # RMS values (tecu) \ No newline at end of file From 07bded67f62de69eb1bdbfc23517e1195114bc02 Mon Sep 17 00:00:00 2001 From: Asfandyar Ashraf Malik Date: Thu, 22 Aug 2013 14:05:33 +0200 Subject: [PATCH 04/12] removing pclk_t.msg ter the commit message for your changes. Lines starting --- rtklib/msg/Ephemeris.msg | 2 +- rtklib/msg/Navigation.msg | 2 +- rtklib/msg/PreciseEphemeris.msg | 4 ++-- rtklib/msg/QzssEphemeris.msg | 29 ++++++++++++++--------------- rtklib/msg/SbasEphemeris.msg | 10 +++++----- rtklib/msg/cbias.msg | 5 +++++ rtklib/msg/lam.msg | 8 ++++++++ rtklib/msg/sbssatp_t.msg | 2 +- rtklib/msg/ssr_t.msg | 22 +++++++++++----------- rtklib/msg/sta_t.msg | 14 +++++++------- 10 files changed, 55 insertions(+), 43 deletions(-) create mode 100644 rtklib/msg/cbias.msg create mode 100644 rtklib/msg/lam.msg diff --git a/rtklib/msg/Ephemeris.msg b/rtklib/msg/Ephemeris.msg index 57e7dc1..0370d4c 100644 --- a/rtklib/msg/Ephemeris.msg +++ b/rtklib/msg/Ephemeris.msg @@ -1,3 +1,3 @@ # GPS/QZS/GAL broadcast ephemeris type -int32 sat # satellite number +int32 sat # satellite number \ No newline at end of file diff --git a/rtklib/msg/Navigation.msg b/rtklib/msg/Navigation.msg index 1aaf2d1..941998d 100644 --- a/rtklib/msg/Navigation.msg +++ b/rtklib/msg/Navigation.msg @@ -26,5 +26,5 @@ ssr_t[] ssr # SSR corrections QzssEphemeris[] lexeph # LEX ephemeris QzssIonosphereCorrection lexion # LEX ionosphere correction -lam[] lamcwl # carrier wave lengths (m) +lam[] lamcwl # carrier wave lengths (m) cbias[] codebias # code bias (0:p1-p2,1:p1-c1,2:p2-c2) (m) \ No newline at end of file diff --git a/rtklib/msg/PreciseEphemeris.msg b/rtklib/msg/PreciseEphemeris.msg index 375ce28..0b6b20a 100644 --- a/rtklib/msg/PreciseEphemeris.msg +++ b/rtklib/msg/PreciseEphemeris.msg @@ -3,5 +3,5 @@ time time # time (GPST) int32 index # ephemeris index for multiple files -#float64[][4] pos # satellite position/clock (ecef) (m|s) -#float32[][4] std # satellite position/clock std (m|s) \ No newline at end of file +#float64[][4] pos # satellite position/clock (ecef) (m|s) +#float32[][4] std # satellite position/clock std (m|s) \ No newline at end of file diff --git a/rtklib/msg/QzssEphemeris.msg b/rtklib/msg/QzssEphemeris.msg index e39e9b5..c287f1e 100644 --- a/rtklib/msg/QzssEphemeris.msg +++ b/rtklib/msg/QzssEphemeris.msg @@ -1,18 +1,17 @@ - # QZSS LEX ephemeris type +# QZSS LEX ephemeris type -time toe # epoch time (GPST) -time tof # message frame time (GPST) +time toe # epoch time (GPST) +time tof # message frame time (GPST) -int32 sat # satellite +int32 sat # satellite +uint8 health # signal health (L1,L2,L1C,L5,LEX) +uint8 ura # URA index -uint8 health # signal health (L1,L2,L1C,L5,LEX) -uint8 ura # URA index - -float64[3] pos # satellite position (m) -float64[3] vel # satellite velocity (m/s) -float64[3] acc # satellite acceleration (m/s2) -float64[3] jerk # satellite jerk (m/s3) -float64 af0 # satellite clock bias -float64 af1 # satellite clock drift (s,s/s) -float64 tgd # TGD -float64[8] isc # ISC \ No newline at end of file +geometry_msgs/Vector3 pos # satellite position (m) +geometry_msgs/Vector3 vel # satellite velocity (m/s) +geometry_msgs/Vector3 acc # satellite acceleration (m/s2) +geometry_msgs/Vector3 jerk # satellite jerk (m/s3) +float64 af0 # satellite clock bias +float64 af1 # satellite clock drift (s,s/s) +float64 tgd # TGD +float64[8] isc # ISC \ No newline at end of file diff --git a/rtklib/msg/SbasEphemeris.msg b/rtklib/msg/SbasEphemeris.msg index d5fba19..c9563d6 100644 --- a/rtklib/msg/SbasEphemeris.msg +++ b/rtklib/msg/SbasEphemeris.msg @@ -1,10 +1,10 @@ # SBAS ephemeris type -int32 sat # satellite number -time t0 # reference epoch time (GPST) -time tof # time of message frame (GPST) -int32 sva # SV accuracy (URA index) -int32 svh # SV health (0:ok) +int32 sat # satellite number +time t0 # reference epoch time (GPST) +time tof # time of message frame (GPST) +int32 sva # SV accuracy (URA index) +int32 svh # SV health (0:ok) geometry_msgs/Vector3 pos # satellite position (m) (ecef) geometry_msgs/Vector3 vel # satellite velocity (m/s) (ecef) diff --git a/rtklib/msg/cbias.msg b/rtklib/msg/cbias.msg new file mode 100644 index 0000000..c910dfe --- /dev/null +++ b/rtklib/msg/cbias.msg @@ -0,0 +1,5 @@ +# code bias (0:p1-p2,1:p1-c1,2:p2-c2) (m) + +float64 p1_p2 +float64 p1_c1 +float64 p2_c2 \ No newline at end of file diff --git a/rtklib/msg/lam.msg b/rtklib/msg/lam.msg new file mode 100644 index 0000000..ccb0241 --- /dev/null +++ b/rtklib/msg/lam.msg @@ -0,0 +1,8 @@ +#Datatype for lam message type (carrier wave lengths (m) ) + +float64 L1 +float64 L2 +float64 