diff --git a/src/SparkFun_Ublox_Arduino_Library.h b/src/SparkFun_Ublox_Arduino_Library.h index 843a203..5871699 100644 --- a/src/SparkFun_Ublox_Arduino_Library.h +++ b/src/SparkFun_Ublox_Arduino_Library.h @@ -103,63 +103,200 @@ typedef enum const uint8_t UBX_SYNCH_1 = 0xB5; const uint8_t UBX_SYNCH_2 = 0x62; -const uint8_t UBX_CLASS_NAV = 0x01; -const uint8_t UBX_CLASS_RXM = 0x02; -const uint8_t UBX_CLASS_INF = 0x04; -const uint8_t UBX_CLASS_ACK = 0x05; -const uint8_t UBX_CLASS_CFG = 0x06; -const uint8_t UBX_CLASS_UPD = 0x09; -const uint8_t UBX_CLASS_MON = 0x0A; -const uint8_t UBX_CLASS_AID = 0x0B; -const uint8_t UBX_CLASS_TIM = 0x0D; -const uint8_t UBX_CLASS_ESF = 0x10; -const uint8_t UBX_CLASS_MGA = 0x13; -const uint8_t UBX_CLASS_LOG = 0x21; -const uint8_t UBX_CLASS_SEC = 0x27; -const uint8_t UBX_CLASS_HNR = 0x28; -const uint8_t UBX_CLASS_NMEA = 0xF0; - -const uint8_t UBX_CFG_PRT = 0x00; //Used to configure port specifics -const uint8_t UBX_CFG_RST = 0x04; //Used to reset device -const uint8_t UBX_CFG_RATE = 0x08; //Used to set port baud rates -const uint8_t UBX_CFG_CFG = 0x09; //Used to save current configuration -const uint8_t UBX_CFG_RXM = 0x11; //Used to set receiver power management (power save mode) -const uint8_t UBX_CFG_NAV5 = 0x24; //Used to configure the navigation engine including the dynamic model - -const uint8_t UBX_CFG_VALSET = 0x8A; //Used for config of higher version Ublox modules (ie protocol v27 and above) -const uint8_t UBX_CFG_VALGET = 0x8B; //Used for config of higher version Ublox modules (ie protocol v27 and above) -const uint8_t UBX_CFG_VALDEL = 0x8C; //Used for config of higher version Ublox modules (ie protocol v27 and above) - -const uint8_t UBX_CFG_GEOFENCE = 0x69; //Used to configure a geofence -const uint8_t UBX_CFG_ANT = 0x13; //Used to configure the antenna control settings -const uint8_t UBX_NAV_GEOFENCE = 0x39; //Used to poll the geofence status - -const uint8_t UBX_CFG_TMODE3 = 0x71; //Used to enable Survey In Mode -const uint8_t SVIN_MODE_DISABLE = 0x00; -const uint8_t SVIN_MODE_ENABLE = 0x01; - -const uint8_t UBX_NAV_PVT = 0x07; //All the things! Position, velocity, time, PDOP, height, h/v accuracies, number of satellites -const uint8_t UBX_NAV_HPPOSECEF = 0x13; //Find our positional accuracy (high precision) -const uint8_t UBX_NAV_HPPOSLLH = 0x14; //Used for obtaining lat/long/alt in high precision -const uint8_t UBX_NAV_SVIN = 0x3B; //Used for checking Survey In status +//The following are UBX Class IDs. Descriptions taken from ZED-F9P Interface Description Document page 32, NEO-M8P Interface Description page 145 +const uint8_t UBX_CLASS_NAV = 0x01; //Navigation Results Messages: Position, Speed, Time, Acceleration, Heading, DOP, SVs used +const uint8_t UBX_CLASS_RXM = 0x02; //Receiver Manager Messages: Satellite Status, RTC Status +const uint8_t UBX_CLASS_INF = 0x04; //Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice +const uint8_t UBX_CLASS_ACK = 0x05; //Ack/Nak Messages: Acknowledge or Reject messages to UBX-CFG input messages +const uint8_t UBX_CLASS_CFG = 0x06; //Configuration Input Messages: Configure the receiver. +const uint8_t UBX_CLASS_UPD = 0x09; //Firmware Update Messages: Memory/Flash erase/write, Reboot, Flash identification, etc. +const uint8_t UBX_CLASS_MON = 0x0A; //Monitoring Messages: Communication Status, CPU Load, Stack Usage, Task Status +const uint8_t UBX_CLASS_AID = 0x0B; //(NEO-M8P ONLY!!!) AssistNow Aiding Messages: Ephemeris, Almanac, other A-GPS data input +const uint8_t UBX_CLASS_TIM = 0x0D; //Timing