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Document D-GNSS GPS CAN frames #16

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63 changes: 59 additions & 4 deletions documentation/can_details/object_directory/gps.md
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Original file line number Diff line number Diff line change
Expand Up @@ -93,10 +93,65 @@ Dynamic Id: Id(Heartbeat) - 0x400 + 0x05
No Datapoint Type Unit / Comment
--------------------------------------------------------------------------------------------
0 number_of_sats u8 .
1 fix_type u8 0 no_gps
1 2d_fix
2 3d_fix
3 rtk
1 fix_type u8 bit 0: GNSS fix available
bit 1: D-GNSS heading available

D-GNSS heading and relative position data are transmitted when `fix_type` bit 1 is set.

ID 0x146 D-GNSS Accuracy
---
Name: dgnss_accuracy
Object-ID Version: 0
Type: Data Object
Interval: 100 ms
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) - 0x400 + 0x06

No Datapoint Type Unit / Comment
--------------------------------------------------------------------------------------------
0 relpos_length_acc f32 m
4 relpos_heading_acc f32 rad

ID 0x147 D-GNSS Heading
---
Name: dgnss_heading
Object-ID Version: 0
Type: Data Object
Interval: 100 ms
Length: 4 Bytes
Dynamic Id: Id(Heartbeat) - 0x400 + 0x07

No Datapoint Type Unit / Comment
--------------------------------------------------------------------------------------------
0 heading f32 rad

ID 0x148 D-GNSS Relative Position North and East
---
Name: dgnss_relpos_ne
Object-ID Version: 0
Type: Data Object
Interval: 100 ms
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) - 0x400 + 0x08

No Datapoint Type Unit / Comment
--------------------------------------------------------------------------------------------
0 relpos_n f32 m
4 relpos_e f32 m

ID 0x149 D-GNSS Relative Position Down and Length
---
Name: dgnss_relpos_d_length
Object-ID Version: 0
Type: Data Object
Interval: 100 ms
Length: 8 Bytes
Dynamic Id: Id(Heartbeat) - 0x400 + 0x09

No Datapoint Type Unit / Comment
--------------------------------------------------------------------------------------------
0 relpos_d f32 m
4 relpos_length f32 m

ID 0x540 Heartbeat and other generic data points are defined in [this specification](generic.md).
---