L5 +float64 L6 +float64 L7 +float64 L8 diff --git a/rtklib/msg/sbssatp_t.msg b/rtklib/msg/sbssatp_t.msg index 930c03f..85f7b28 100644 --- a/rtklib/msg/sbssatp_t.msg +++ b/rtklib/msg/sbssatp_t.msg @@ -1,5 +1,5 @@ # SBAS satellite correction type int32 sat # satellite number -SbasFastCorrection fcorr # fast correction +SbasFastCorrection fcorr # fast correction SbasLongTermErrorCorrection lcorr # long term correction \ No newline at end of file diff --git a/rtklib/msg/ssr_t.msg b/rtklib/msg/ssr_t.msg index d34dc32..77d5c8b 100644 --- a/rtklib/msg/ssr_t.msg +++ b/rtklib/msg/ssr_t.msg @@ -1,17 +1,17 @@ - # SSR correction type + # SSR correction type -time t0 # epoch time (GPST) - -float64 udint # SSR update interval (s) +time t0 # epoch time (GPST) -int32 iode # issue of data -int32 ura # URA indicator -int32 refd # sat ref datum (0:ITRF,1:regional) +float64 udint # SSR update interval (s) -float64[3] deph # delta orbit {radial,along,cross} (m) +int32 iode # issue of data +int32 ura # URA indicator +int32 refd # sat ref datum (0:ITRF,1:regional) + +float64[3] deph # delta orbit {radial,along,cross} (m) float64[3] ddeph # dot delta orbit {radial,along,cross} (m/s) -float64[3] dclk # delta clock {c0,c1,c2} (m,m/s,m/s^2) -float64 hrclk # high-rate clock corection (m) -float32[] cbias # code biases (m) +float64[3] dclk # delta clock {c0,c1,c2} (m,m/s,m/s^2) +float64 hrclk # high-rate clock corection (m) +float32[] cbias # code biases (m) uint8 update # update flag (0:no update,1:update) \ No newline at end of file diff --git a/rtklib/msg/sta_t.msg b/rtklib/msg/sta_t.msg index 9c334a4..a78486f 100644 --- a/rtklib/msg/sta_t.msg +++ b/rtklib/msg/sta_t.msg @@ -1,17 +1,17 @@ # station parameter type -std_msgs/String name # marker name -std_msgs/String marker # marker number +std_msgs/String name # marker name +std_msgs/String marker # marker number std_msgs/String antdes # antenna descriptor std_msgs/String antsno # antenna serial number std_msgs/String rectype # receiver type descriptor -std_msgs/String recver # receiver firmware version -std_msgs/String recsno # receiver serial number +std_msgs/String recver # receiver firmware version +std_msgs/String recsno # receiver serial number -int32 antsetup # antenna setup id +int32 antsetup # antenna setup id int32 itrf # ITRF realization year int32 deltype # antenna delta type (0:enu,1:xyz) -geometry_msgs/Vector3 pos # station position (ecef) (m) +geometry_msgs/Vector3 pos # station position (ecef) (m) geometry_msgs/Vector3 del # antenna position delta (e/n/u or x/y/z) (m) -int64 hgt # antenna height (m) \ No newline at end of file +int64 hgt # antenna height (m) \ No newline at end of file From ab3d2a0268ced3157eac79c2c73a1ce84c83088b Mon Sep 17 00:00:00 2001 From: Asfandyar Ashraf Malik Date: Fri, 23 Aug 2013 10:48:48 +0200 Subject: [PATCH 05/12] Solving a small identation issue with it --- rtklib/msg/AntennaParameter.msg | 2 +- rtklib/msg/DifferentialGnss.msg | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/rtklib/msg/AntennaParameter.msg b/rtklib/msg/AntennaParameter.msg index 6d39b22..ce2689f 100644 --- a/rtklib/msg/AntennaParameter.msg +++ b/rtklib/msg/AntennaParameter.msg @@ -4,7 +4,7 @@ int32 sat # satellite number (0:receiver) int8[] type # antenna type int8[] code # serial number or satellite code -time ts # valid time start +time ts # valid time start time te # valid time end #float64[][3] off # phase center offset e/n/u or x/y/z (m) diff --git a/rtklib/msg/DifferentialGnss.msg b/rtklib/msg/DifferentialGnss.msg index 04bb3ef..2e0216e 100644 --- a/rtklib/msg/DifferentialGnss.msg +++ b/rtklib/msg/DifferentialGnss.msg @@ -3,7 +3,7 @@ time t0 # correction time float64 prc # pseudorange correction (PRC) (m) -float64 rrc # range rate correction (RRC) (m/s) +float64 rrc # range rate correction (RRC) (m/s) int32 iod # issue of data (IOD) From be887bbbe63b682a3c933b7b7b3781709a6a3573 Mon Sep 17 00:00:00 2001 From: Asfandyar Ashraf Malik Date: Wed, 28 Aug 2013 11:15:45 +0200 Subject: [PATCH 06/12] Nothing substantial done here Navigation.msg: changing name of variables AntennaParameter.msg: Better identation --- rtklib/msg/AntennaParameter.msg | 4 ++-- rtklib/msg/DifferentialGnss.msg | 3 --- rtklib/msg/Navigation.msg | 14 +++++++------- rtklib/msg/PreciseEphemeris.msg | 4 ++-- 4 files changed, 11 insertions(+), 14 deletions(-) diff --git a/rtklib/msg/AntennaParameter.msg b/rtklib/msg/AntennaParameter.msg index ce2689f..9400426 100644 --- a/rtklib/msg/AntennaParameter.msg +++ b/rtklib/msg/AntennaParameter.msg @@ -7,6 +7,6 @@ int8[] code # serial number or satellite code time ts # valid time start time