Add MSG_ORIENT_QUAT_COV: attitude quaternion with full 3x3 covariance [AP-5542]

c/include/libsbp/cpp/message_traits.h

@@ -4800,6 +4800,42 @@ struct MessageTraits<sbp_msg_orient_euler_t> {
   }
 };
 
+template <>
+struct MessageTraits<sbp_msg_orient_quat_cov_t> {
+  static constexpr sbp_msg_type_t id = SbpMsgOrientQuatCov;
+  static constexpr const char *name = "MSG_ORIENT_QUAT_COV";
+  static const sbp_msg_orient_quat_cov_t &get(const sbp_msg_t &msg) {
+    return msg.orient_quat_cov;
+  }
+  static sbp_msg_orient_quat_cov_t &get(sbp_msg_t &msg) {
+    return msg.orient_quat_cov;
+  }
+  static void to_sbp_msg(const sbp_msg_orient_quat_cov_t &msg,
+                         sbp_msg_t *sbp_msg) {
+    sbp_msg->orient_quat_cov = msg;
+  }
+  static sbp_msg_t to_sbp_msg(const sbp_msg_orient_quat_cov_t &msg) {
+    sbp_msg_t sbp_msg;
+    sbp_msg.orient_quat_cov = msg;
+    return sbp_msg;
+  }
+  static s8 send(sbp_state_t *state, u16 sender_id,
+                 const sbp_msg_orient_quat_cov_t &msg, sbp_write_fn_t write) {
+    return sbp_msg_orient_quat_cov_send(state, sender_id, &msg, write);
+  }
+  static s8 encode(uint8_t *buf, uint8_t len, uint8_t *n_written,
+                   const sbp_msg_orient_quat_cov_t &msg) {
+    return sbp_msg_orient_quat_cov_encode(buf, len, n_written, &msg);
+  }
+  static s8 decode(const uint8_t *buf, uint8_t len, uint8_t *n_read,
+                   sbp_msg_orient_quat_cov_t *msg) {
+    return sbp_msg_orient_quat_cov_decode(buf, len, n_read, msg);
+  }
+  static size_t encoded_len(const sbp_msg_orient_quat_cov_t &msg) {
+    return sbp_msg_orient_quat_cov_encoded_len(&msg);
+  }
+};
+
 template <>
 struct MessageTraits<sbp_msg_orient_quat_t> {
   static constexpr sbp_msg_type_t id = SbpMsgOrientQuat;

c/include/libsbp/orientation.h

@@ -21,5 +21,6 @@
 #include <libsbp/orientation/MSG_BASELINE_HEADING.h>
 #include <libsbp/orientation/MSG_ORIENT_EULER.h>
 #include <libsbp/orientation/MSG_ORIENT_QUAT.h>
+#include <libsbp/orientation/MSG_ORIENT_QUAT_COV.h>
 
