<mipdefs>
	<struct name="FilterMeasurementIndicator">
		<value name="enabled" value="0" />
		<value name="used" value="1" />
		<value name="residual_high_warning" value="2" />
		<value name="sample_time_warning" value="3" />
		<value name="configuration_error" value="4" />
		<value name="max_num_meas_exceeded" value="5" />
	</struct>
	<struct name="Vector3d">
		<param name="v" type="double" index="0" />
	</struct>
	<struct name="GnssAidStatusFlags">
		<value name="tight_coupling" value="0" />
		<value name="differential" value="1" />
		<value name="integer_fix" value="2" />
		<value name="GPS_L1" value="3" />
		<value name="GPS_L2" value="4" />
		<value name="GPS_L5" value="5" />
		<value name="GLO_L1" value="6" />
		<value name="GLO_L2" value="7" />
		<value name="GAL_E1" value="8" />
		<value name="GAL_E5" value="9" />
		<value name="GAL_E6" value="10" />
		<value name="BEI_B1" value="11" />
		<value name="BEI_B2" value="12" />
		<value name="BEI_B3" value="13" />
		<value name="no_fix" value="14" />
		<value name="config_error" value="15" />
	</struct>
	<struct name="FilterStatusFlags">
		<value name="gx5_init_no_attitude" value="12" />
		<value name="gx5_init_no_position_velocity" value="13" />
		<value name="gx5_run_imu_unavailable" value="0" />
		<value name="gx5_run_gps_unavailable" value="1" />
		<value name="gx5_run_matrix_singularity" value="3" />
		<value name="gx5_run_position_covariance_warning" value="4" />
		<value name="gx5_run_velocity_covariance_warning" value="5" />
		<value name="gx5_run_attitude_covariance_warning" value="6" />
		<value name="gx5_run_nan_in_solution_warning" value="7" />
		<value name="gx5_run_gyro_bias_est_high_warning" value="8" />
		<value name="gx5_run_accel_bias_est_high_warning" value="9" />
		<value name="gx5_run_gyro_scale_factor_est_high_warning" value="10" />
		<value name="gx5_run_accel_scale_factor_est_high_warning" value="11" />
		<value name="gx5_run_mag_bias_est_high_warning" value="12" />
		<value name="gx5_run_ant_offset_correction_est_high_warning" value="13" />
		<value name="gx5_run_mag_hard_iron_est_high_warning" value="14" />
		<value name="gx5_run_mag_soft_iron_est_high_warning" value="15" />
		<value name="gq7_filter_condition" value="0" />
		<value name="gq7_roll_pitch_warning" value="2" />
		<value name="gq7_heading_warning" value="3" />
		<value name="gq7_position_warning" value="4" />
		<value name="gq7_velocity_warning" value="5" />
		<value name="gq7_imu_bias_warning" value="6" />
		<value name="gq7_gnss_clk_warning" value="7" />
		<value name="gq7_antenna_lever_arm_warning" value="8" />
		<value name="gq7_mounting_transform_warning" value="9" />
		<value name="gq7_time_sync_warning" value="10" />
		<value name="gq7_solution_error" value="12" />
	</struct>
	<struct name="Vector3f">
		<param name="v" type="float" index="0" />
	</struct>
	<struct name="Matrix3f">
		<param name="v" type="float" index="0" />
	</struct>
	<struct name="Quatf">
		<param name="v" type="float" index="0" />
	</struct>
	<descriptor_set name="FILTER" descriptor="0x82">
		<field descriptor="0x01" name="LLH Position">
			Filter reported position in the WGS84 geodetic frame.
			<param name="latitude" index="0" type="double" />
			<param name="longitude" index="8" type="double" />
			<param name="ellipsoid_height" index="16" type="double" />
			<param name="valid_flags" index="24" type="u16" />
		</field>
		<field descriptor="0x02" name="velocity_ned">
			Filter reported velocity in the NED local-level frame.
			<param name="north" index="0" type="float" />
			<param name="east" index="4" type="float" />
			<param name="down" index="8" type="float" />
			<param name="valid_flags" index="12" type="u16" />
		</field>
		<field descriptor="0x03" name="attitude_quaternion">
			4x1 vector representation of the quaternion describing the orientation of the device with respect to the NED local-level frame.
