GNSS Position Velocity Time Packet
This packet provides the raw Position, Velocity, and Time (PVT) data as it is received from the GNSS receiver
Note: Raw GNSS is only available if your device is interfaced to an external GNSS receiver.
Note: This packet partly supersedes the Raw GNSS Packet (Packet ID 29).
| GNSS Position Velocity Time Packet | ||||
|---|---|---|---|---|
| Packet ID | 92 | |||
| Length | 76 | |||
| Read / Write | Read / Write | |||
| Field # | Bytes Offset | Data Type | Size | Description |
| 1 | 0 | u8 | 1 | GNSS ID |
| 2 | 1 | u8 | 1 | Reserved |
| 3 | 2 | u16 | 2 | GNSS Position Velocity Time Status Bitfield |
| 4 | 4 | u32 | 4 | Posix time (s) |
| 5 | 8 | u32 | 4 | Posix time (μs) |
| 6 | 12 | fp64 | 8 | Latitude (rad) |
| 7 | 20 | fp64 | 8 | Longitude (rad) |
| 8 | 28 | fp64 | 8 | Altitude above ellipsoid (m) |
| 9 | 36 | fp32 | 4 | Position standard deviation, North (m) |
| 10 | 40 | fp32 | 4 | Position standard deviation, East (m) |
| 11 | 44 | fp32 | 4 | Position standard deviation, Down (m) |
| 12 | 48 | fp32 | 4 | Velocity, North (m/s) |
| 13 | 52 | fp32 | 4 | Velocity, East (m/s) |
| 14 | 56 | fp32 | 4 | Velocity, Down (m/s) |
| 15 | 60 | fp32 | 4 | Velocity standard deviation, North (m/s) |
| 16 | 64 | fp32 | 4 | Velocity standard deviation, East (m/s) |
| 17 | 68 | fp32 | 4 | Velocity standard deviation, Down (m/s) |
| 18 | 72 | u32 | 4 | Latency (μs) |
GNSS PVT Packet
GNSS ID
| Value | Description |
|---|---|
| 0 |
Internal GNSS |
| Other values |
External GNSS sources |
GNSS ID Status Bitfield
GNSS Position Velocity Time Status Bitfield
This packet provides the raw Position, Velocity, and Time (PVT) solution data from the GNSS receiver. This packet supersedes the Raw GNSS Packet (ID 29).
Boolean fields have zero indicating false, and one indicating true.
| Bit Range | Num Bits | Description |
|---|---|---|
| 0-2 | 3 | GNSS Fix Status |
| 3-5 | 3 | Spoofing Status, per: Spoofing and Interference Status |
| 6-8 | 3 | Interference Status, per: Spoofing and Interference Status |
| 9 | 1 | Velocity valid |
| 10 | 1 | Time valid |
| 11 | 1 | Antenna disconnected |
| 12 | 1 | Antenna short |
| 13 | 1 | GNSS Failure |
| 14-15 | 2 | Reserved |
GNSS PVT Status Bitfield