te # valid time end -#float64[][3] off # phase center offset e/n/u or x/y/z (m) -#float64[][19] var # phase center variation (m) +float64[3] off # phase center offset e/n/u or x/y/z (m) +float64[19] var # phase center variation (m) # el=90,85,...,0 or nadir=0,1,2,3,... (deg) \ No newline at end of file diff --git a/rtklib/msg/DifferentialGnss.msg b/rtklib/msg/DifferentialGnss.msg index 2e0216e..f31dcb1 100644 --- a/rtklib/msg/DifferentialGnss.msg +++ b/rtklib/msg/DifferentialGnss.msg @@ -1,10 +1,7 @@ # DGPS/GNSS correction type time t0 # correction time - float64 prc # pseudorange correction (PRC) (m) float64 rrc # range rate correction (RRC) (m/s) - int32 iod # issue of data (IOD) - float64 udre # UDRE \ No newline at end of file diff --git a/rtklib/msg/Navigation.msg b/rtklib/msg/Navigation.msg index 941998d..42a1bb5 100644 --- a/rtklib/msg/Navigation.msg +++ b/rtklib/msg/Navigation.msg @@ -1,12 +1,12 @@ # navigation data type -eph_t[] eph # GPS/QZS/GAL ephemeris -geph_t[] geph # GLONASS ephemeris -seph_t[] seph # SBAS ephemeris -peph_t[] peph # precise ephemeris -pclk_t[] pclk # precise clock -alm_t[] alm # almanac data -tec_t[] tec # TEC grid data +Ephemeris[] eph # GPS/QZS/GAL ephemeris +GlonassEphemeris[] geph # GLONASS ephemeris +SbasEphemeris[] seph # SBAS ephemeris +PreciseEphemeris[] peph # precise ephemeris +PreciseClock[] pclk # precise clock +Almanac[] alm # almanac data +TotalElectronContent[] tec # TEC grid data gtec_t[] gtec # G_TEC grid data float64[4] utc_gps # GPS delta-UTC parameters {A0,A1,T,W} diff --git a/rtklib/msg/PreciseEphemeris.msg b/rtklib/msg/PreciseEphemeris.msg index 0b6b20a..7538d76 100644 --- a/rtklib/msg/PreciseEphemeris.msg +++ b/rtklib/msg/PreciseEphemeris.msg @@ -3,5 +3,5 @@ time time # time (GPST) int32 index # ephemeris index for multiple files -#float64[][4] pos # satellite position/clock (ecef) (m|s) -#float32[][4] std # satellite position/clock std (m|s) \ No newline at end of file +float64[4] pos # satellite position/clock (ecef) (m|s) +float32[4] std # satellite position/clock std (m|s) \ No newline at end of file From e2b75982db2e8c1778432088a828a9e2495aa663 Mon Sep 17 00:00:00 2001 From: Asfandyar Ashraf Malik Date: Wed, 28 Aug 2013 11:31:32 +0200 Subject: [PATCH 07/12] navigation.msg: changing the name of instance of DifferentialGnss --- rtklib/msg/Navigation.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rtklib/msg/Navigation.msg b/rtklib/msg/Navigation.msg index 42a1bb5..c1b7c0b 100644 --- a/rtklib/msg/Navigation.msg +++ b/rtklib/msg/Navigation.msg @@ -21,7 +21,7 @@ int32 leaps # leap seconds (s) AntennaParameter[] pcvs # satellite antenna pcv sbssat_t sbssat # SBAS satellite corrections sbsion_t[] sbsion # SBAS ionosphere corrections -DifferentialGnss[] dgps_t # DGPS corrections +DifferentialGnss[] dgps # DGPS corrections ssr_t[] ssr # SSR corrections QzssEphemeris[] lexeph # LEX ephemeris QzssIonosphereCorrection lexion # LEX ionosphere correction From 12ad0a329c92ac57bd95670788d93e2aa173341f Mon Sep 17 00:00:00 2001 From: Asfandyar Ashraf Malik Date: Fri, 30 Aug 2013 13:10:29 +0200 Subject: [PATCH 08/12] Modified the msg files --- rtklib/msg/Almanac.msg | 2 +- rtklib/msg/Navigation.msg | 25 ++++++++++++++++--------- rtklib/msg/PreciseEphemeris.msg | 4 ++-- rtklib/msg/QzssEphemeris.msg | 2 +- rtklib/msg/TotalElectronContent.msg | 8 ++++---- rtklib/msg/sbssat_t.msg | 2 +- rtklib/msg/ssr_t.msg | 13 +++++-------- 7 files changed, 30 insertions(+), 26 deletions(-) diff --git a/rtklib/msg/Almanac.msg b/rtklib/msg/Almanac.msg index 6a49608..d2bf827 100644 --- a/rtklib/msg/Almanac.msg +++ b/rtklib/msg/Almanac.msg @@ -4,7 +4,7 @@ int32 sat # satellite number int32 svh # sv health (0:ok) int32 svconf # as and sv config int32 week # GPS/QZS: gps week, GAL: galileo week -time toa # Toa +Header toa # Toa # SV orbit parameters float64 A diff --git a/rtklib/msg/Navigation.msg b/rtklib/msg/Navigation.msg index c1b7c0b..35c4c51 100644 --- a/rtklib/msg/Navigation.msg +++ b/rtklib/msg/Navigation.msg @@ -1,21 +1,25 @@ # navigation data type -Ephemeris[] eph # GPS/QZS/GAL ephemeris -GlonassEphemeris[] geph # GLONASS ephemeris -SbasEphemeris[] seph # SBAS ephemeris -PreciseEphemeris[] peph # precise ephemeris -PreciseClock[] pclk # precise clock -Almanac[] alm # almanac data -TotalElectronContent[] tec # TEC grid data -gtec_t[] gtec # G_TEC grid data +Ephemeris[] eph # GPS/QZS/GAL ephemeris +GlonassEphemeris[] geph # GLONASS ephemeris +SbasEphemeris[] seph # SBAS ephemeris +PreciseEphemeris[] peph # precise ephemeris +PreciseClock[] pclk # precise clock +Almanac[] alm # almanac data +TotalElectronContent[] tec # TEC grid data +stec_t[] stec # stec grid data +erp_t erp # earth rotation parameters float64[4] utc_gps # GPS delta-UTC parameters {A0,A1,T,W} float64[4] utc_glo # GLONASS UTC GPS time parameters float64[4] utc_gal # Galileo UTC GPS time parameters float64[4] utc_qzs # QZS UTC GPS time parameters +float64[4] utc_cmp # BeiDou UTC parameters +float64[4] utc_sbs # SBAS UTC parameters float64[8] ion_gps # GPS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} float64[4] ion_gal # Galileo iono model parameters {ai0,ai1,ai2,0} float64[8] ion_qzs # QZSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} +float64[8] ion_cmp # BeiDou iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} int32 leaps # leap seconds (s) AntennaParameter[] pcvs # satellite antenna pcv @@ -27,4 +31,7 @@ QzssEphemeris[] lexeph # LEX ephemeris QzssIonosphereCorrection lexion # LEX ionosphere correction lam[] lamcwl # carrier wave lengths (m) -cbias[] codebias # code bias (0:p1-p2,1:p1-c1,2:p2-c2) (m) \ No newline at end of file +cbias[] codebias # code bias (0:p1-p2,1:p1-c1,2:p2-c2) (m) +float64[] wlbias # wide-lane bias (cycle) +float64[] glo_cpbias # glonass code-phase bias {1C,1P,2C,2P} (m) +uint8[] glo_fcn \ No newline at end of file diff --git a/rtklib/msg/PreciseEphemeris.msg b/rtklib/msg/PreciseEphemeris.msg index 7538d76..7d3bcb7 100644 --- a/rtklib/msg/PreciseEphemeris.msg +++ b/rtklib/msg/PreciseEphemeris.msg @@ -3,5 +3,5 @@ time time # time (GPST) int32 index # ephemeris index for multiple files -float64[4] pos # satellite position/clock (ecef) (m|s) -float32[4] std # satellite position/clock std (m|s) \ No newline at end of file +float64[] pos # satellite position/clock (ecef) (m|s) +float32[] std # satellite position/clock std (m|s) \ No newline at end of file diff --git a/rtklib/msg/QzssEphemeris.msg b/rtklib/msg/QzssEphemeris.msg index c287f1e..cf65ef2 100644 --- a/rtklib/msg/QzssEphemeris.msg +++ b/rtklib/msg/QzssEphemeris.msg @@ -14,4 +14,4 @@ geometry_msgs/Vector3 jerk # satellite jerk (m/s3) float64 af0 # satellite clock bias float64 af1 # satellite clock drift (s,s/s) float64 tgd # TGD -float64[8] isc # ISC \ No newline at end of file +float64[] isc # ISC \ No newline at end of file diff --git a/rtklib/msg/TotalElectronContent.msg b/rtklib/msg/TotalElectronContent.msg index bc06fdd..d6bb296 100644 --- a/rtklib/msg/TotalElectronContent.msg +++ b/rtklib/msg/TotalElectronContent.msg @@ -2,11 +2,11 @@ time time # epoch time (GPST) -int32[3] ndata # TEC grid data size {nlat,nlon,nhgt} +int32[] ndata # TEC grid data size {nlat,nlon,nhgt} float64 rb # earth radius (km) -float64[3] lats # latitude start/interval (deg) -float64[3] lons # longitude start/interval (deg) -float64[3] hgts # heights start/interval (km) +float64[] lats # latitude start/interval (deg) +float64[] lons # longitude start/interval (deg) +float64[] hgts # heights start/interval (km) float64[] data # TEC grid data (tecu) float32[] rms # RMS values (tecu) \ No newline at end of file diff --git a/rtklib/msg/sbssat_t.msg b/rtklib/msg/sbssat_t.msg index de368aa..9d89635 100644 --- a/rtklib/msg/sbssat_t.msg +++ b/rtklib/msg/sbssat_t.msg @@ -2,5 +2,5 @@ int32 iodp # IODP (issue of date mask) int32 nsat # number of satellites -int32 lat # system latency (s) +int32 tlat # system latency (s) sbssatp_t[] sat # satellite correction \ No newline at end of file diff --git a/rtklib/msg/ssr_t.msg b/rtklib/msg/ssr_t.msg index 77d5c8b..399ee89 100644 --- a/rtklib/msg/ssr_t.msg +++ b/rtklib/msg/ssr_t.msg @@ -1,17 +1,14 @@ # SSR correction type time t0 # epoch time (GPST) - -float64 udint # SSR update interval (s) - +float64[] udi # SSR update interval (s) +int32[] iod int32 iode # issue of data int32 ura # URA indicator int32 refd # sat ref datum (0:ITRF,1:regional) - -float64[3] deph # delta orbit {radial,along,cross} (m) -float64[3] ddeph # dot delta orbit {radial,along,cross} (m/s) -float64[3] dclk # delta clock {c0,c1,c2} (m,m/s,m/s^2) +float64[] deph # delta orbit {radial,along,cross} (m) +float64[] ddeph # dot delta orbit {radial,along,cross} (m/s) +float64[] dclk # delta clock {c0,c1,c2} (m,m/s,m/s^2) float64 hrclk # high-rate clock corection (m) float32[] cbias # code biases (m) - uint8 update # update flag (0:no update,1:update) \ No newline at end of file From ca598d64905543b32127348c562b377c8c51b06b Mon Sep 17 00:00:00 2001 From: Asfandyar Ashraf Malik Date: Fri, 30 Aug 2013 13:15:13 +0200 Subject: [PATCH 09/12] Cmakelist.txt edited --- rtklib/CMakeLists.txt | 17 +++++++++++++++++ rtkrcv/CMakeLists.txt | 6 ++++-- 2 files changed, 21 insertions(+), 2 deletions(-) diff --git