 #endif /* LIBSBP_ORIENTATION_MESSAGES_H */

c/include/libsbp/orientation/MSG_ORIENT_QUAT_COV.h

@@ -0,0 +1,251 @@
+/*
+ * Copyright (C) 2015-2021 Swift Navigation Inc.
+ * Contact: https://support.swiftnav.com
+ *
+ * This source is subject to the license found in the file 'LICENSE' which must
+ * be distributed together with this source. All other rights reserved.
+ *
+ * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+ * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+ */
+
+/*****************************************************************************
+ * Automatically generated from yaml/swiftnav/sbp/orientation.yaml
+ * with generate.py. Please do not hand edit!
+ *****************************************************************************/
+
+#ifndef LIBSBP_ORIENTATION_MSG_ORIENT_QUAT_COV_H
+#define LIBSBP_ORIENTATION_MSG_ORIENT_QUAT_COV_H
+
+#include <math.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+#include <string.h>
+
+#include <libsbp/common.h>
+#include <libsbp/orientation_macros.h>
+#include <libsbp/string/sbp_string.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************
+ *
+ * SBP_MSG_ORIENT_QUAT_COV
+ *
+ *****************************************************************************/
+/** Quaternion 4 component vector with full attitude covariance
+ *
+ * This message reports the orientation as a unit quaternion together with the
+ * upper triangle of the symmetric 3x3 attitude covariance matrix and a GPS
+ * time-of-week time-tag. The reference frame of the quaternion and the
+ * parameterization of the covariance matrix are both encoded in the flags
+ * field, allowing additional frames or parameterizations to be added later
+ * without introducing a new message. By default the quaternion describes the
+ * orientation of the vehicle body frame with respect to a local-level NED frame
+ * (matching MSG_ORIENT_QUAT) and the covariance is expressed as small-angle
+ * rotation errors about the axes of that NED frame; in this default case the
+ * cov_x_x, cov_y_y, cov_z_z diagonal entries correspond to the variance of the
+ * rotation error about North, East, and Down respectively. The components of
+ * the quaternion sum to a unit vector assuming that the LSB of each component
+ * has a value of 2^-31.
+ */
+typedef struct {
+  /**
+   * GPS Time of Week [ms]
+   */
+  u32 tow;
+
+  /**
+   * Real component [2^-31]
+   */
+  s32 w;
+
+  /**
+   * 1st imaginary component [2^-31]
+   */
+  s32 x;
+
+  /**
+   * 2nd imaginary component [2^-31]
+   */
+  s32 y;
+
+  /**
+   * 3rd imaginary component [2^-31]
+   */
+  s32 z;
+
+  /**
+   * Estimated variance of the rotation error about the 1st axis of the
+   * covariance frame [rad^2]
+   */
+  float cov_x_x;
+
+  /**
+   * Estimated covariance of the rotation errors about the 1st and 2nd axes of
+   * the covariance frame [rad^2]
+   */
+  float cov_x_y;
+
+  /**
+   * Estimated covariance of the rotation errors about the 1st and 3rd axes of
+   * the covariance frame [rad^2]
+   */
+  float cov_x_z;
+
+  /**
+   * Estimated variance of the rotation error about the 2nd axis of the
+   * covariance frame [rad^2]
+   */
+  float cov_y_y;
+
+  /**
+   * Estimated covariance of the rotation errors about the 2nd and 3rd axes of
+   * the covariance frame [rad^2]
+   */
+  float cov_y_z;
+
+  /**
+   * Estimated variance of the rotation error about the 3rd axis of the
+   * covariance frame [rad^2]
+   */
+  float cov_z_z;
+
+  /**
+   * Status flags
+   */
+  u8 flags;
+} sbp_msg_orient_quat_cov_t;
+
+/**
+ * Get encoded size of an instance of sbp_msg_orient_quat_cov_t
+ *
+ * @param msg sbp_msg_orient_quat_cov_t instance
+ * @return Length of on-wire representation
+ */
+static inline size_t sbp_msg_orient_quat_cov_encoded_len(
+    const sbp_msg_orient_quat_cov_t *msg) {
+  (void)msg;
+  return SBP_MSG_ORIENT_QUAT_COV_ENCODED_LEN;
+}
+
+/**
+ * Encode an instance of sbp_msg_orient_quat_cov_t to wire representation
+ *
+ * This function encodes the given instance in to the user provided buffer. The
+ * buffer provided to this function must be large enough to store the encoded
+ * message otherwise it will return SBP_ENCODE_ERROR without writing anything to
+ * the buffer.
+ *
+ * Specify the length of the destination buffer in the \p len parameter. If