			<param name="q" index="0" type="Quatf" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x04" name="attitude_dcm">
			3x3 Direction Cosine Matrix EQSTART M_{ned}^{veh} EQEND describing the orientation of the device with respect to the NED local-level frame.
			<param name="dcm" index="0" type="Matrix3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x05" name="euler_angles">
			Filter reported Euler angles describing the orientation of the device with respect to the NED local-level frame.
			<param name="roll" index="0" type="float" />
			<param name="pitch" index="4" type="float" />
			<param name="yaw" index="8" type="float" />
			<param name="valid_flags" index="12" type="u16" />
		</field>
		<field descriptor="0x06" name="gyro_bias">
			Filter reported gyro bias expressed in the sensor frame.
			<param name="bias" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x07" name="accel_bias">
			Filter reported accelerometer bias expressed in the sensor frame.
			<param name="bias" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x08" name="LLH Position Uncertainty">
			Filter reported 1-sigma position uncertainty in the NED local-level frame.
			<param name="north" index="0" type="float" />
			<param name="east" index="4" type="float" />
			<param name="down" index="8" type="float" />
			<param name="valid_flags" index="12" type="u16" />
		</field>
		<field descriptor="0x09" name="NED Velocity Uncertainty">
			Filter reported 1-sigma velocity uncertainties in the NED local-level frame.
			<param name="north" index="0" type="float" />
			<param name="east" index="4" type="float" />
			<param name="down" index="8" type="float" />
			<param name="valid_flags" index="12" type="u16" />
		</field>
		<field descriptor="0x0A" name="euler_angles_uncertainty">
			Filter reported 1-sigma Euler angle uncertainties.
			<param name="roll" index="0" type="float" />
			<param name="pitch" index="4" type="float" />
			<param name="yaw" index="8" type="float" />
			<param name="valid_flags" index="12" type="u16" />
		</field>
		<field descriptor="0x0B" name="gyro_bias_uncertainty">
			Filter reported 1-sigma gyro bias uncertainties expressed in the sensor frame.
			<param name="bias_uncert" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x0C" name="accel_bias_uncertainty">
			Filter reported 1-sigma accelerometer bias uncertainties expressed in the sensor frame.
			<param name="bias_uncert" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x11" name="timestamp">
			GPS timestamp of the Filter data
			<param name="tow" index="0" type="double" />
			<param name="week_number" index="8" type="u16" />
			<param name="valid_flags" index="10" type="u16" />
		</field>
		<field descriptor="0x10" name="status">
			Device-specific filter status indicators.
			<enum name="FilterMode" type="u16">
				<value name="GX5_STARTUP" value="0" />
				<value name="GX5_INIT" value="1" />
				<value name="GX5_RUN_SOLUTION_VALID" value="2" />
				<value name="GX5_RUN_SOLUTION_ERROR" value="3" />
				<value name="INIT" value="1" />
				<value name="VERT_GYRO" value="2" />
				<value name="AHRS" value="3" />
				<value name="FULL_NAV" value="4" />
			</enum>
			<param name="filter_state" index="0" type="FilterMode" />
			<enum name="FilterDynamicsMode" type="u16">
				<value name="GX5_PORTABLE" value="1" />
				<value name="GX5_AUTOMOTIVE" value="2" />
				<value name="GX5_AIRBORNE" value="3" />
				<value name="GQ7_DEFAULT" value="1" />
			</enum>
			<param name="dynamics_mode" index="2" type="FilterDynamicsMode" />
			<param name="status_flags" index="4" type="FilterStatusFlags" />
		</field>
		<field descriptor="0x0D" name="linear_accel">
			Filter-compensated linear acceleration expressed in the vehicle frame.
			<param name="accel" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x13" name="gravity_vector">
			Filter reported gravity vector expressed in the vehicle frame.
			<param name="gravity" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x1C" name="Compensated Acceleration">
			Filter-compensated acceleration expressed in the vehicle frame.
			<param name="accel" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x0E" name="comp_angular_rate">
			Filter-compensated angular rate expressed in the vehicle frame.
			<param name="gyro" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x12" name="quaternion_attitude_uncertainty">
			Filter reported quaternion uncertainties.