a/rtklib/CMakeLists.txt b/rtklib/CMakeLists.txt index cc97b18..616cb48 100644 --- a/rtklib/CMakeLists.txt +++ b/rtklib/CMakeLists.txt @@ -10,11 +10,23 @@ find_package(BLAS) add_definitions(-DLAPACK) #endif() +rosbuild_genmsg() + include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/rtklib) +rosbuild_find_ros_package(rtklib) set(src ${CMAKE_CURRENT_SOURCE_DIR}/src/src) rosbuild_add_library(rtk ${src}/rtksvr.c + ${src}/convkml.c + ${src}/datum.c + ${src}/download.c + ${src}/postpos.c + ${src}/ppp_ar.c + ${src}/qzslex.c + ${src}/rtcm3e.c + ${src}/streamsvr.c + ${src}/tle.c ${src}/rtkcmn.c ${src}/rtkpos.c ${src}/geoid.c @@ -24,6 +36,8 @@ rosbuild_add_library(rtk ${src}/stream.c ${src}/rcvraw.c ${src}/rtcm.c + ${src}/rtcm2.c + ${src}/rtcm3.c ${src}/preceph.c ${src}/options.c ${src}/pntpos.c @@ -35,6 +49,9 @@ rosbuild_add_library(rtk ${src}/rcv/skytraq.c ${src}/rcv/gw10.c ${src}/rcv/javad.c + ${src}/rcv/binex.c + ${src}/rcv/nvs.c + ${src}/rcv/rcvlex.c ${src}/ephemeris.c ${src}/rinex.c ${src}/ionex.c diff --git a/rtkrcv/CMakeLists.txt b/rtkrcv/CMakeLists.txt index 28ba9cd..9d2c512 100644 --- a/rtkrcv/CMakeLists.txt +++ b/rtkrcv/CMakeLists.txt @@ -30,8 +30,10 @@ rosbuild_find_ros_package(rtklib) include_directories(${rtklib_PACKAGE_PATH}/include) find_library(LIBRTK NAMES rtk PATHS ${rtklib_PACKAGE_PATH}/lib) message(${LIBRTK}) + rosbuild_add_executable(${PROJECT_NAME} - src/main.cpp src/ros_options.cpp - src/rtkrcv.cpp) + src/rtkrcv.cpp + src/main_aisehe.cpp + ) target_link_libraries(${PROJECT_NAME} ${LIBRTK}) From 55598493b2e7fe01c6023f728482a7701b3a4d6d Mon Sep 17 00:00:00 2001 From: Asfandyar Ashraf Malik Date: Fri, 30 Aug 2013 13:38:04 +0200 Subject: [PATCH 10/12] adding some msg files and main file which converts raw messages into ros --- rtklib/msg/erp_t.msg | 3 + rtklib/msg/erpd_t.msg | 9 + rtklib/msg/stec_t.msg | 7 + rtklib/msg/stecd_t.msg | 8 + rtkrcv/src/main_aisehe.cpp | 348 +++++++++++++++++++++++++++++++++++++ 5 files changed, 375 insertions(+) create mode 100644 rtklib/msg/erp_t.msg create mode 100644 rtklib/msg/erpd_t.msg create mode 100644 rtklib/msg/stec_t.msg create mode 100644 rtklib/msg/stecd_t.msg create mode 100644 rtkrcv/src/main_aisehe.cpp diff --git a/rtklib/msg/erp_t.msg b/rtklib/msg/erp_t.msg new file mode 100644 index 0000000..a72e7e7 --- /dev/null +++ b/rtklib/msg/erp_t.msg @@ -0,0 +1,3 @@ +# earth rotation parameter type + +erpd_t[] data # earth rotation parameter data \ No newline at end of file diff --git a/rtklib/msg/erpd_t.msg b/rtklib/msg/erpd_t.msg new file mode 100644 index 0000000..e03fa09 --- /dev/null +++ b/rtklib/msg/erpd_t.msg @@ -0,0 +1,9 @@ +# earth rotation parameter data type + +float64 mjd # mjd (days) +float64 xp +float64 yp # pole offset (rad) +float64 xpr +float64 ypr # pole offset rate (rad/day) +float64 ut1_utc # ut1-utc (s) +float64 lod # length of day (s/day) \ No newline at end of file diff --git a/rtklib/msg/stec_t.msg b/rtklib/msg/stec_t.msg new file mode 100644 index 0000000..172dc50 --- /dev/null +++ b/rtklib/msg/stec_t.msg @@ -0,0 +1,7 @@ +# stec grid type + +float64[] pos #latitude/longitude (deg) +int32[] index #search index +int32 n +int32 nmax #number of data +stecd_t[] data #stec data diff --git a/rtklib/msg/stecd_t.msg b/rtklib/msg/stecd_t.msg new file mode 100644 index 0000000..6ae9278 --- /dev/null +++ b/rtklib/msg/stecd_t.msg @@ -0,0 +1,8 @@ +# stec data type + +Header header #time (GPST) +uint8 sat #satellite number +uint8 slip #slip flag +float32 iono #L1 ionosphere delay (m) +float32 rate #L1 ionosphere rate (m/s) +float32 rms #rms value (m) \ No newline at end of file diff --git a/rtkrcv/src/main_aisehe.cpp b/rtkrcv/src/main_aisehe.cpp new file mode 100644 index 0000000..1d29698 --- /dev/null +++ b/rtkrcv/src/main_aisehe.cpp @@ -0,0 +1,348 @@ +#include +#include +#include +#include //for raw2rtcm, rtcm2rtcm +#include //for input_rtcm2, input_rtcm3 +#include //for input_raw +#include +#include +#include +#include +#include + +// Function to convert Observation message from raw format to ros +void obsfunc(rtklib::Observation obsarr, rtklib::ObservationData obserdata , strconv_t *conv){ + int i, j; + for(i=0; iraw.obs.nmax; i++){ + obserdata.sat=conv->raw.obs.data[i].sat; + obserdata.rcv=conv->raw.obs.data[i].rcv; + + for(j=0; j<(NFREQ+NEXOBS); j++){ + obserdata.SNR[j]=conv->raw.obs.data[i].SNR[j]; + obserdata.LLI[j]=conv->raw.obs.data[i].LLI[j]; + obserdata.code[j]=conv->raw.obs.data[i].code[j]; + obserdata.L[j]=conv->raw.obs.data[i].L[j]; + obserdata.P[j]=conv->raw.obs.data[i].P[j]; + obserdata.D[j]=conv->raw.obs.data[i].D[j]; + } + obsarr.data.push_back(obserdata); + } +} + + +// Function