From d7db25b617e803bcfc792b4a5cd9a3e6c26099eb Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Thu, 26 Jan 2023 20:11:04 -0800 Subject: [PATCH 1/7] add v1 --- log.capnp | 42 +++++++++++++++++++++++++++++++++++++++++- 1 file changed, 41 insertions(+), 1 deletion(-) diff --git a/log.capnp b/log.capnp index f7992a7aa..c454d3726 100644 --- a/log.capnp +++ b/log.capnp @@ -1228,6 +1228,7 @@ struct UbloxGnss { ionoData @2 :IonoData; hwStatus @3 :HwStatus; hwStatus2 @4 :HwStatus2; + glonassEphemeris @5 :GlonassEphemeris; } struct MeasurementReport { @@ -1337,7 +1338,6 @@ struct UbloxGnss { ionoCoeffsValid @37 :Bool; ionoAlpha @38 :List(Float64); ionoBeta @39 :List(Float64); - } struct IonoData { @@ -1392,6 +1392,46 @@ struct UbloxGnss { flash @4; } } + + struct GlonassEphemeris { + # This is according to the rinex (2?) format + svId @0 :UInt16; + year @1 :UInt16; + month @2 :UInt16; + day @3 :UInt16; + hour @4 :UInt16; + minute @5 :UInt16; + second @6 :Float32; + + x @7 :Float64; + xVel @8 :Float64; + xSpeedup @9 :Float64; + y @10 :Float64; + yVel @11 :Float64; + ySpeedup @12 :Float64; + z @13 :Float64; + zVel @14 :Float64; + zSpeedup @15 :Float64; + + svType @16 :UInt8; + slotNumber @17 :UInt8; # this is probably the same as svId + svURA @18 :Float32; + age @19 :UInt8; + + svHealth1 @20 :UInt8; + svHealth2 @21 :UInt8; + tk @22 :UInt16; + tb @23 :UInt16; + + tauN @24 :Float64; + deltaTauN @25 :Float64; + gammaN @26 :Float64; + + p1 @27 :UInt8; + p2 @28 :UInt8; + p3 @29 :UInt8; + p4 @30 :UInt8; + } } struct QcomGnss @0xde94674b07ae51c1 { From e4229eb4500390da00be8c5d293256113d5bcd63 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Thu, 26 Jan 2023 20:47:22 -0800 Subject: [PATCH 2/7] small cleanup --- log.capnp | 32 +++++++++++++++----------------- 1 file changed, 15 insertions(+), 17 deletions(-) diff --git a/log.capnp b/log.capnp index c454d3726..1497ef574 100644 --- a/log.capnp +++ b/log.capnp @@ -1414,23 +1414,21 @@ struct UbloxGnss { zSpeedup @15 :Float64; svType @16 :UInt8; - slotNumber @17 :UInt8; # this is probably the same as svId - svURA @18 :Float32; - age @19 :UInt8; - - svHealth1 @20 :UInt8; - svHealth2 @21 :UInt8; - tk @22 :UInt16; - tb @23 :UInt16; - - tauN @24 :Float64; - deltaTauN @25 :Float64; - gammaN @26 :Float64; - - p1 @27 :UInt8; - p2 @28 :UInt8; - p3 @29 :UInt8; - p4 @30 :UInt8; + svURA @17 :Float32; + age @18 :UInt8; + + svHealth @19 :UInt8; + tk @20 :UInt16; + tb @21 :UInt16; + + tauN @22 :Float64; + deltaTauN @23 :Float64; + gammaN @24 :Float64; + + p1 @25 :UInt8; + p2 @26 :UInt8; + p3 @27 :UInt8; + p4 @28 :UInt8; } } From 32bc0f0255b5859cf26fe38c477a17832a047ae4 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Fri, 27 Jan 2023 11:52:46 -0800 Subject: [PATCH 3/7] rename speedup to accel --- log.capnp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/log.capnp b/log.capnp index 1497ef574..c2b927d6d 100644 --- a/log.capnp +++ b/log.capnp @@ -1405,13 +1405,13 @@ struct UbloxGnss { x @7 :Float64; xVel @8 :Float64; - xSpeedup @9 :Float64; + xAccel @9 :Float64; y @10 :Float64; yVel @11 :Float64; - ySpeedup @12 :Float64; + yAccel @12 :Float64; z @13 :Float64; zVel @14 :Float64; - zSpeedup @15 :Float64; + zAccel @15 :Float64; svType @16 :UInt8; svURA @17 :Float32; From 926b0c8b2c2a2b15bb65e9d96b250001563d2dc8 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Fri, 27 Jan 2023 12:45:53 -0800 Subject: [PATCH 4/7] final --- log.capnp | 63 +++++++++++++++++++++++++++---------------------------- 1 file changed, 31 insertions(+), 32 deletions(-) diff --git a/log.capnp b/log.capnp index c2b927d6d..5da22096c 100644 --- a/log.capnp +++ b/log.capnp @@ -1397,38 +1397,37 @@ struct UbloxGnss { # This is according to the rinex (2?) format svId @0 :UInt16; year @1 :UInt16; - month @2 :UInt16; - day @3 :UInt16; - hour @4 :UInt16; - minute @5 :UInt16; - second @6 :Float32; - - x @7 :Float64; - xVel @8 :Float64; - xAccel @9 :Float64; - y @10 :Float64; - yVel @11 :Float64; - yAccel @12 :Float64; - z @13 :Float64; - zVel @14 :Float64; - zAccel @15 :Float64; - - svType @16 :UInt8; - svURA @17 :Float32; - age @18 :UInt8; - - svHealth @19 :UInt8; - tk @20 :UInt16; - tb @21 :UInt16; - - tauN @22 :Float64; - deltaTauN @23 :Float64; - gammaN @24 :Float64; - - p1 @25 :UInt8; - p2 @26 :UInt8; - p3 @27 :UInt8; - p4 @28 :UInt8; + dayInYear @2 :UInt16; + hour @3 :UInt16; + minute @4 :UInt16; + second @5 :Float32; + + x @6 :Float64; + xVel @7 :Float64; + xAccel @8 :Float64; + y @9 :Float64; + yVel @10 :Float64; + yAccel @11 :Float64; + z @12 :Float64; + zVel @13 :Float64; + zAccel @14 :Float64; + + svType @15 :UInt8; + svURA @16 :Float32; + age @17 :UInt8; + + svHealth @18 :UInt8; + tk @19 :UInt16; + tb @20 :UInt16; + + tauN @21 :Float64; + deltaTauN @22 :Float64; + gammaN @23 :Float64; + + p1 @24 :UInt8; + p2 @25 :UInt8; + p3 @26 :UInt8; + p4 @27 :UInt8; } } From ffcfd738f1745255ac34c5e0c6406a9218abef98 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Fri, 27 Jan 2023 12:59:28 -0800 Subject: [PATCH 5/7] remove comment --- log.capnp | 1 - 1 file changed, 1 deletion(-) diff --git a/log.capnp b/log.capnp index 5da22096c..0ad808cce 100644 --- a/log.capnp +++ b/log.capnp @@ -1394,7 +1394,6 @@ struct UbloxGnss { } struct GlonassEphemeris { - # This is according to the rinex (2?) format svId @0 :UInt16; year @1 :UInt16; dayInYear @2 :UInt16; From 5811724c3684f4dea84d061cd994419f546f3a3c Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 1 Feb 2023 15:08:52 -0800 Subject: [PATCH 6/7] add space for freq_num --- log.capnp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/log.capnp b/log.capnp index 0ad808cce..2bc5e00da 100644 --- a/log.capnp +++ b/log.capnp @@ -1427,6 +1427,8 @@ struct UbloxGnss { p2 @25 :UInt8; p3 @26 :UInt8; p4 @27 :UInt8; + + freq_num @28 :UInt32; } } From e6ff328afd12d1c0c494f7be544334514b13f147 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 1 Feb 2023 15:09:21 -0800 Subject: [PATCH 7/7] . --- log.capnp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/log.capnp b/log.capnp index 2bc5e00da..d793b68ab 100644 --- a/log.capnp +++ b/log.capnp @@ -1428,7 +1428,7 @@ struct UbloxGnss { p3 @26 :UInt8; p4 @27 :UInt8; - freq_num @28 :UInt32; + freqNum @28 :UInt32; } }