			<param name="q" index="0" type="Quatf" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x0F" name="wgs84_gravity_mag">
			Filter reported WGS84 gravity magnitude.
			<param name="magnitude" index="0" type="float" />
			<param name="valid_flags" index="4" type="u16" />
		</field>
		<field descriptor="0x14" name="heading_update_state">
			Filter reported heading update state.
			<param name="heading" index="0" type="float" />
			<param name="heading_1sigma" index="4" type="float" />
			<enum name="HeadingSource" type="u16">
				<value name="NONE" value="0" />
				<value name="MAGNETOMETER" value="1" />
				<value name="GNSS_VELOCITY_VECTOR" value="2" />
				<value name="EXTERNAL" value="4" />
				<value name="DUAL_ANTENNA" value="8" />
			</enum>
			<param name="source" index="8" type="HeadingSource" />
			<param name="valid_flags" index="10" type="u16" />
		</field>
		<field descriptor="0x15" name="magnetic_model">
			The World Magnetic Model is used for this data. Please refer to the device user manual for the current version of the model.
			<param name="intensity_north" index="0" type="float" />
			<param name="intensity_east" index="4" type="float" />
			<param name="intensity_down" index="8" type="float" />
			<param name="inclination" index="12" type="float" />
			<param name="declination" index="16" type="float" />
			<param name="valid_flags" index="20" type="u16" />
		</field>
		<field descriptor="0x17" name="accel_scale_factor">
			Filter reported accelerometer scale factor expressed in the sensor frame.
			<param name="scale_factor" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x19" name="accel_scale_factor_uncertainty">
			Filter reported 1-sigma accelerometer scale factor uncertainty expressed in the sensor frame.
			<param name="scale_factor_uncert" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x16" name="gyro_scale_factor">
			Filter reported gyro scale factor expressed in the sensor frame.
			<param name="scale_factor" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x18" name="gyro_scale_factor_uncertainty">
			Filter reported 1-sigma gyro scale factor uncertainty expressed in the sensor frame.
			<param name="scale_factor_uncert" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x1A" name="mag_bias">
			Filter reported magnetometer bias expressed in the sensor frame.
			<param name="bias" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x1B" name="mag_bias_uncertainty">
			Filter reported 1-sigma magnetometer bias uncertainty expressed in the sensor frame.
			<param name="bias_uncert" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x20" name="standard_atmosphere">
			Filter reported standard atmosphere parameters.
			<param name="geometric_altitude" index="0" type="float" />
			<param name="geopotential_altitude" index="4" type="float" />
			<param name="standard_temperature" index="8" type="float" />
			<param name="standard_pressure" index="12" type="float" />
			<param name="standard_density" index="16" type="float" />
			<param name="valid_flags" index="20" type="u16" />
		</field>
		<field descriptor="0x21" name="pressure_altitude">
			Filter reported pressure altitude.
			<param name="pressure_altitude" index="0" type="float" />
			<param name="valid_flags" index="4" type="u16" />
		</field>
		<field descriptor="0x22" name="density_altitude">
			<param name="density_altitude" index="0" type="float" />
			<param name="valid_flags" index="4" type="u16" />
		</field>
		<field descriptor="0x30" name="antenna_offset_correction">
			Filter reported GNSS antenna offset in vehicle frame.
			<param name="offset" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x31" name="antenna_offset_correction_uncertainty">
			Filter reported 1-sigma GNSS antenna offset uncertainties in vehicle frame.
			<param name="offset_uncert" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x34" name="multi_antenna_offset_correction">
			Filter reported GNSS antenna offset in vehicle frame.
			<param name="receiver_id" index="0" type="u8" />
			<param name="offset" index="1" type="Vector3f" />
			<param name="valid_flags" index="1" type="u16" />
		</field>
		<field descriptor="0x35" name="multi_antenna_offset_correction_uncertainty">
			Filter reported 1-sigma GNSS antenna offset uncertainties in vehicle frame.
			<param name="receiver_id" index="0" type="u8" />
			<param name="offset_uncert" index="1" type="Vector3f" />
			<param name="valid_flags" index="1" type="u16" />
		</field>
		<field descriptor="0x25" name="magnetometer_offset">
			Filter reported magnetometer hard iron offset in sensor frame.