+ * non-null the number of bytes written to the buffer will be returned in \p
+ * n_written.
+ *
+ * @param buf Destination buffer
+ * @param len Length of \p buf
+ * @param n_written If not null, on success will be set to the number of bytes
+ * written to \p buf
+ * @param msg Instance of sbp_msg_orient_quat_cov_t to encode
+ * @return SBP_OK on success, or other libsbp error code
+ */
+SBP_EXPORT s8
+sbp_msg_orient_quat_cov_encode(uint8_t *buf, uint8_t len, uint8_t *n_written,
+                               const sbp_msg_orient_quat_cov_t *msg);
+
+/**
+ * Decode an instance of sbp_msg_orient_quat_cov_t from wire representation
+ *
+ * This function decodes the wire representation of a sbp_msg_orient_quat_cov_t
+ * message to the given instance. The caller must specify the length of the
+ * buffer in the \p len parameter. If non-null the number of bytes read from the
+ * buffer will be returned in \p n_read.
+ *
+ * @param buf Wire representation of the sbp_msg_orient_quat_cov_t instance
+ * @param len Length of \p buf
+ * @param n_read If not null, on success will be set to the number of bytes read
+ * from \p buf
+ * @param msg Destination
+ * @return SBP_OK on success, or other libsbp error code
+ */
+SBP_EXPORT s8 sbp_msg_orient_quat_cov_decode(const uint8_t *buf, uint8_t len,
+                                             uint8_t *n_read,
+                                             sbp_msg_orient_quat_cov_t *msg);
+/**
+ * Send an instance of sbp_msg_orient_quat_cov_t with the given write function
+ *
+ * An equivalent of #sbp_message_send which operates specifically on
+ * sbp_msg_orient_quat_cov_t
+ *
+ * The given message will be encoded to wire representation and passed in to the
+ * given write function callback. The write callback will be called several
+ * times for each invocation of this function.
+ *
+ * @param s SBP state
+ * @param sender_id SBP sender id
+ * @param msg Message to send
+ * @param write Write function
+ * @return SBP_OK on success, or other libsbp error code
+ */
+SBP_EXPORT s8 sbp_msg_orient_quat_cov_send(sbp_state_t *s, u16 sender_id,
+                                           const sbp_msg_orient_quat_cov_t *msg,
+                                           sbp_write_fn_t write);
+
+/**
+ * Compare two instances of sbp_msg_orient_quat_cov_t
+ *
+ * The two instances will be compared and a value returned consistent with the
+ * return codes of comparison functions from the C standard library
+ *
+ * 0 will be returned if \p a and \p b are considered equal
+ * A value less than 0 will be returned if \p a is considered to be less than \p
+ * b A value greater than 0 will be returned if \p b is considered to be greater
+ * than \p b
+ *
+ * @param a sbp_msg_orient_quat_cov_t instance
+ * @param b sbp_msg_orient_quat_cov_t instance
+ * @return 0, <0, >0
+ */
+SBP_EXPORT int sbp_msg_orient_quat_cov_cmp(const sbp_msg_orient_quat_cov_t *a,
+                                           const sbp_msg_orient_quat_cov_t *b);
+
+#ifdef __cplusplus
+}
+
+static inline bool operator==(const sbp_msg_orient_quat_cov_t &lhs,
+                              const sbp_msg_orient_quat_cov_t &rhs) {
+  return sbp_msg_orient_quat_cov_cmp(&lhs, &rhs) == 0;
+}
+
+static inline bool operator!=(const sbp_msg_orient_quat_cov_t &lhs,
+                              const sbp_msg_orient_quat_cov_t &rhs) {
+  return sbp_msg_orient_quat_cov_cmp(&lhs, &rhs) != 0;
+}
+
+static inline bool operator<(const sbp_msg_orient_quat_cov_t &lhs,
+                             const sbp_msg_orient_quat_cov_t &rhs) {
+  return sbp_msg_orient_quat_cov_cmp(&lhs, &rhs) < 0;
+}
+
+static inline bool operator<=(const sbp_msg_orient_quat_cov_t &lhs,
+                              const sbp_msg_orient_quat_cov_t &rhs) {
+  return sbp_msg_orient_quat_cov_cmp(&lhs, &rhs) <= 0;
+}
+
+static inline bool operator>(const sbp_msg_orient_quat_cov_t &lhs,
+                             const sbp_msg_orient_quat_cov_t &rhs) {
+  return sbp_msg_orient_quat_cov_cmp(&lhs, &rhs) > 0;
+}
+
+static inline bool operator>=(const sbp_msg_orient_quat_cov_t &lhs,
+                              const sbp_msg_orient_quat_cov_t &rhs) {
+  return sbp_msg_orient_quat_cov_cmp(&lhs, &rhs) >= 0;
+}
+
+#endif  // ifdef __cplusplus
+
+#endif /* LIBSBP_ORIENTATION_MSG_ORIENT_QUAT_COV_H */