Messages: Time Pulse Output, Time Mark Results +const uint8_t UBX_CLASS_ESF = 0x10; //(NEO-M8P ONLY!!!) External Sensor Fusion Messages: External Sensor Measurements and Status Information +const uint8_t UBX_CLASS_MGA = 0x13; //Multiple GNSS Assistance Messages: Assistance data for various GNSS +const uint8_t UBX_CLASS_LOG = 0x21; //Logging Messages: Log creation, deletion, info and retrieval +const uint8_t UBX_CLASS_SEC = 0x27; //Security Feature Messages +const uint8_t UBX_CLASS_HNR = 0x28; //(NEO-M8P ONLY!!!) High Rate Navigation Results Messages: High rate time, position speed, heading +const uint8_t UBX_CLASS_NMEA = 0xF0; //NMEA Strings: standard NMEA strings + +//The following are used for configuration. Descriptions are from the ZED-F9P Interface Description pg 33-34 and NEO-M9N Interface Description pg 47-48 +const uint8_t UBX_CFG_ANT = 0x13; //Antenna Control Settings. Used to configure the antenna control settings +const uint8_t UBX_CFG_BATCH = 0x93; //Get/set data batching configuration. +const uint8_t UBX_CFG_CFG = 0x09; //Clear, Save, and Load Configurations. Used to save current configuration +const uint8_t UBX_CFG_DAT = 0x06; //Set User-defined Datum or The currently defined Datum +const uint8_t UBX_CFG_DGNSS = 0x70; //DGNSS configuration +const uint8_t UBX_CFG_GEOFENCE = 0x69; //Geofencing configuration. Used to configure a geofence +const uint8_t UBX_CFG_GNSS = 0x3E; //GNSS system configuration +const uint8_t UBX_CFG_INF = 0x02; //Depending on packet length, either: poll configuration for one protocol, or information message configuration +const uint8_t UBX_CFG_ITFM = 0x39; //Jamming/Interference Monitor configuration +const uint8_t UBX_CFG_LOGFILTER = 0x47; //Data Logger Configuration +const uint8_t UBX_CFG_MSG = 0x01; //Poll a message configuration, or Set Message Rate(s), or Set Message Rate +const uint8_t UBX_CFG_NAV5 = 0x24; //Navigation Engine Settings. Used to configure the navigation engine including the dynamic model. +const uint8_t UBX_CFG_NAVX5 = 0x23; //Navigation Engine Expert Settings +const uint8_t UBX_CFG_NMEA = 0x17; //Extended NMEA protocol configuration V1 +const uint8_t UBX_CFG_ODO = 0x1E; //Odometer, Low-speed COG Engine Settings +const uint8_t UBX_CFG_PM2 = 0x3B; //Extended power management configuration +const uint8_t UBX_CFG_PMS = 0x86; //Power mode setup +const uint8_t UBX_CFG_PRT = 0x00; //Used to configure port specifics. Polls the configuration for one I/O Port, or Port configuration for UART ports, or Port configuration for USB port, or Port configuration for SPI port, or Port configuration for DDC port +const uint8_t UBX_CFG_PWR = 0x57; //Put receiver in a defined power state +const uint8_t UBX_CFG_RATE = 0x08; //Navigation/Measurement Rate Settings. Used to set port baud rates. +const uint8_t UBX_CFG_RINV = 0x34; //Contents of Remote Inventory +const uint8_t UBX_CFG_RST = 0x04; //Reset Receiver / Clear Backup Data Structures. Used to reset device. +const uint8_t UBX_CFG_RXM = 0x11; //RXM configuration +const uint8_t UBX_CFG_SBAS = 0x16; //SBAS configuration +const uint8_t UBX_CFG_TMODE3 = 0x71; //Time Mode Settings 3. Used to enable Survey In Mode +const uint8_t UBX_CFG_TP5 = 0x31; //Time Pulse Parameters +const uint8_t UBX_CFG_USB = 0x1B; //USB Configuration +const uint8_t UBX_CFG_VALDEL = 0x8C; //Used for config of higher version Ublox modules (ie protocol v27 and above). Deletes values corresponding to provided keys/ provided keys with a transaction +const uint8_t UBX_CFG_VALGET = 0x8B; //Used for config of higher