Updates messages to ICD v1.2 [OTA-161]

c/include/libsbp/acquisition.h

@@ -27,4 +27,4 @@ SBP_MESSAGE(
 
 #include <libsbp/legacy/acquisition.h>
 
-#endif /* LIBSBP_ACQUISITION_MESSAGES_H */
+#endif /* LIBSBP_ACQUISITION_MESSAGES_H */

c/include/libsbp/bootload.h

@@ -27,4 +27,4 @@ SBP_MESSAGE(
 
 #include <libsbp/legacy/bootload.h>
 
-#endif /* LIBSBP_BOOTLOAD_MESSAGES_H */
+#endif /* LIBSBP_BOOTLOAD_MESSAGES_H */

c/include/libsbp/cpp/message_traits.h

@@ -2688,41 +2688,6 @@ struct MessageTraits<sbp_msg_gnss_time_offset_t> {
   }
 };
 
-template <>
-struct MessageTraits<sbp_msg_gps_leap_second_t> {
-  static constexpr sbp_msg_type_t id = SbpMsgGpsLeapSecond;
-  static const sbp_msg_gps_leap_second_t &get(const sbp_msg_t &msg) {
-    return msg.gps_leap_second;
-  }
-  static sbp_msg_gps_leap_second_t &get(sbp_msg_t &msg) {
-    return msg.gps_leap_second;
-  }
-  static void to_sbp_msg(const sbp_msg_gps_leap_second_t &msg,
-                         sbp_msg_t *sbp_msg) {
-    sbp_msg->gps_leap_second = msg;
-  }
-  static sbp_msg_t to_sbp_msg(const sbp_msg_gps_leap_second_t &msg) {
-    sbp_msg_t sbp_msg;
-    sbp_msg.gps_leap_second = msg;
-    return sbp_msg;
-  }
-  static s8 send(sbp_state_t *state, u16 sender_id,
-                 const sbp_msg_gps_leap_second_t &msg, sbp_write_fn_t write) {
-    return sbp_msg_gps_leap_second_send(state, sender_id, &msg, write);
-  }
-  static s8 encode(uint8_t *buf, uint8_t len, uint8_t *n_written,
-                   const sbp_msg_gps_leap_second_t &msg) {
-    return sbp_msg_gps_leap_second_encode(buf, len, n_written, &msg);
-  }
-  static s8 decode(const uint8_t *buf, uint8_t len, uint8_t *n_read,
-                   sbp_msg_gps_leap_second_t *msg) {
-    return sbp_msg_gps_leap_second_decode(buf, len, n_read, msg);
-  }
-  static size_t encoded_len(const sbp_msg_gps_leap_second_t &msg) {
-    return sbp_msg_gps_leap_second_encoded_len(&msg);
-  }
-};
-
 template <>
 struct MessageTraits<sbp_msg_gps_time_dep_a_t> {
   static constexpr sbp_msg_type_t id = SbpMsgGpsTimeDepA;
@@ -3234,36 +3199,6 @@ struct MessageTraits<sbp_msg_iono_t> {
   }
 };
 
-template <>
-struct MessageTraits<sbp_msg_itrf_t> {
-  static constexpr sbp_msg_type_t id = SbpMsgItrf;
-  static const sbp_msg_itrf_t &get(const sbp_msg_t &msg) { return msg.itrf; }
-  static sbp_msg_itrf_t &get(sbp_msg_t &msg) { return msg.itrf; }
-  static void to_sbp_msg(const sbp_msg_itrf_t &msg, sbp_msg_t *sbp_msg) {
-    sbp_msg->itrf = msg;
-  }
-  static sbp_msg_t to_sbp_msg(const sbp_msg_itrf_t &msg) {
-    sbp_msg_t sbp_msg;
-    sbp_msg.itrf = msg;
-    return sbp_msg;
-  }
-  static s8 send(sbp_state_t *state, u16 sender_id, const sbp_msg_itrf_t &msg,
-                 sbp_write_fn_t write) {
-    return sbp_msg_itrf_send(state, sender_id, &msg, write);
-  }
-  static s8 encode(uint8_t *buf, uint8_t len, uint8_t *n_written,
-                   const sbp_msg_itrf_t &msg) {
-    return sbp_msg_itrf_encode(buf, len, n_written, &msg);
-  }
-  static s8 decode(const uint8_t *buf, uint8_t len, uint8_t *n_read,
-                   sbp_msg_itrf_t *msg) {
-    return sbp_msg_itrf_decode(buf, len, n_read, msg);
-  }
-  static size_t encoded_len(const sbp_msg_itrf_t &msg) {
-    return sbp_msg_itrf_encoded_len(&msg);
-  }
-};
-
 template <>
 struct MessageTraits<sbp_msg_linux_cpu_state_dep_a_t> {
   static constexpr sbp_msg_type_t id = SbpMsgLinuxCpuStateDepA;
@@ -4920,6 +4855,42 @@ struct MessageTraits<sbp_msg_protection_level_t> {
   }
 };
 
