[HS-64] Update docs and description for FastStart specs

c/include/libsbp/imu.h

@@ -36,7 +36,7 @@ SBP_PACK_START
  * device hardware and settings, are communicated via the MSG_IMU_AUX message.
  * If using "time since startup" time tags, the receiving end will expect a
  * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements
- * with GNSS.
+ * with GNSS. The timestamp must wrap around to zero when reaching one week (604800 seconds).
  * 
  * The time-tagging mode should not change throughout a run.
  */

haskell/src/SwiftNav/SBP/Imu.hs

@@ -46,8 +46,9 @@ msgImuRaw = 0x0900
 -- to the device hardware and settings, are communicated via the MSG_IMU_AUX
 -- message. If using "time since startup" time tags, the receiving end will
 -- expect a `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to
--- synchronise IMU measurements with GNSS.  The time-tagging mode should not
--- change throughout a run.
+-- synchronise IMU measurements with GNSS. The timestamp must wrap around to
+-- zero when reaching one week (604800 seconds).  The time-tagging mode should
+-- not change throughout a run.
 data MsgImuRaw = MsgImuRaw
   { _msgImuRaw_tow :: !Word32
     -- ^ Milliseconds since reference epoch and time status.

java/src/com/swiftnav/sbp/imu/MsgImuRaw.java

@@ -34,7 +34,7 @@
  * device hardware and settings, are communicated via the MSG_IMU_AUX message.
  * If using "time since startup" time tags, the receiving end will expect a
  * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements
- * with GNSS.
+ * with GNSS. The timestamp must wrap around to zero when reaching one week (604800 seconds).
  * 
  * The time-tagging mode should not change throughout a run. */
 

javascript/sbp/imu.js

@@ -32,7 +32,8 @@ var UInt64 = require('cuint').UINT64;
  * device hardware and settings, are communicated via the MSG_IMU_AUX message. If
  * using "time since startup" time tags, the receiving end will expect a
  * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU
- * measurements with GNSS.  The time-tagging mode should not change throughout a
+ * measurements with GNSS. The timestamp must wrap around to zero when reaching one
+ * week (604800 seconds).  The time-tagging mode should not change throughout a
  * run.
  *
  * Fields in the SBP payload (`sbp.payload`):

jsonschema/MsgGroupMeta.json

@@ -0,0 +1,32 @@
+{
+  "copyright": [
+    "Copyright (C) 2019 Swift Navigation Inc.",
+    "Contact: Swift Navigation <dev@swiftnav.com>",
+    "",
+    "This source is subject to the license found in the file 'LICENSE' which must",
+    "be be distributed together with this source. All other rights reserved.",
+    "",
+    "THIS CODE AND INFORMATION IS PROVIDED 'AS IS' WITHOUT WARRANTY OF ANY KIND,",
+    "EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED",
+    "WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE."
+  ],
+  "$schema": "http://json-schema.org/draft-06/schema#",
+  "$id": "#MsgGroupMeta",
+  "title":"MsgGroupMeta",
+  "description":"This leading message lists the time metadata of the Solution Group.,\nIt also lists the atomic contents (i.e. types of messages included) of the Solution Group.\n",
+  "type": "object",
+  "properties": {
+    "wn": {"type": "integer"},
+    "tom": {"type": "integer"},
+    "ns_residual": {"type": "integer"},
+    "flags": {"type": "integer"},
+    "group_msgs": {"type": "array", "items": {"type": "integer"}}
+  },
+  "required": [
+    "wn",
+    "tom",
+    "ns_residual",
+    "flags",
+    "group_msgs"
+  ]
+}

jsonschema/MsgImuRaw.json

@@ -13,7 +13,7 @@
   "$schema": "http://json-schema.org/draft-06/schema#",
   "$id": "#MsgImuRaw",
   "title":"MsgImuRaw",
-  "description":"Raw data from the Inertial Measurement Unit, containing accelerometer and,\ngyroscope readings. The sense of the measurements are to be aligned with ,\nthe indications on the device itself. Measurement units, which are specific to the,\ndevice hardware and settings, are communicated via the MSG_IMU_AUX message.,\nIf using \"time since startup\" time tags, the receiving end will expect a,\n`MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements,\nwith GNSS.,\n,\nThe time-tagging mode should not change throughout a run.\n",
+  "description":"Raw data from the Inertial Measurement Unit, containing accelerometer and,\ngyroscope readings. The sense of the measurements are to be aligned with ,\nthe indications on the device itself. Measurement units, which are specific to the,\ndevice hardware and settings, are communicated via the MSG_IMU_AUX message.,\nIf using \"time since startup\" time tags, the receiving end will expect a,\n`MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements,\nwith GNSS. The timestamp must wrap around to zero when reaching one week (604800 seconds).,\n,\nThe time-tagging mode should not change throughout a run.\n",
   "type": "object",
   "properties": {
     "tow": {"type": "integer"},

proto/imu.proto

@@ -28,7 +28,7 @@ package swiftnav.sbp.imu;
  * device hardware and settings, are communicated via the MSG_IMU_AUX message.
  * If using "time since startup" time tags, the receiving end will expect a
  * `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements
- * with GNSS.
+ * with GNSS. The timestamp must wrap around to zero when reaching one week (604800 seconds).
  * 
  * The time-tagging mode should not change throughout a run.
  */

python/sbp/imu.py

@@ -40,7 +40,7 @@ class MsgImuRaw(SBP):
 device hardware and settings, are communicated via the MSG_IMU_AUX message.
 If using "time since startup" time tags, the receiving end will expect a
 `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements
-with GNSS.
+with GNSS. The timestamp must wrap around to zero when reaching one week (604800 seconds).
 
 The time-tagging mode should not change throughout a run.
 

python/sbp/jit/imu.py

@@ -42,7 +42,7 @@ class MsgImuRaw(SBP):
 device hardware and settings, are communicated via the MSG_IMU_AUX message.
 If using "time since startup" time tags, the receiving end will expect a
 `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements
-with GNSS.
+with GNSS. The timestamp must wrap around to zero when reaching one week (604800 seconds).
 
 The time-tagging mode should not change throughout a run.
 

rust/sbp/src/messages/imu.rs

@@ -97,7 +97,7 @@ impl crate::serialize::SbpSerialize for MsgImuAux {
 /// device hardware and settings, are communicated via the MSG_IMU_AUX message.
 /// If using "time since startup" time tags, the receiving end will expect a
 /// `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to synchronise IMU measurements
-/// with GNSS.
+/// with GNSS. The timestamp must wrap around to zero when reaching one week (604800 seconds).
 ///
 /// The time-tagging mode should not change throughout a run.
 ///