to convert Navigation message from raw format to ros +void navmsgfunc(rtklib::Navigation navigmsg, strconv_t* conv){ + + int i, j, p; + + for(i=0; iraw.nav.nmax; i++){ + navigmsg.eph[i].sat=conv->raw.nav.eph[i].sat; + } + for(i=0; iraw.nav.ngmax; i++){ //time not implemented + navigmsg.geph[i].sat=conv->raw.nav.geph[i].sat; + navigmsg.geph[i].iode=conv->raw.nav.geph[i].iode; + navigmsg.geph[i].frq=conv->raw.nav.geph[i].frq; + navigmsg.geph[i].svh=conv->raw.nav.geph[i].svh; + navigmsg.geph[i].sva=conv->raw.nav.geph[i].sva; + navigmsg.geph[i].age=conv->raw.nav.geph[i].age; + navigmsg.geph[i].pos.x=conv->raw.nav.geph[i].pos[0]; + navigmsg.geph[i].pos.y=conv->raw.nav.geph[i].pos[1]; + navigmsg.geph[i].pos.z=conv->raw.nav.geph[i].pos[2]; + navigmsg.geph[i].vel.x=conv->raw.nav.geph[i].vel[0]; + navigmsg.geph[i].vel.y=conv->raw.nav.geph[i].vel[1]; + navigmsg.geph[i].vel.z=conv->raw.nav.geph[i].vel[2]; + navigmsg.geph[i].acc.x=conv->raw.nav.geph[i].acc[0]; + navigmsg.geph[i].acc.y=conv->raw.nav.geph[i].acc[1]; + navigmsg.geph[i].acc.z=conv->raw.nav.geph[i].acc[2]; + navigmsg.geph[i].taun=conv->raw.nav.geph[i].taun; + navigmsg.geph[i].gamn=conv->raw.nav.geph[i].gamn; + navigmsg.geph[i].dtaun=conv->raw.nav.geph[i].dtaun; + } + for(i=0; iraw.nav.nsmax; i++){ //time not implemented + navigmsg.seph[i].sat=conv->raw.nav.seph[i].sat; + navigmsg.seph[i].sva=conv->raw.nav.seph[i].sva; + navigmsg.seph[i].svh=conv->raw.nav.seph[i].svh; + navigmsg.seph[i].af0=conv->raw.nav.seph[i].af0; + navigmsg.seph[i].af1=conv->raw.nav.seph[i].af1; + + navigmsg.seph[i].pos.x=conv->raw.nav.seph[i].pos[0]; + navigmsg.seph[i].pos.y=conv->raw.nav.seph[i].pos[1]; + navigmsg.seph[i].pos.z=conv->raw.nav.seph[i].pos[2]; + + navigmsg.seph[i].vel.x=conv->raw.nav.seph[i].vel[0]; + navigmsg.seph[i].vel.y=conv->raw.nav.seph[i].vel[1]; + navigmsg.seph[i].vel.z=conv->raw.nav.seph[i].vel[2]; + + navigmsg.seph[i].acc.x=conv->raw.nav.seph[i].acc[0]; + navigmsg.seph[i].acc.y=conv->raw.nav.seph[i].acc[1]; + navigmsg.seph[i].acc.z=conv->raw.nav.seph[i].acc[2]; + + } + for(i=0; iraw.nav.nemax; i++){ //time not implemented + int e; + + navigmsg.peph[i].index=conv->raw.nav.peph[i].index; + for(e=0; eraw.nav.peph[i].pos[e][1]; // How do I represent double array in ROS msg format + navigmsg.peph[i].std[e]=conv->raw.nav.peph[i].std[e][1]; + // } + } + } + + for(i=0; iraw.nav.ncmax; i++){ + navigmsg.pclk[i].index=conv->raw.nav.pclk[i].index; + int e; + for(e=0; eraw.nav.pclk[i].clk[e][1]; + navigmsg.pclk[i].std[e]=conv->raw.nav.pclk[i].std[e][1]; + } + } + + for(i=0; iraw.nav.namax; i++){ //time not implemented gtime_t + navigmsg.alm[i].sat=conv->raw.nav.alm[i].sat; + navigmsg.alm[i].svh=conv->raw.nav.alm[i].svh; + navigmsg.alm[i].svconf=conv->raw.nav.alm[i].svconf; + navigmsg.alm[i].week=conv->raw.nav.alm[i].week; + navigmsg.alm[i].A=conv->raw.nav.alm[i].A; + navigmsg.alm[i].e=conv->raw.nav.alm[i].e; + navigmsg.alm[i].i0=conv->raw.nav.alm[i].i0; + navigmsg.alm[i].OMG0=conv->raw.nav.alm[i].OMG0; + navigmsg.alm[i].omg=conv->raw.nav.alm[i].omg; + navigmsg.alm[i].M0=conv->raw.nav.alm[i].M0; + navigmsg.alm[i].toas=conv->raw.nav.alm[i].toas; + navigmsg.alm[i].f0=conv->raw.nav.alm[i].f0; + navigmsg.alm[i].f1=conv->raw.nav.alm[i].f1; + } + + for(i=0; iraw.nav.ntmax; i++){ //time not implemented with gtime_t + navigmsg.tec[i].rb=conv->raw.nav.tec[i].rb; + int f; + for(f=0; f<3; f++){ + navigmsg.tec[i].lats[f]=conv->raw.nav.tec[i].lats[f]; + navigmsg.tec[i].lons[f]=conv->raw.nav.tec[i].lons[f]; + navigmsg.tec[i].hgts[f]=conv->raw.nav.tec[i].hgts[f]; + navigmsg.tec[i].ndata[f]=conv->raw.nav.tec[i].ndata[f]; + //not sure about the following 2 whether their size is 3 + navigmsg.tec[i].data[f]=conv->raw.nav.tec[i].data[f]; + navigmsg.tec[i].rms[f]=conv->raw.nav.tec[i].rms[f]; + } + + } + + for(i=0; iraw.nav.nnmax; i++){ + navigmsg.stec[i].n=conv->raw.nav.stec[i].n; + navigmsg.stec[i].nmax=conv->raw.nav.stec[i].nmax; + navigmsg.stec[i].pos[1]=conv->raw.nav.stec[i].pos[1]; + navigmsg.stec[i].pos[2]=conv->raw.nav.stec[i].pos[2]; + int g,h; + for(g=0; graw.nav.stec[i].index[g]; + } + + for(h=0; hraw.nav.stec[i].nmax; h++){ + navigmsg.stec[i].data[h].sat=conv->raw.nav.stec[i].data[h].sat; + navigmsg.stec[i].data[h].slip=conv->raw.nav.stec[i].data[h].slip; + navigmsg.stec[i].data[h].iono=conv->raw.nav.stec[i].data[h].iono; + navigmsg.stec[i].data[h].rate=conv->raw.nav.stec[i].data[h].rate; + navigmsg.stec[i].data[h].rms=conv->raw.nav.stec[i].data[h].rms; + } + } + + + for(i=0; iraw.nav.erp.nmax;i++){ + navigmsg.erp.data[i].mjd =conv->raw.nav.erp.data[i].mjd; + navigmsg.erp.data[i].xp =conv->raw.nav.erp.data[i].xp; + navigmsg.erp.data[i].yp =conv->raw.nav.erp.data[i].yp; + navigmsg.erp.data[i].xpr =conv->raw.nav.erp.data[i].xpr; + navigmsg.erp.data[i].ypr =conv->raw.nav.erp.data[i].ypr; + navigmsg.erp.data[i].ut1_utc =conv->raw.nav.erp.data[i].ut1_utc; + navigmsg.erp.data[i].lod =conv->raw.nav.erp.data[i].lod; + } + + for(i=0; iraw.nav.pcvs[i].sat; //you have to add some component here + } + + navigmsg.sbssat.iodp=conv->raw.nav.sbssat.iodp; + navigmsg.sbssat.nsat=conv->raw.nav.sbssat.nsat; + navigmsg.sbssat.tlat=conv->raw.nav.sbssat.tlat; // you have to add some component here + + + + for(i=0; i<(MAXBAND+1); i++){ //because MAXBAND=10 + navigmsg.sbsion[i].iodi=conv->raw.nav.sbsion[i].iodi; + navigmsg.sbsion[i].nigp=conv->raw.nav.sbsion[i].nigp; + + for(p=0; praw.nav.sbsion[i].igp[p].lat; + navigmsg.sbsion[i].igp[p].lon=conv->raw.nav.sbsion[i].igp[p].lon; + navigmsg.sbsion[i].igp[p].give=conv->raw.nav.sbsion[i].igp[p].give; + navigmsg.sbsion[i].igp[p].delay=conv->raw.nav.sbsion[i].igp[p].delay; + } + } + + for(i=0; iraw.nav.dgps[i].prc; + navigmsg.dgps[i].rrc=conv->raw.nav.dgps[i].rrc; + navigmsg.dgps[i].iod=conv->raw.nav.dgps[i].iod; + navigmsg.dgps[i].udre=conv->raw.nav.dgps[i].udre; + } + + for(i=0; iraw.nav.ssr[i].udi[m]; + navigmsg.ssr[i].iod[m]=conv->raw.nav.ssr[i].iod[m]; + } + + for(n=0; n<3; n++){ + navigmsg.ssr[i].deph[n]=conv->raw.nav.ssr[i].deph[n]; + navigmsg.ssr[i].ddeph[n]=conv->raw.nav.ssr[i].ddeph[n]; + navigmsg.ssr[i].dclk[n]=conv->raw.nav.ssr[i].dclk[n]; + } + + navigmsg.ssr[i].iode=conv->raw.nav.ssr[i].iode; + navigmsg.ssr[i].ura=conv->raw.nav.ssr[i].ura; + navigmsg.ssr[i].refd=conv->raw.nav.ssr[i].refd; + navigmsg.ssr[i].hrclk=conv->raw.nav.ssr[i].hrclk; + navigmsg.ssr[i].update=conv->raw.nav.ssr[i].update; + + int b; + for(b=0;braw.nav.ssr[i].cbias[b]; + } + } + + for(i=0; iraw.nav.lexeph[i].af0; + navigmsg.lexeph[i].af1=conv->raw.nav.lexeph[i].af1; + navigmsg.lexeph[i].tgd=conv->raw.nav.lexeph[i].tgd; + navigmsg.lexeph[i].sat=conv->raw.nav.lexeph[i].sat; + navigmsg.lexeph[i].health=conv->raw.nav.lexeph[i].health; + navigmsg.lexeph[i].ura=conv->raw.nav.lexeph[i].ura; + navigmsg.lexeph[i].pos.x=conv->raw.nav.lexeph[i].pos[0]; + navigmsg.lexeph[i].pos.y=conv->raw.nav.lexeph[i].pos[1]; + navigmsg.lexeph[i].pos.z=conv->raw.nav.lexeph[i].pos[2]; + + navigmsg.lexeph[i].vel.x=conv->raw.nav.lexeph[i].vel[0]; + navigmsg.lexeph[i].vel.y=conv->raw.nav.lexeph[i].vel[1]; + navigmsg.lexeph[i].vel.z=conv->raw.nav.lexeph[i].vel[2]; + + navigmsg.lexeph[i].acc.x=conv->raw.nav.lexeph[i].acc[0]; + navigmsg.lexeph[i].acc.y=conv->raw.nav.lexeph[i].acc[1]; + navigmsg.lexeph[i].acc.z=conv->raw.nav.lexeph[i].acc[2]; + + navigmsg.lexeph[i].jerk.x=conv->raw.nav.lexeph[i].jerk[0]; + navigmsg.lexeph[i].jerk.y=conv->raw.nav.lexeph[i].jerk[1]; + navigmsg.lexeph[i].jerk.z=conv->raw.nav.lexeph[i].jerk[2]; + + int o; + for(o=0; o<8;o++){ + navigmsg.lexeph[i].isc[o]=conv->raw.nav.lexeph[i].isc[o]; + } + } + + navigmsg.lexion.tspan=conv->raw.nav.lexion.tspan; + navigmsg.lexion.pos0[0]=conv->raw.nav.lexion.pos0[0]; + navigmsg.lexion.pos0[1]=conv->raw.nav.lexion.pos0[1]; + /* Get this checked + navigmsg.lexion.coef[0]=conv->raw.nav.lexion.coef[1][1]; + navigmsg.lexion.coef[1]=conv->raw.nav.lexion.coef[1][2]; + navigmsg.lexion.coef[2]=conv->raw.nav.lexion.coef[2][1]; + navigmsg.lexion.coef[3]=conv->raw.nav.lexion.coef[2][2]; + navigmsg.lexion.coef[4]=conv->raw.nav.lexion.coef[3][1]; + navigmsg.lexion.coef[5]=conv->raw.nav.lexion.coef[3][2]; +*/ + + for(i=0; iraw.nav.lam[i][0]; + navigmsg.lamcwl[i].L2=conv->raw.nav.lam[i][1]; + navigmsg.lamcwl[i].L5=conv->raw.nav.lam[i][2]; + navigmsg.lamcwl[i].L6=conv->raw.nav.lam[i][3]; + navigmsg.lamcwl[i].L7=conv->raw.nav.lam[i][4]; + navigmsg.lamcwl[i].L8=conv->raw.nav.lam[i][5]; + } + + for(i=0; iraw.nav.cbias[i][0]; + navigmsg.codebias[i].p1_c1=conv->raw.nav.cbias[i][1]; + navigmsg.codebias[i].p2_c2=conv->raw.nav.cbias[i][2]; + } + + for(j=0; j<4; j++){ + navigmsg.utc_gps[j]=conv->raw.nav.utc_gps[j]; + navigmsg.utc_glo[j]=conv->raw.nav.utc_glo[j]; + navigmsg.utc_gal[j]=conv->raw.nav.utc_gal[j]; + navigmsg.utc_qzs[j]=conv->raw.nav.utc_qzs[j]; + navigmsg.utc_cmp[j]=conv->raw.nav.utc_cmp[j]; + navigmsg.utc_sbs[j]=conv->raw.nav.utc_sbs[j]; + navigmsg.ion_gal[j]=conv->raw.nav.ion_gal[j]; + } + for(j=0; j<8; j++){ + navigmsg.ion_gps[j]=conv->raw.nav.ion_gps[j]; + navigmsg.ion_qzs[j]=conv->raw.nav.ion_qzs[j]; + navigmsg.ion_cmp[j]=conv->raw.nav.ion_cmp[j]; + } + navigmsg.leaps=conv->raw.nav.leaps; + +} + +// convert stream ------------------------------------------------------------------------------- +static void