+template <>
+struct MessageTraits<sbp_msg_reference_frame_param_t> {
+  static constexpr sbp_msg_type_t id = SbpMsgReferenceFrameParam;
+  static const sbp_msg_reference_frame_param_t &get(const sbp_msg_t &msg) {
+    return msg.reference_frame_param;
+  }
+  static sbp_msg_reference_frame_param_t &get(sbp_msg_t &msg) {
+    return msg.reference_frame_param;
+  }
+  static void to_sbp_msg(const sbp_msg_reference_frame_param_t &msg,
+                         sbp_msg_t *sbp_msg) {
+    sbp_msg->reference_frame_param = msg;
+  }
+  static sbp_msg_t to_sbp_msg(const sbp_msg_reference_frame_param_t &msg) {
+    sbp_msg_t sbp_msg;
+    sbp_msg.reference_frame_param = msg;
+    return sbp_msg;
+  }
+  static s8 send(sbp_state_t *state, u16 sender_id,
+                 const sbp_msg_reference_frame_param_t &msg,
+                 sbp_write_fn_t write) {
+    return sbp_msg_reference_frame_param_send(state, sender_id, &msg, write);
+  }
+  static s8 encode(uint8_t *buf, uint8_t len, uint8_t *n_written,
+                   const sbp_msg_reference_frame_param_t &msg) {
+    return sbp_msg_reference_frame_param_encode(buf, len, n_written, &msg);
+  }
+  static s8 decode(const uint8_t *buf, uint8_t len, uint8_t *n_read,
+                   sbp_msg_reference_frame_param_t *msg) {
+    return sbp_msg_reference_frame_param_decode(buf, len, n_read, msg);
+  }
+  static size_t encoded_len(const sbp_msg_reference_frame_param_t &msg) {
+    return sbp_msg_reference_frame_param_encoded_len(&msg);
+  }
+};
+
 template <>
 struct MessageTraits<sbp_msg_reset_dep_t> {
   static constexpr sbp_msg_type_t id = SbpMsgResetDep;
@@ -7247,6 +7218,41 @@ struct MessageTraits<sbp_msg_user_data_t> {
   }
 };
 
+template <>
+struct MessageTraits<sbp_msg_utc_leap_second_t> {
+  static constexpr sbp_msg_type_t id = SbpMsgUtcLeapSecond;
+  static const sbp_msg_utc_leap_second_t &get(const sbp_msg_t &msg) {
+    return msg.utc_leap_second;
+  }
+  static sbp_msg_utc_leap_second_t &get(sbp_msg_t &msg) {
+    return msg.utc_leap_second;
+  }
+  static void to_sbp_msg(const sbp_msg_utc_leap_second_t &msg,
+                         sbp_msg_t *sbp_msg) {
+    sbp_msg->utc_leap_second = msg;
+  }
+  static sbp_msg_t to_sbp_msg(const sbp_msg_utc_leap_second_t &msg) {
+    sbp_msg_t sbp_msg;
+    sbp_msg.utc_leap_second = msg;
+    return sbp_msg;
+  }
+  static s8 send(sbp_state_t *state, u16 sender_id,
+                 const sbp_msg_utc_leap_second_t &msg, sbp_write_fn_t write) {
+    return sbp_msg_utc_leap_second_send(state, sender_id, &msg, write);
+  }
+  static s8 encode(uint8_t *buf, uint8_t len, uint8_t *n_written,
+                   const sbp_msg_utc_leap_second_t &msg) {
+    return sbp_msg_utc_leap_second_encode(buf, len, n_written, &msg);
+  }
+  static s8 decode(const uint8_t *buf, uint8_t len, uint8_t *n_read,
+                   sbp_msg_utc_leap_second_t *msg) {
+    return sbp_msg_utc_leap_second_decode(buf, len, n_read, msg);
+  }
+  static size_t encoded_len(const sbp_msg_utc_leap_second_t &msg) {
+    return sbp_msg_utc_leap_second_encoded_len(&msg);
+  }
+};
+
 template <>
 struct MessageTraits<sbp_msg_utc_time_gnss_t> {
   static constexpr sbp_msg_type_t id = SbpMsgUtcTimeGnss;