version Ublox modules (ie protocol v27 and above). Configuration Items +const uint8_t UBX_CFG_VALSET = 0x8A; //Used for config of higher version Ublox modules (ie protocol v27 and above). Sets values corresponding to provided key-value pairs/ provided key-value pairs within a transaction. + +//The following are used to enable NMEA messages. Descriptions come from the NMEA messages overview in the ZED-F9P Interface Description +const uint8_t UBX_NMEA_MSB = 0xF0; //All NMEA enable commands have 0xF0 as MSB +const uint8_t UBX_NMEA_DTM = 0x0A; //GxDTM (datum reference) +const uint8_t UBX_NMEA_GAQ = 0x45; //GxGAQ (poll a standard message (if the current talker ID is GA)) +const uint8_t UBX_NMEA_GBQ = 0x44; //GxGBQ (poll a standard message (if the current Talker ID is GB)) +const uint8_t UBX_NMEA_GBS = 0x09; //GxGBS (GNSS satellite fault detection) +const uint8_t UBX_NMEA_GGA = 0x00; //GxGGA (Global positioning system fix data) +const uint8_t UBX_NMEA_GLL = 0x01; //GxGLL (latitude and long, whith time of position fix and status) +const uint8_t UBX_NMEA_GLQ = 0x43; //GxGLQ (poll a standard message (if the current Talker ID is GL)) +const uint8_t UBX_NMEA_GNQ = 0x42; //GxGNQ (poll a standard message (if the current Talker ID is GN)) +const uint8_t UBX_NMEA_GNS = 0x0D; //GxGNS (GNSS fix data) +const uint8_t UBX_NMEA_GPQ = 0x040; //GxGPQ (poll a standard message (if the current Talker ID is GP)) +const uint8_t UBX_NMEA_GRS = 0x06; //GxGRS (GNSS range residuals) +const uint8_t UBX_NMEA_GSA = 0x02; //GxGSA (GNSS DOP and Active satellites) +const uint8_t UBX_NMEA_GST = 0x07; //GxGST (GNSS Pseudo Range Error Statistics) +const uint8_t UBX_NMEA_GSV = 0x03; //GxGSV (GNSS satellites in view) +const uint8_t UBX_NMEA_RMC = 0x04; //GxRMC (Recommended minimum data) +const uint8_t UBX_NMEA_TXT = 0x41; //GxTXT (text transmission) +const uint8_t UBX_NMEA_VLW = 0x0F; //GxVLW (dual ground/water distance) +const uint8_t UBX_NMEA_VTG = 0x05; //GxVTG (course over ground and Ground speed) +const uint8_t UBX_NMEA_ZDA = 0x08; //GxZDA (Time and Date) + +//The following are used to configure the NMEA protocol main talker ID and GSV talker ID +const uint8_t UBX_NMEA_MAINTALKERID_NOTOVERRIDDEN = 0x00; //main talker ID is system dependent +const uint8_t UBX_NMEA_MAINTALKERID_GP = 0x01; //main talker ID is GPS +const uint8_t UBX_NMEA_MAINTALKERID_GL = 0x02; //main talker ID is GLONASS +const uint8_t UBX_NMEA_MAINTALKERID_GN = 0x03; //main talker ID is combined receiver +const uint8_t UBX_NMEA_MAINTALKERID_GA = 0x04; //main talker ID is Galileo +const uint8_t UBX_NMEA_MAINTALKERID_GB = 0x05; //main talker ID is BeiDou +const uint8_t UBX_NMEA_GSVTALKERID_GNSS = 0x00; //GNSS specific Talker ID (as defined by NMEA) +const uint8_t UBX_NMEA_GSVTALKERID_MAIN = 0x01; //use the main Talker ID + +//The following are used to configure INF UBX messages (information messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34) +const uint8_t UBX_INF_CLASS = 0x04; //All INF messages have 0x04 as the class +const uint8_t UBX_INF_DEBUG = 0x04; //ASCII output with debug contents +const uint8_t UBX_INF_ERROR = 0x00; //ASCII output with error contents +const uint8_t UBX_INF_NOTICE = 0x02; //ASCII output with informational contents +const uint8_t UBX_INF_TEST = 0x03; //ASCII output with test contents +const uint8_t UBX_INF_WARNING = 0x01; //ASCII output with warning contents + +//The following are used to configure LOG UBX messages (loggings messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34) +const uint8_t UBX_LOG_CREATE = 0x07; //Create Log File +const uint8_t UBX_LOG_ERASE = 0x03; //Erase Logged Data +const uint8_t UBX_LOG_FINDTIME = 0x0E; //Find index of a log entry based on a given time, or response to FINDTIME requested +const uint8_t UBX_LOG_INFO = 0x08; //Poll for log information, or Log information +const uint8_t UBX_LOG_RETRIEVEPOSEXTRA = 0x0F; //Odometer log entry +const uint8_t UBX_LOG_RETRIEVEPOS = 0x0B; //Position fix log entry +const uint8_t UBX_LOG_RETRIEVESTRING = 0x0D; //Byte string log entry +const uint8_t UBX_LOG_RETRIEVE = 0x09; //Request log data +const uint8_t UBX_LOG_STRING = 0x04; //Store arbitrary string on on-board flash + +//The following are used to configure MGA UBX messages (Multiple GNSS Assistance Messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34) +const uint8_t UBX_MGA_ACK_DATA0 = 0x60; //Multiple GNSS Acknowledge message +const uint8_t UBX_MGA_BDS_EPH = 0x03; //BDS Ephemeris Assistance +const uint8_t UBX_MGA_BDS_ALM = 0x03; //BDS Almanac Assistance +const uint8_t UBX_MGA_BDS_HEALTH = 0x03; //BDS Health Assistance +const uint8_t UBX_MGA_BDS_UTC = 0x03; //BDS UTC Assistance +const uint8_t UBX_MGA_BDS_IONO = 0x03; //BDS Ionospheric Assistance +const uint8_t UBX_MGA_DBD = 0x80; //Either: Poll the Navigation Database, or Navigation Database Dump Entry +const uint8_t UBX_MGA_GAL_EPH = 0x02; //Galileo Ephemeris Assistance +const uint8_t UBX_MGA_GAL_ALM = 0x02; //Galileo Almanac Assitance +const uint8_t UBX_MGA_GAL_TIMOFFSET = 0x02; //Galileo GPS time offset assistance +const uint8_t UBX_MGA_GAL_UTC = 0x02; //Galileo UTC Assistance +const uint8_t UBX_MGA_GLO_EPH = 0x06; //GLONASS Ephemeris Assistance +const uint8_t UBX_MGA_GLO_ALM = 0x06; //GLONASS Almanac Assistance +const uint8_t UBX_MGA_GLO_TIMEOFFSET = 0x06; //GLONASS Auxiliary Time Offset Assistance +const uint8_t UBX_MGA_GPS_EPH = 0x00; //GPS Ephemeris Assistance +const uint8_t UBX_MGA_GPS_ALM = 0x00; //GPS Almanac Assistance +const uint8_t UBX_MGA_GPS_HEALTH = 0x00; //GPS Health Assistance +const uint8_t UBX_MGA_GPS_UTC = 0x00; //GPS UTC Assistance +const uint8_t UBX_MGA_GPS_IONO = 0x00; //GPS Ionosphere Assistance +const uint8_t UBX_MGA_INI_POS_XYZ = 0x40; //Initial Position Assistance +const uint8_t UBX_MGA_INI_POS_LLH = 0x40; //Initial Position Assitance +const uint8_t UBX_MGA_INI_TIME_UTC = 0x40; //Initial Time Assistance +const uint8_t UBX_MGA_INI_TIME_GNSS = 0x40; //Initial Time Assistance +const uint8_t UBX_MGA_INI_CLKD = 0x40; //Initial Clock Drift Assitance +const uint8_t UBX_MGA_INI_FREQ = 0x40; //Initial Frequency Assistance +const uint8_t UBX_MGA_INI_EOP = 0x40; //Earth Orientation Parameters Assistance +const uint8_t UBX_MGA_QZSS_EPH = 0x05; //QZSS Ephemeris Assistance +const uint8_t UBX_MGA_QZSS_ALM = 0x05; //QZSS Almanac Assistance +const uint8_t UBX_MGA_QZAA_HEALTH = 0x05; //QZSS Health Assistance + +//The following are used to configure the MON UBX messages (monitoring messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35) +const uint8_t UBX_MON_COMMS = 0x36; //Comm port information +const uint8_t UBX_MON_GNSS = 0x28; //Information message major GNSS selection +const uint8_t UBX_MON_HW2 = 0x0B; //Extended Hardware Status +const uint8_t UBX_MON_HW3 = 0x37; //HW I/O pin information +const uint8_t UBX_MON_HW = 0x09; //Hardware Status +const uint8_t UBX_MON_IO = 0x02; //I/O Subsystem Status +const uint8_t UBX_MON_MSGPP = 0x06; //Message Parse and Process Status +const uint8_t UBX_MON_PATCH = 0x27; //Output information about installed patches +const uint8_t UBX_MON_RF = 0x38; //RF