Fix SBP message example
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.
@@ -189,10 +189,10 @@ contents.
\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 @@ byte array and its contents break down as follows:
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 @@ byte array and its contents break down as follows:
\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}}