c/include/libsbp/ext_events.h

@@ -27,4 +27,4 @@ SBP_MESSAGE(
 
 #include <libsbp/legacy/ext_events.h>
 
-#endif /* LIBSBP_EXT_EVENTS_MESSAGES_H */
+#endif /* LIBSBP_EXT_EVENTS_MESSAGES_H */

c/include/libsbp/file_io.h

@@ -27,4 +27,4 @@ SBP_MESSAGE(
 
 #include <libsbp/legacy/file_io.h>
 
-#endif /* LIBSBP_FILE_IO_MESSAGES_H */
+#endif /* LIBSBP_FILE_IO_MESSAGES_H */

c/include/libsbp/flash.h

@@ -27,4 +27,4 @@ SBP_MESSAGE(
 
 #include <libsbp/legacy/flash.h>
 
-#endif /* LIBSBP_FLASH_MESSAGES_H */
+#endif /* LIBSBP_FLASH_MESSAGES_H */

c/include/libsbp/gnss.h

@@ -27,4 +27,4 @@ SBP_MESSAGE(
 
 #include <libsbp/legacy/gnss.h>
 
-#endif /* LIBSBP_GNSS_MESSAGES_H */
+#endif /* LIBSBP_GNSS_MESSAGES_H */

c/include/libsbp/imu.h

@@ -27,4 +27,4 @@ SBP_MESSAGE(
 
 #include <libsbp/legacy/imu.h>
 
-#endif /* LIBSBP_IMU_MESSAGES_H */
+#endif /* LIBSBP_IMU_MESSAGES_H */

c/include/libsbp/integrity.h

@@ -27,4 +27,4 @@ SBP_MESSAGE(
 
 #include <libsbp/legacy/integrity.h>
 
-#endif /* LIBSBP_INTEGRITY_MESSAGES_H */
+#endif /* LIBSBP_INTEGRITY_MESSAGES_H */

c/include/libsbp/legacy/cpp/message_traits.h

@@ -914,13 +914,13 @@ struct MessageTraits<msg_vel_ecef_cov_gnss_t> {
 
 
 template<>
-struct MessageTraits<msg_gps_leap_second_t> {
+struct MessageTraits<msg_utc_leap_second_t> {
   static constexpr u16 id = 570;
 };
 
 
 template<>
-struct MessageTraits<msg_itrf_t> {
+struct MessageTraits<msg_reference_frame_param_t> {
   static constexpr u16 id = 580;
 };
 