c/include/libsbp/orientation_macros.h

@@ -103,4 +103,66 @@
  */
 #define SBP_MSG_ANGULAR_RATE_ENCODED_LEN 17u
 
+#define SBP_ORIENT_QUAT_COV_COVARIANCE_PARAMETERIZATION_MASK (0x3u)
+#define SBP_ORIENT_QUAT_COV_COVARIANCE_PARAMETERIZATION_SHIFT (5u)
+#define SBP_ORIENT_QUAT_COV_COVARIANCE_PARAMETERIZATION_GET(flags)             \
+  ((u8)(                                                                       \
+      (u8)((flags) >> SBP_ORIENT_QUAT_COV_COVARIANCE_PARAMETERIZATION_SHIFT) & \
+      SBP_ORIENT_QUAT_COV_COVARIANCE_PARAMETERIZATION_MASK))
+#define SBP_ORIENT_QUAT_COV_COVARIANCE_PARAMETERIZATION_SET(flags, val)        \
+  do {                                                                         \
+    (flags) =                                                                  \
+        (u8)((flags &                                                          \
+              (~(SBP_ORIENT_QUAT_COV_COVARIANCE_PARAMETERIZATION_MASK          \
+                 << SBP_ORIENT_QUAT_COV_COVARIANCE_PARAMETERIZATION_SHIFT))) | \
+             (((val) & (SBP_ORIENT_QUAT_COV_COVARIANCE_PARAMETERIZATION_MASK)) \
+              << (SBP_ORIENT_QUAT_COV_COVARIANCE_PARAMETERIZATION_SHIFT)));    \
+  } while (0)
+
+#define SBP_ORIENT_QUAT_COV_COVARIANCE_PARAMETERIZATION_SMALL_ANGLE_ROTATION_ERRORS_ABOUT_THE_AXES_OF_THE_GLOBAL_FRAME_GIVEN_BY_THE_QUATERNION_FRAME_FIELD \
+  (0)
+#define SBP_ORIENT_QUAT_COV_COVARIANCE_PARAMETERIZATION_SMALL_ANGLE_ROTATION_ERRORS_ABOUT_THE_BODYVEHICLE_FRAME_AXES \
+  (1)
+#define SBP_ORIENT_QUAT_COV_COVARIANCE_PARAMETERIZATION_ROLLPITCHYAW_EULER_ANGLE_COVARIANCE \
+  (2)
+#define SBP_ORIENT_QUAT_COV_QUATERNION_REFERENCE_FRAME_MASK (0x3u)
+#define SBP_ORIENT_QUAT_COV_QUATERNION_REFERENCE_FRAME_SHIFT (3u)
+#define SBP_ORIENT_QUAT_COV_QUATERNION_REFERENCE_FRAME_GET(flags)             \
+  ((u8)(                                                                      \
+      (u8)((flags) >> SBP_ORIENT_QUAT_COV_QUATERNION_REFERENCE_FRAME_SHIFT) & \
+      SBP_ORIENT_QUAT_COV_QUATERNION_REFERENCE_FRAME_MASK))
+#define SBP_ORIENT_QUAT_COV_QUATERNION_REFERENCE_FRAME_SET(flags, val)        \
+  do {                                                                        \
+    (flags) =                                                                 \
+        (u8)((flags &                                                         \
+              (~(SBP_ORIENT_QUAT_COV_QUATERNION_REFERENCE_FRAME_MASK          \
+                 << SBP_ORIENT_QUAT_COV_QUATERNION_REFERENCE_FRAME_SHIFT))) | \
+             (((val) & (SBP_ORIENT_QUAT_COV_QUATERNION_REFERENCE_FRAME_MASK)) \
+              << (SBP_ORIENT_QUAT_COV_QUATERNION_REFERENCE_FRAME_SHIFT)));    \
+  } while (0)
+
+#define SBP_ORIENT_QUAT_COV_QUATERNION_REFERENCE_FRAME_LOCAL_LEVEL_NED (0)
+#define SBP_ORIENT_QUAT_COV_QUATERNION_REFERENCE_FRAME_LOCAL_LEVEL_ENU (1)
+#define SBP_ORIENT_QUAT_COV_QUATERNION_REFERENCE_FRAME_ECEF (2)
+#define SBP_ORIENT_QUAT_COV_INS_NAVIGATION_MODE_MASK (0x7u)
+#define SBP_ORIENT_QUAT_COV_INS_NAVIGATION_MODE_SHIFT (0u)
+#define SBP_ORIENT_QUAT_COV_INS_NAVIGATION_MODE_GET(flags)               \
+  ((u8)((u8)((flags) >> SBP_ORIENT_QUAT_COV_INS_NAVIGATION_MODE_SHIFT) & \
+        SBP_ORIENT_QUAT_COV_INS_NAVIGATION_MODE_MASK))
+#define SBP_ORIENT_QUAT_COV_INS_NAVIGATION_MODE_SET(flags, val)                \
+  do {                                                                         \
+    (flags) =                                                                  \
+        (u8)((flags & (~(SBP_ORIENT_QUAT_COV_INS_NAVIGATION_MODE_MASK          \
+                         << SBP_ORIENT_QUAT_COV_INS_NAVIGATION_MODE_SHIFT))) | \
+             (((val) & (SBP_ORIENT_QUAT_COV_INS_NAVIGATION_MODE_MASK))         \
+              << (SBP_ORIENT_QUAT_COV_INS_NAVIGATION_MODE_SHIFT)));            \
+  } while (0)
+
+#define SBP_ORIENT_QUAT_COV_INS_NAVIGATION_MODE_INVALID (0)
+#define SBP_ORIENT_QUAT_COV_INS_NAVIGATION_MODE_VALID (1)
+/**
+ * Encoded length of sbp_msg_orient_quat_cov_t
+ */
+#define SBP_MSG_ORIENT_QUAT_COV_ENCODED_LEN 45u
+
 #endif /* LIBSBP_ORIENTATION_MACROS_H */