#
# GNSS navigation solution with uncertainty.
# This message is deprecated. Use the newer 1063.Fix2.uavcan message.
#

uavcan.Timestamp timestamp         # Global network-synchronized time, if available, otherwise zero

#
# Time solution.
# Time standard (GPS, UTC, TAI, etc) is defined in the field below.
#
uavcan.Timestamp gnss_timestamp

#
# Time standard used in the GNSS timestamp field.
#
uint3 GNSS_TIME_STANDARD_NONE = 0  # Time is unknown
uint3 GNSS_TIME_STANDARD_TAI  = 1
uint3 GNSS_TIME_STANDARD_UTC  = 2
uint3 GNSS_TIME_STANDARD_GPS  = 3
uint3 gnss_time_standard

void5   # Reserved space

#
# If known, the number of leap seconds allows to perform conversions between some time standards.
#
uint8 NUM_LEAP_SECONDS_UNKNOWN = 0
uint8 num_leap_seconds

#
# Position and velocity solution
#
int37 longitude_deg_1e8            # Longitude degrees multiplied by 1e8 (approx. 1 mm per LSB)
int37 latitude_deg_1e8             # Latitude degrees multiplied by 1e8 (approx. 1 mm per LSB on equator)
int27 height_ellipsoid_mm          # Height above ellipsoid in millimeters
int27 height_msl_mm                # Height above mean sea level in millimeters

float16[3] ned_velocity            # NED frame (north-east-down) in meters per second

#
# Fix status
#
uint6 sats_used

uint2 STATUS_NO_FIX    = 0
uint2 STATUS_TIME_ONLY = 1
uint2 STATUS_2D_FIX    = 2
uint2 STATUS_3D_FIX    = 3
uint2 status

#
# Precision
#
float16 pdop

void4
float16[<=9] position_covariance   # m^2
float16[<=9] velocity_covariance   # (m/s)^2