c/include/libsbp/legacy/navigation.h

@@ -940,22 +940,22 @@ typedef struct SBP_ATTR_PACKED {
   u16 ref_wn;     /**< Leap second reference week number. [weeks] */
   u8 ref_dn;      /**< Leap second reference day number. [days] */
   s8 count_after; /**< Leap second count after insertion. [s] */
-} msg_gps_leap_second_t;
-
-typedef struct SBP_ATTR_PACKED {
-  u8 ssr_iod;      /**< SSR IOD parameter. */
-  u8 sn_counter_n; /**< Source-Name Counter N. */
-  char sn[31];     /**< Source-Name */
-  u8 tn_counter_m; /**< Target-Name Counter M. */
-  char tn[31];     /**< Target-Name */
-  u8 sin;          /**< System Identification Number. */
-  u16 utn;         /**< Utilized Transformation Message. */
-  u16 re_t0;       /**< Reference Epoch t0 for transformation parameter
-                        set given as Modified Julian Day (MDJ) Number
-                        minus 44244 days. [1 day] */
-  s32 delta_X0;    /**< Translation in X for Reference Epoch t0. [0.001 m] */
-  s32 delta_Y0;    /**< Translation in Y for Reference Epoch t0. [0.001 m] */
-  s32 delta_Z0;    /**< Translation in Z for Reference Epoch t0. [0.001 m] */
+} msg_utc_leap_second_t;
+
+typedef struct SBP_ATTR_PACKED {
+  u8 ssr_iod;   /**< SSR IOD parameter. */
+  char sn[32];  /**< Name of source coordinate-system using the EPSG
+                     identification code. */
+  char tn[32];  /**< Name of target coordinate-system using the EPSG
+                     identification code. */
+  u8 sin;       /**< System Identification Number. */
+  u16 utn;      /**< Utilized Transformation Message. */
+  u16 re_t0;    /**< Reference Epoch t0 for transformation parameter
+                     set given as Modified Julian Day (MDJ) Number
+                     minus 44244 days. [1 day] */
+  s32 delta_X0; /**< Translation in X for Reference Epoch t0. [0.001 m] */
+  s32 delta_Y0; /**< Translation in Y for Reference Epoch t0. [0.001 m] */
+  s32 delta_Z0; /**< Translation in Z for Reference Epoch t0. [0.001 m] */
   s32 theta_01; /**< Rotation around the X-axis for Reference Epoch t0. [0.00002
                    "] */
   s32 theta_02; /**< Rotation around the Y-axis for Reference Epoch t0. [0.00002
@@ -973,7 +973,7 @@ typedef struct SBP_ATTR_PACKED {
   s32 dot_theta_03; /**< Rate of change of rotation around the Z-axis.
                        [0.0000004 "/yr] */
   s16 dot_scale; /**< Rate of change of scale correction. [0.0000002 ppm/yr] */
-} msg_itrf_t;
+} msg_reference_frame_param_t;
 
 /** \} */
 

c/include/libsbp/legacy/ssr.h

@@ -321,10 +321,9 @@ typedef struct SBP_ATTR_PACKED {
   stec_residual_t stec_residual; /**< STEC residuals (mean, stddev) */
   u8 stec_bound_mu;              /**< Error Bound Mean. See Note 1. [m] */
   u8 stec_bound_sig;             /**< Error Bound StDev. See Note 1. [m] */
-  u8 stec_bound_mu_dot;          /**< Error Bound Mean First derivative. Range:
-                                      0-0.01275 m/s [0.00005 m/s] */
-  u8 stec_bound_sig_dot;         /**< Error Bound StDev First derivative. Range:
-                                      0-0.01275 m/s [0.00005 m/s] */
+  u8 stec_bound_mu_dot; /**< Error Bound Mean First derivative. [0.00005 m/s] */
+  u8 stec_bound_sig_dot; /**< Error Bound StDev First derivative. [0.00005 m/s]
+                          */
 } stec_sat_element_integrity_t;
 
 /** Gridded troposhere and STEC correction residuals bounds
@@ -335,9 +334,8 @@ typedef struct SBP_ATTR_PACKED {
 
