Port of UAVCAN v0 legacy messages to test GNSS functionality

legacy/README.md

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+UAVCAN Legacy 
+================
+
+Port of legacy UAVCAN v0 messages from
+https://github.com/UAVCAN/public_regulated_data_types/tree/legacy-v0
+
+Disclaimer
+
+DO NOT USE IN PRODUCTION, this is for testing only and is unmaintained 

legacy/equipment/gnss/Auxiliary.1.0.uavcan

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+#
+# GNSS low priority auxiliary info.
+# Unknown DOP parameters should be set to NAN.
+#
+
+float16 gdop
+float16 pdop
+float16 hdop
+float16 vdop
+float16 tdop
+float16 ndop
+float16 edop
+
+uint7 sats_visible                    # All visible sats of all available GNSS (e.g. GPS, GLONASS, etc)
+uint6 sats_used                       # All used sats of all available GNSS
+
+@extent 64 * 8

legacy/equipment/gnss/Fix2.1.0.uavcan

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+#
+# GNSS ECEF and LLA navigation solution with uncertainty.
+#
+
+#
+# Global network-synchronized time, if available, otherwise zero.
+#
+uavcan.time.SynchronizedTimestamp.1.0 timestamp
+
+#
+# Time solution.
+# The method and number of leap seconds which were in use for deriving the timestamp are
+# defined in the fields below.
+#
+uavcan.time.SynchronizedTimestamp.1.0 gnss_timestamp
+
+#
+# Method used for deriving the GNSS timestamp field.
+# This data type relies on the following definitions:
+#
+#   Leap seconds  - Accumulated one-second adjustments applied to UTC since 1972.
+#                   For reference, on May 2017, the number of leap seconds was equal 27.
+#                   The number of leap seconds is taken from the field num_leap_seconds.
+#                   Refer to https://en.wikipedia.org/wiki/Leap_second for a general overview.
+#
+#   TAI timestamp - The number of microseconds between the current TAI time and
+#                   the TAI time at UTC 1970-01-01T00:00:00.
+#
+#   UTC timestamp - The number of microseconds between the current UTC time and
+#                   UTC 1970-01-01T00:00:00.
+#                   UTC can be expressed via TAI as follows (in seconds):
+#                       UTC = TAI - num_leap_seconds - 10
+#                   And via GPS (in seconds):
+#                       UTC = GPS - num_leap_seconds + 9
+#
+#   GPS timestamp - The number of microseconds between the current GPS time and
+#                   the GPS time at UTC 1970-01-01T00:00:00.
+#                   GPS time can be expressed via TAI as follows (in seconds):
+#                       GPS = TAI - 19
+#
+uint3 GNSS_TIME_STANDARD_NONE = 0  # Time is unknown
+uint3 GNSS_TIME_STANDARD_TAI  = 1
+uint3 GNSS_TIME_STANDARD_UTC  = 2
+uint3 GNSS_TIME_STANDARD_GPS  = 3
+uint3 gnss_time_standard
+
+void13   # Reserved space
+
+#
+# Accumulated one-second adjustments applied to UTC since 1972.
+# The number must agree with the currently correct number of UTC leap seconds. If this cannot
+# be garanteed, the field must be set to NUM_LEAP_SECONDS_UNKNOWN.
+#
+uint8 NUM_LEAP_SECONDS_UNKNOWN = 0
+uint8 num_leap_seconds
+
+#
+# Position and velocity solution
+#
+int37 longitude_deg_1e8            # Longitude degrees multiplied by 1e8 (approx. 1 mm per LSB)
+int37 latitude_deg_1e8             # Latitude degrees multiplied by 1e8 (approx. 1 mm per LSB on equator)
+int27 height_ellipsoid_mm          # Height above ellipsoid in millimeters
+int27 height_msl_mm                # Height above mean sea level in millimeters
+
+float32[3] ned_velocity            # NED frame (north-east-down) in meters per second
+
+#
+# Fix status
+#
+uint6 sats_used
+
+uint2 STATUS_NO_FIX    = 0
+uint2 STATUS_TIME_ONLY = 1
+uint2 STATUS_2D_FIX    = 2
+uint2 STATUS_3D_FIX    = 3
+uint2 status
+
+#
+# GNSS Mode
+#
+uint4 MODE_SINGLE      = 0
+uint4 MODE_DGPS        = 1
+uint4 MODE_RTK         = 2
+uint4 MODE_PPP         = 3
+uint4 mode
+
+#
+# GNSS Sub mode
+#
+uint6 SUB_MODE_DGPS_OTHER    = 0
+uint6 SUB_MODE_DGPS_SBAS     = 1
+
+uint6 SUB_MODE_RTK_FLOAT     = 0
+uint6 SUB_MODE_RTK_FIXED     = 1
+
+uint6 sub_mode
+
+#
+# Precision
+#
+float16[<=36] covariance    # Position and velocity covariance. Units are
+                            # m^2 for position, (m/s)^2 for velocity and
+                            # m^2/s for position/velocity.
+
+float16 pdop
+
+#
+# Position and velocity solution in ECEF, if available
+#
+# ECEFPositionVelocity.1.0[<=1] ecef_position_velocity 
+# Temporary disable due that nunavut generates incorrect include with an underscore
+
+@extent 246 * 8

legacy/equipment/gnss/RTCMStream.1.0.uavcan

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+#
+# GNSS RTCM SC-104 protocol raw stream container.
+# RTCM messages that are longer than max data size can be split over multiple consecutive messages.
+#
+
+uint8 PROTOCOL_ID_UNKNOWN = 0
+uint8 PROTOCOL_ID_RTCM2   = 2
+uint8 PROTOCOL_ID_RTCM3   = 3
+uint8 protocol_id
+
+uint8[<=128] data
+
+@sealed