From b81ec405481bcec669cd718863bfac07adf0a88c Mon Sep 17 00:00:00 2001 From: Daniel Burr Date: Sat, 26 Sep 2020 03:14:38 +0200 Subject: [PATCH] The example message shown in Chapter 4 of the SBP Specification is incorrect - the message ID for MSG_BASELINE_ECEF is 523 = 20Bh, not 514 = 202h. --- generator/sbpg/targets/resources/sbp_base.tex | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/generator/sbpg/targets/resources/sbp_base.tex b/generator/sbpg/targets/resources/sbp_base.tex index a4fb0bb879..d56fe63b87 100644 --- a/generator/sbpg/targets/resources/sbp_base.tex +++ b/generator/sbpg/targets/resources/sbp_base.tex @@ -189,10 +189,10 @@ \subsubsection*{Example Message} \par As an example, consider this framed series of bytes read from a serial port: \begin{verbatim} -55 02 02 cc 04 14 70 3d d0 18 cf ef ff ff ef e8 ff ff f0 18 00 00 00 00 05 00 43 94 +55 0b 02 cc 04 14 70 3d d0 18 cf ef ff ff ef e8 ff ff f0 18 00 00 00 00 05 00 15 dc \end{verbatim} This byte array decodes into a \texttt{MSG\_BASELINE\_ECEF} (see -pg.~\pageref{sec:MSG_POS_ECEF}), which reports the baseline position +pg.~\pageref{sec:MSG_BASELINE_ECEF}), which reports the baseline position solution of the rover receiver relative to the base station receiver in Earth Centered Earth Fixed (ECEF) coordinates. The segments of this byte array and its contents break down as follows: @@ -204,7 +204,7 @@ \subsubsection*{Example Message} Field Name & Type & Value & Bytestring Segment\\ \midrule {Preamble} & u8 & 0x55 & \verb!55! \\ - {Message Type}& u16 & \texttt{MSG\_BASELINE\_ECEF} & \verb!02 02! \\ + {Message Type}& u16 & \texttt{MSG\_BASELINE\_ECEF} & \verb!0b 02! \\ {Sender}& u16 & 1228 & \verb!cc 04! \\ {Length}& u8 & 20 & \verb!14! \\ {Payload}& & --- & \verb!70 3d d0 18 cf ef ff ff ef e8 ff ff! \\ @@ -217,7 +217,7 @@ \subsubsection*{Example Message} \quad~.accuracy & u16 & 0 & \verb!00 00! \\ \quad~.nsats & u8 & 5 & \verb!05! \\ \quad~.flags & u8 & 0 & \verb!00! \\ - {CRC} & u16 & 0x9443 & \verb!43 94! \\ + {CRC} & u16 & 0x9443 & \verb!15 dc! \\ \bottomrule \end{tabular} \caption{SBP breakdown for \texttt{MSG\_BASELINE\_ECEF}}