 typedef struct SBP_ATTR_PACKED {
   bounds_header_t header; /**< Header of a bounds message. */
-  u8 ssr_iod_atmo;        /**< IOD of the SSR atmospheric correction. */
-  u16 tile_set_id;        /**< Unique identifier of the set this tile
-                               belongs to. */
+  u8 ssr_iod_atmo;        /**< IOD of the correction. */
+  u16 tile_set_id;        /**< Set this tile belongs to. */
   u16 tile_id;            /**< Unique identifier of this tile in the
                                tile set. */
   u8 tropo_qi;            /**< Tropo Quality Indicator. Similar to RTCM
@@ -346,11 +344,13 @@ typedef struct SBP_ATTR_PACKED {
   tropospheric_delay_correction_t tropo_delay_correction; /**< Tropospheric
                                                                delay at
                                                                grid point. */
-  u8 tropo_bound_mu;  /**< Troposphere Error Bound Mean. Range:
-                           0-1.275 m [0.005 m] */
-  u8 tropo_bound_sig; /**< Troposphere Error Bound StDev. Range:
-                           0-1.275 m [0.005 m] */
-  u8 n_sats;          /**< Number of satellites. */
+  u8 tropo_v_hydro_bound_mu;  /**< Vertical Hydrostatic Error Bound Mean. [0.005
+                                 m] */
+  u8 tropo_v_hydro_bound_sig; /**< Vertical Hydrostatic Error Bound StDev.
+                                 [0.005 m] */
+  u8 tropo_v_wet_bound_mu;    /**< Vertical Wet Error Bound Mean. [0.005 m] */
+  u8 tropo_v_wet_bound_sig;   /**< Vertical Wet Error Bound StDev. [0.005 m] */
+  u8 n_sats;                  /**< Number of satellites. */
   stec_sat_element_integrity_t stec_sat_list[0]; /**< Array of STEC
                                                       polynomial
                                                       coefficients
@@ -675,19 +675,22 @@ typedef struct SBP_ATTR_PACKED {
   u8 orb_radial_bound_mu;  /**< Mean Radial. See Note 1. [m] */
   u8 orb_along_bound_mu;   /**< Mean Along-Track. See Note 1. [m] */
   u8 orb_cross_bound_mu;   /**< Mean Cross-Track. See Note 1. [m] */
-  u8 orb_radial_bound_sig; /**< Standard Deviation Radial. See Note 1. [m] */
-  u8 orb_along_bound_sig;  /**< Standard Deviation Along-Track. See Note 1. [m]
+  u8 orb_radial_bound_sig; /**< Standard Deviation Radial. See Note 2. [m] */
+  u8 orb_along_bound_sig;  /**< Standard Deviation Along-Track. See Note 2. [m]
                             */
-  u8 orb_cross_bound_sig;  /**< Standard Deviation Cross-Track. See Note 1. [m]
+  u8 orb_cross_bound_sig;  /**< Standard Deviation Cross-Track. See Note 2. [m]
                             */
   u8 clock_bound_mu;       /**< Clock Bound Mean. See Note 1. [m] */
-  u8 clock_bound_sig; /**< Clock Bound Standard Deviation. See Note 1. [m] */
+  u8 clock_bound_sig; /**< Clock Bound Standard Deviation. See Note 2. [m] */
 } orbit_clock_bound_t;
 
 /** Combined Orbit and Clock Bound
  *
- * Note 1: Range: 0-55 m. i<=200, mean=0.0251i; 200<i<=240, mean=5+0.5(i-200);
- * i>240, mean=25+2(i-240).
+ * Note 1: Range: 0-17.5 m. i<=200, mean=0.01i; 200<i<=230, mean=2+0.1(i-200);
+ * i>230, mean=5+0.5(i-230).
+ *
+ * Note 2: Range: 0-17.5 m. i<=200, std=0.01i; 200<i<=230, std=2+0.1(i-200)
+ * i>230, std=5+0.5(i-230).
  */
 
 typedef struct SBP_ATTR_PACKED {
@@ -763,7 +766,9 @@ typedef struct SBP_ATTR_PACKED {
   u64 sat_bitmask;        /**< Satellite Bit Mask. Put 1 for
                                each satellite where the
                                following degradation parameters
-                               are applicable, 0 otherwise. */
+                               are applicable, 0 otherwise.
+                               Encoded following RTCM DF394
+                               specification. */
   orbit_clock_bound_degradation_t
       orbit_clock_bounds_degradation; /**< Orbit
                                            and

c/include/libsbp/linux.h

@@ -27,4 +27,4 @@ SBP_MESSAGE(
 
 #include <libsbp/legacy/linux.h>
 
-#endif /* LIBSBP_LINUX_MESSAGES_H */
+#endif /* LIBSBP_LINUX_MESSAGES_H */

c/include/libsbp/logging.h

@@ -27,4 +27,4 @@ SBP_MESSAGE(
 
 #include <libsbp/legacy/logging.h>
 
-#endif /* LIBSBP_LOGGING_MESSAGES_H */
+#endif /* LIBSBP_LOGGING_MESSAGES_H */

c/include/libsbp/mag.h

@@ -27,4 +27,4 @@ SBP_MESSAGE(
 
 #include <libsbp/legacy/mag.h>
 
-#endif /* LIBSBP_MAG_MESSAGES_H */
+#endif /* LIBSBP_MAG_MESSAGES_H */

c/include/libsbp/navigation.h

@@ -27,4 +27,4 @@ SBP_MESSAGE(
 
 #include <libsbp/legacy/navigation.h>
 
-#endif /* LIBSBP_NAVIGATION_MESSAGES_H */
+#endif /* LIBSBP_NAVIGATION_MESSAGES_H */