information +const uint8_t UBX_MON_RXBUF = 0x07; //Receiver Buffer Status +const uint8_t UBX_MON_RXR = 0x21; //Receiver Status Information +const uint8_t UBX_MON_TXBUF = 0x08; //Transmitter Buffer Status. Used for query tx buffer size/state. +const uint8_t UBX_MON_VER = 0x04; //Receiver/Software Version. Used for obtaining Protocol Version. + +//The following are used to configure the NAV UBX messages (navigation results messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35-36) +const uint8_t UBX_NAV_CLOCK = 0x22; //Clock Solution +const uint8_t UBX_NAV_DOP = 0x04; //Dilution of precision +const uint8_t UBX_NAV_EOE = 0x61; //End of Epoch +const uint8_t UBX_NAV_GEOFENCE = 0x39; //Geofencing status. Used to poll the geofence status +const uint8_t UBX_NAV_HPPOSECEF = 0x13; //High Precision Position Solution in ECEF. Used to find our positional accuracy (high precision). +const uint8_t UBX_NAV_HPPOSLLH = 0x14; //High Precision Geodetic Position Solution. Used for obtaining lat/long/alt in high precision +const uint8_t UBX_NAV_ODO = 0x09; //Odometer Solution +const uint8_t UBX_NAV_ORB = 0x34; //GNSS Orbit Database Info +const uint8_t UBX_NAV_POSECEF = 0x01; //Position Solution in ECEF +const uint8_t UBX_NAV_POSLLH = 0x02; //Geodetic Position Solution +const uint8_t UBX_NAV_PVT = 0x07; //All the things! Position, velocity, time, PDOP, height, h/v accuracies, number of satellites. Navigation Position Velocity Time Solution. const uint8_t UBX_NAV_RELPOSNED = 0x3C; //Relative Positioning Information in NED frame +const uint8_t UBX_NAV_RESETODO = 0x10; //Reset odometer +const uint8_t UBX_NAV_SAT = 0x35; //Satellite Information +const uint8_t UBX_NAV_SIG = 0x43; //Signal Information +const uint8_t UBX_NAV_STATUS = 0x03; //Receiver Navigation Status +const uint8_t UBX_NAV_SVIN = 0x3B; //Survey-in data. Used for checking Survey In status +const uint8_t UBX_NAV_TIMEBDS = 0x24; //BDS Time Solution +const uint8_t UBX_NAV_TIMEGAL = 0x25; //Galileo Time Solution +const uint8_t UBX_NAV_TIMEGLO = 0x23; //GLO Time Solution +const uint8_t UBX_NAV_TIMEGPS = 0x20; //GPS Time Solution +const uint8_t UBX_NAV_TIMELS = 0x26; //Leap second event information +const uint8_t UBX_NAV_TIMEUTC = 0x21; //UTC Time Solution +const uint8_t UBX_NAV_VELECEF = 0x11; //Velocity Solution in ECEF +const uint8_t UBX_NAV_VELNED = 0x12; //Velocity Solution in NED + +//The following are used to configure the RXM UBX messages (receiver manager messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36) +const uint8_t UBX_RXM_MEASX = 0x14; //Satellite Measurements for RRLP +const uint8_t UBX_RXM_PMREQ = 0x41; //Requests a Power Management task (two differenent packet sizes) +const uint8_t UBX_RXM_RAWX = 0x15; //Multi-GNSS Raw Measurement Data +const uint8_t UBX_RXM_RLM = 0x59; //Galileo SAR Short-RLM report (two different packet sizes) +const uint8_t UBX_RXM_RTCM = 0x32; //RTCM input status +const uint8_t UBX_RXM_SFRBX = 0x13; //Boradcast Navigation Data Subframe + +//The following are used to configure the SEC UBX messages (security feature messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36) +const uint8_t UBX_SEC_UNIQID = 0x03; //Unique chip ID + +//The following are used to configure the TIM UBX messages (timing messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36) +const uint8_t UBX_TIM_TM2 = 0x03; //Time mark data +const uint8_t UBX_TIM_TP = 0x01; //Time Pulse Timedata +const uint8_t UBX_TIM_VRFY = 0x06; //Sourced Time Verification + +//The following are used to configure the UPD UBX messages (firmware update messages). Descriptions from UBX messages overview (ZED-F9P Interface Description Document page 36) +const uint8_t UBX_UPD_SOS = 0x14; //Poll Backup Fil Restore Status, Create Backup File in Flash, Clear Backup File in Flash, Backup File Creation Acknowledge, System Restored from Backup -const uint8_t UBX_NMEA_GGA = 0x00; -const uint8_t UBX_NMEA_GLL = 0x01; -const uint8_t UBX_NMEA_GNS = 0x0D; -const uint8_t UBX_NMEA_GRS = 0x06; -const uint8_t UBX_NMEA_GSA = 0x02; -const uint8_t UBX_NMEA_GST = 0x07; -const uint8_t UBX_NMEA_GSV = 0x03; -const uint8_t UBX_NMEA_RMC = 0x04; -const uint8_t UBX_NMEA_VTG = 0x05; -const uint8_t UBX_NMEA_ZDA = 0x08; - -const uint8_t UBX_MON_VER = 0x04; //Used for obtaining Protocol Version -const uint8_t UBX_MON_TXBUF = 0x08; //Used for query tx buffer size/state //The following are used to enable RTCM messages -const uint8_t UBX_CFG_MSG = 0x01; const uint8_t UBX_RTCM_MSB = 0xF5; //All RTCM enable commands have 0xF5 as MSB const uint8_t UBX_RTCM_1005 = 0x05; //Stationary RTK reference ARP const uint8_t UBX_RTCM_1074 = 0x4A; //GPS MSM4 @@ -174,6 +311,10 @@ const uint8_t UBX_ACK_NACK = 0x00; const uint8_t UBX_ACK_ACK = 0x01; const uint8_t UBX_ACK_NONE = 0x02; //Not a real value + +const uint8_t SVIN_MODE_DISABLE = 0x00; +const uint8_t SVIN_MODE_ENABLE = 0x01; + //The following consts are used to configure the various ports and streams for those ports. See -CFG-PRT. const uint8_t COM_PORT_I2C = 0; const uint8_t COM_PORT_UART1 = 1; @@ -211,18 +352,18 @@ const uint8_t VAL_GROUP_I2C_SIZE = VAL_SIZE_8; //All fields in I2C group are cur const uint8_t VAL_ID_I2C_ADDRESS = 0x01; -enum dynModel // Possible values for the dynamic platform model +enum dynModel // Possible values for the dynamic platform model, which provide more accuract position output for the situation. Description extracted from ZED-F9P Integration Manual { - DYN_MODEL_PORTABLE = 0, + DYN_MODEL_PORTABLE = 0, //Applications with low acceleration, e.g. portable devices. Suitable for most situations. // 1 is not defined - DYN_MODEL_STATIONARY = 2, - DYN_MODEL_PEDESTRIAN, - DYN_MODEL_AUTOMOTIVE, - DYN_MODEL_SEA, - DYN_MODEL_AIRBORNE1g, - DYN_MODEL_AIRBORNE2g, - DYN_MODEL_AIRBORNE4g, - DYN_MODEL_WRIST, // Not supported in protocol versions less than 18 + DYN_MODEL_STATIONARY = 2, //Used in timing applications (antenna must be stationary) or other stationary applications. Velocity restricted to 0 m/s. Zero dynamics assumed. + DYN_MODEL_PEDESTRIAN, //Applications with low acceleration and speed, e.g. how a pedestrian would move. Low acceleration assumed. + DYN_MODEL_AUTOMOTIVE, //Used for applications with equivalent dynamics to those of a passenger car. Low vertical acceleration assumed + DYN_MODEL_SEA, //Recommended for applications at sea, with zero vertical velocity. Zero vertical velocity assumed. Sea level assumed. + DYN_MODEL_AIRBORNE1g, //Airborne <1g acceleration. Used for applications with a higher dynamic range and greater vertical acceleration than a passenger car. No 2D position fixes supported. + DYN_MODEL_AIRBORNE2g, //Airborne <2g acceleration. Recommended for typical airborne environments. No 2D position fixes supported. + DYN_MODEL_AIRBORNE4g, //Airborne <4g acceleration. Only recommended for extremely dynamic environments. No 2D position fixes supported. + DYN_MODEL_WRIST, // Not supported in protocol versions less than 18. Only recommended for wrist worn applications. Receiver will filter out arm motion. DYN_MODEL_BIKE, // Supported in protocol versions 19.2 };