NavCom Sapphire Rev.J - Manual (Page 347)

Sapphire Technical Reference Manual Rev. J
347
typedef struct
{
U08 low;
U08 middle;
U08 high;
} S24;
S24 sVal= <value>
S32 sTmp = sVal.high;
sTmp = (sTmp << 8) + sVal.middle;
sTmp = (sTmp << 8) + sVal.low;
if ((n141_vel_north.high & 0x80) != 0)
{
sTmp = -sTmp;
}
R32 xTmp = sTmp; // convert S32 to R32
xTmp = xTmp / 1024.0; // convert to meters
2.91.6 Number of Satellites Tracked
This indicates the number of satellites used in the position solution. This corresponds to
the count and bit mask of the GNSS satellites making of the solution. The number of
satellites tracked can be different (larger) than both the number of satellites used in the
position solution and in the velocity solution. This can occur when satellites are being
tracked at elevations below the elevation cutoff for navigation. This value presents as an
8-bit unsigned integer.
2.91.7 Navigation Solution Mode
This is really two fields, the first of which identifies the navigation mode, bits one through
four, which form a number that defines the contents of bits five through eight.
Table 178: Navigation Mode and Source Type Fields
Bits (Starting from MSB) Description
1-4 Navigation mode
5-8 Source type (DGPS, RTK, Starfire)
Table 179: Navigation Mode
Number Navigation Mode
0 Non-differential
1 DGPS (WAAS, RTCM Code, StarFire single)
2 StarFire dual
3 RTK Float
4 RTK X
5 RTK WL fixed
6 RTK L1 fixed
7 RTK dual fixed
8-15 Reserved