raw2ros(ros::Publisher& pub_navigation_msg, ros::Publisher& pub_observation_msg, strconv_t *conv, unsigned char *buff, int n) +{ + int ret,k; + + rtklib::Navigation navmsg; + rtklib::Observation obsmsg; + rtklib::ObservationData obsdata; + + for (k=0;kitype==STRFMT_RTCM2) { + continue; + } + // input rtcm 3 messages + else if (conv->itype==STRFMT_RTCM3) { + continue; + } + + // input receiver raw messages + else { + ret=input_raw(&conv->raw,conv->itype,buff[k]); + + if(ret==1){ + obsfunc(obsmsg,obsdata,conv); + } + + if(ret==2){ + navmsgfunc(navmsg, conv); + } + + pub_navigation_msg.publish(navmsg); + pub_observation_msg.publish(obsmsg); + } + } +} + + +int main(int argc, char** argv){ + + ros::NodeHandle nh; + + ros::Publisher pub_navigation_msg = nh.advertise("nav_topic", 10); + ros::Publisher pub_observation_msg = nh.advertise("obs_topic", 10); + ros::Rate r(1); + strconv_t *conv; + unsigned char *buff; + int n; + + while (ros::ok()){ + + raw2ros(pub_navigation_msg, pub_observation_msg, conv, buff, n); + ros::spinOnce(); + } + +return 0; +} \ No newline at end of file From 3b810d523d8cfe48b151f89503c4980358d650fb Mon Sep 17 00:00:00 2001 From: Asfandyar Ashraf Malik Date: Fri, 30 Aug 2013 13:49:25 +0200 Subject: [PATCH 11/12] Solving identing problem. Nothing much --- rtklib/msg/TotalElectronContent.msg | 8 ++++---- rtklib/msg/ssr_t.msg | 6 +++--- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/rtklib/msg/TotalElectronContent.msg b/rtklib/msg/TotalElectronContent.msg index d6bb296..ec93a92 100644 --- a/rtklib/msg/TotalElectronContent.msg +++ b/rtklib/msg/TotalElectronContent.msg @@ -2,11 +2,11 @@ time time # epoch time (GPST) -int32[] ndata # TEC grid data size {nlat,nlon,nhgt} +int32[] ndata # TEC grid data size {nlat,nlon,nhgt} float64 rb # earth radius (km) -float64[] lats # latitude start/interval (deg) -float64[] lons # longitude start/interval (deg) -float64[] hgts # heights start/interval (km) +float64[] lats # latitude start/interval (deg) +float64[] lons # longitude start/interval (deg) +float64[] hgts # heights start/interval (km) float64[] data # TEC grid data (tecu) float32[] rms # RMS values (tecu) \ No newline at end of file diff --git a/rtklib/msg/ssr_t.msg b/rtklib/msg/ssr_t.msg index 399ee89..63c5950 100644 --- a/rtklib/msg/ssr_t.msg +++ b/rtklib/msg/ssr_t.msg @@ -6,9 +6,9 @@ int32[] iod int32 iode # issue of data int32 ura # URA indicator int32 refd # sat ref datum (0:ITRF,1:regional) -float64[] deph # delta orbit {radial,along,cross} (m) -float64[] ddeph # dot delta orbit {radial,along,cross} (m/s) -float64[] dclk # delta clock {c0,c1,c2} (m,m/s,m/s^2) +float64[] deph # delta orbit {radial,along,cross} (m) +float64[] ddeph # dot delta orbit {radial,along,cross} (m/s) +float64[] dclk # delta clock {c0,c1,c2} (m,m/s,m/s^2) float64 hrclk # high-rate clock corection (m) float32[] cbias # code biases (m) uint8 update # update flag (0:no update,1:update) \ No newline at end of file From 3e96c555b0d3e619a642fd65dc5ffb3eea3829eb Mon Sep 17 00:00:00 2001 From: Asfandyar Ashraf Malik Date: Fri, 30 Aug 2013 16:41:20 +0200 Subject: [PATCH 12/12] Fix messages --- rtklib/msg/PreciseEphemeris.msg | 5 ++--- rtklib/msg/QzssEphemeris.msg | 2 +- rtklib/msg/sbssat_t.msg | 2 +- 3 files changed, 4 insertions(+), 5 deletions(-) diff --git a/rtklib/msg/PreciseEphemeris.msg b/rtklib/msg/PreciseEphemeris.msg index 7d3bcb7..a82b6f5 100644 --- a/rtklib/msg/PreciseEphemeris.msg +++ b/rtklib/msg/PreciseEphemeris.msg @@ -2,6 +2,5 @@ time time # time (GPST) int32 index # ephemeris index for multiple files - -float64[] pos # satellite position/clock (ecef) (m|s) -float32[] std # satellite position/clock std (m|s) \ No newline at end of file +float64[] pos # satellite position/clock (ecef) (m|s) +float32[] std # satellite position/clock std (m|s) \ No newline at end of file diff --git a/rtklib/msg/QzssEphemeris.msg b/rtklib/msg/QzssEphemeris.msg index cf65ef2..045558a 100644 --- a/rtklib/msg/QzssEphemeris.msg +++ b/rtklib/msg/QzssEphemeris.msg @@ -14,4 +14,4 @@ geometry_msgs/Vector3 jerk # satellite jerk (m/s3) float64 af0 # satellite clock bias float64 af1 # satellite clock drift (s,s/s) float64 tgd # TGD -float64[] isc # ISC \ No newline at end of file +float64[] isc # ISC \ No newline at end of file diff --git a/rtklib/msg/sbssat_t.msg b/rtklib/msg/sbssat_t.msg index 9d89635..96072dd 100644 --- a/rtklib/msg/sbssat_t.msg +++ b/rtklib/msg/sbssat_t.msg @@ -2,5 +2,5 @@ int32 iodp # IODP (issue of date mask) int32 nsat # number of satellites -int32 tlat # system latency (s) +int32 tlat # system latency (s) sbssatp_t[] sat # satellite correction \ No newline at end of file