Add sbp definition of new leader/leading message for Solution Groups.
As per Design Doc of new Starling Output MVP.
The point of this message is to facilitate consumption of output data,
in particular that of the fuzed Solution Group, aka "Fuzed Wagon".
@@ -305,3 +305,50 @@ definitions:
- flags:
type: u8
desc: Status flags (reserved)
+
+ - MSG_GROUP_META:
+ id: 0xFF0A
+ short_desc: Solution Group Metadata
+ public: true
+ desc: |
+ This leading message lists the time metadata of the Solution Group.
+ It also lists the atomic contents (i.e. types of messages included) of the Solution Group.
+ fields:
+ - wn:
+ type: u16
+ units: weeks
+ desc: GPS Week Number or zero if Reference epoch is not GPS
+ - tom:
+ type: u32
+ units: ms
+ desc: Time of Measurement in Milliseconds since reference epoch
+ - ns_residual:
+ type: s32
+ units: ns
+ desc: |
+ Nanosecond residual of millisecond-rounded TOM (ranges
+ from -500000 to 500000)
+ - flags:
+ type: u8
+ desc: Status flags (reserved)
+ fields:
+ - 4-7:
+ desc: Reserved
+ - 2-3:
+ desc: Solution Group type
+ values:
+ - 0: None (invalid)
+ - 1: GNSS only
+ - 2: GNSS+INS (Fuzed)
+ - 3: Reserved
+ - 0-1:
+ desc: Time source
+ values:
+ - 0: Reference epoch is start of current GPS week
+ - 1: Reference epoch is Sensor Time Init
+ - 2: Reference epoch is unknown
+ - 3: Reference epoch is last PPS
+ - group_msgs:
+ type: array
+ fill: u16
+ desc: An inorder list of message types included in the Solution Group
