#define GPS_MEASUREMENT_HAS_DOPPLER_SHIFT_UNCERTAINTY (1<<16)
/** A valid 'used in fix' flag is stored in the data structure. */
#define GPS_MEASUREMENT_HAS_USED_IN_FIX (1<<17)
+/** The value of 'pseudorange rate' is uncorrected. */
+#define GPS_MEASUREMENT_HAS_UNCORRECTED_PSEUDORANGE_RATE (1<<18)
/**
* Enumeration of the available values for the GPS Measurement's loss of lock.
*
* The value contains the 'drift uncertainty' in it.
* If the data is available 'flags' must contain GPS_CLOCK_HAS_DRIFT.
+ *
+ * If GpsMeasurement's 'flags' field contains GPS_MEASUREMENT_HAS_UNCORRECTED_PSEUDORANGE_RATE,
+ * it is encouraged that this field is also provided.
*/
double drift_nsps;
*
* However, if there is any ambiguity in integer millisecond,
* GPS_MEASUREMENT_STATE_MSEC_AMBIGUOUS should be set accordingly, in the 'state' field.
+ *
+ * This value must be populated if 'state' != GPS_MEASUREMENT_STATE_UNKNOWN.
*/
int64_t received_gps_tow_ns;
/**
* 1-Sigma uncertainty of the Received GPS Time-of-Week in nanoseconds.
+ *
+ * This value must be populated if 'state' != GPS_MEASUREMENT_STATE_UNKNOWN.
*/
int64_t received_gps_tow_uncertainty_ns;
/**
* Pseudorange rate at the timestamp in m/s.
- * The value also includes the effects of the receiver clock frequency and satellite clock
- * frequency errors.
+ * The effects of the receiver clock frequency and satellite clock frequency errors, are known
+ * as the correction of a given Pseudorange rate value.
+ *
+ * If GPS_MEASUREMENT_HAS_UNCORRECTED_PSEUDORANGE_RATE is set in 'flags' field, this field must
+ * be populated with the 'uncorrected' reading.
+ * If GPS_MEASUREMENT_HAS_UNCORRECTED_PSEUDORANGE_RATE is not set in 'flags' field, this field
+ * must be populated with the 'corrected' reading. This is the default behavior.
+ *
+ * It is encouraged to provide the 'uncorrected' 'pseudorange rate', and provide GpsClock's
+ * 'drift' field as well.
*
* The value includes the 'pseudorange rate uncertainty' in it.
- * A positive value indicates that the pseudorange is getting larger.
+ * A positive 'uncorrected' value indicates that the SV is moving away from the receiver.
+ *
+ * The sign of the 'uncorrected' 'pseudorange rate' and its correlation to the sign of 'doppler
+ * shift' is given by the equation:
+ * pseudorange rate = -k * doppler shift
*
* This is a Mandatory value.
*/
/**
* Accumulated delta range since the last channel reset in meters.
- * The data is available if 'accumulated delta range state' != GPS_ADR_STATE_UNKNOWN.
+ * A positive value indicates that the SV is moving away fro the receiver.
+ *
+ * The sign of the 'accumulated delta range' and its correlation to the sign of 'carrier phase'
+ * is given by the equation:
+ * accumulated delta range = -k * carrier phase
+ *
+ * This value must be populated if 'accumulated delta range state' != GPS_ADR_STATE_UNKNOWN.
+ * However, it is expected that the data is only accurate when:
+ * 'accumulated delta range state' == GPS_ADR_STATE_VALID.
*/
double accumulated_delta_range_m;
/**
* 1-Sigma uncertainty of the accumulated delta range in meters.
- * The data is available if 'accumulated delta range state' != GPS_ADR_STATE_UNKNOWN.
+ * This value must be populated if 'accumulated delta range state' != GPS_ADR_STATE_UNKNOWN.
*/
double accumulated_delta_range_uncertainty_m;