			<param name="hard_iron" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x26" name="magnetometer_matrix">
			Filter reported magnetometer soft iron matrix in sensor frame.
			<param name="soft_iron" index="0" type="Matrix3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x28" name="magnetometer_offset_uncertainty">
			Filter reported 1-sigma magnetometer hard iron offset uncertainties in sensor frame.
			<param name="hard_iron_uncertainty" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x29" name="magnetometer_matrix_uncertainty">
			Filter reported 1-sigma magnetometer soft iron matrix uncertainties in sensor frame.
			<param name="soft_iron_uncertainty" index="0" type="Matrix3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x2A" name="magnetometer_covariance_matrix">
			<param name="covariance" index="0" type="Matrix3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x2C" name="magnetometer_residual_vector">
			Filter reported magnetometer measurement residuals in vehicle frame.
			<param name="residual" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x32" name="clock_correction">
			Filter reported GNSS receiver clock error parameters.
			<param name="receiver_id" index="0" type="u8" />
			<param name="bias" index="1" type="float" />
			<param name="bias_drift" index="5" type="float" />
			<param name="valid_flags" index="9" type="u16" />
		</field>
		<field descriptor="0x33" name="clock_correction_uncertainty">
			Filter reported 1-sigma GNSS receiver clock error parameters.
			<param name="receiver_id" index="0" type="u8" />
			<param name="bias_uncertainty" index="1" type="float" />
			<param name="bias_drift_uncertainty" index="5" type="float" />
			<param name="valid_flags" index="9" type="u16" />
		</field>
		<field descriptor="0x43" name="GNSS Position Aiding Status">
			Filter reported GNSS position aiding status
			<param name="receiver_id" index="0" type="u8" />
			<param name="time_of_week" index="1" type="float" />
			<param name="status" index="5" type="GnssAidStatusFlags" />
			<param name="reserved" index="7" type="u8" count="8" />
		</field>
		<field descriptor="0x44" name="GNSS Attitude Aiding Status">
			Filter reported dual antenna GNSS attitude aiding status
			<param name="time_of_week" index="0" type="float" />
			<param name="status" index="4" type="GnssAidStatusFlags" />
			<param name="reserved" index="6" type="u8" count="8" />
		</field>
		<field descriptor="0x45" name="head_aid_status">
			Filter reported GNSS heading aiding status
			<param name="time_of_week" index="0" type="float" />
			<enum name="HeadingAidType" type="u8">
				<value name="DUAL_ANTENNA" value="1" />
				<value name="EXTERNAL_MESSAGE" value="2" />
			</enum>
			<param name="type" index="4" type="HeadingAidType" />
			<param name="reserved" index="5" type="float" count="2" />
		</field>
		<field descriptor="0x42" name="NED Relative Position">
			Filter reported relative position, with respect to configured reference position
			<param name="relative_position" index="0" type="Vector3d" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x40" name="ECEF Position">
			Filter reported ECEF position
			<param name="position_ecef" index="0" type="Vector3d" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x41" name="ECEF Velocity">
			Filter reported ECEF velocity
			<param name="velocity_ecef" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x36" name="ECEF Position Uncertainty">
			Filter reported 1-sigma position uncertainty in the ECEF frame.
			<param name="pos_uncertainty" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x37" name="ECEF Velocity Uncertainty">
			Filter reported 1-sigma velocity uncertainties in the ECEF frame.
			<param name="vel_uncertainty" index="0" type="Vector3f" />
			<param name="valid_flags" index="0" type="u16" />
		</field>
		<field descriptor="0x46" name="aiding_measurement_summary">
			Filter reported aiding measurement summary. This message contains a summary of the specified aiding measurement over the previous measurement interval ending at the specified time.
			<param name="time_of_week" index="0" type="float" />
			<param name="source" index="4" type="u8" />
			<enum name="FilterAidingMeasurementType" type="u8">
				<value name="GNSS" value="1" />
				<value name="DUAL_ANTENNA" value="2" />
				<value name="HEADING" value="3" />
				<value name="PRESSURE" value="4" />
				<value name="MAGNETOMETER" value="5" />
				<value name="SPEED" value="6" />
				<value name="AIDING_POS_ECEF" value="33" />
				<value name="AIDING_POS_LLH" value="34" />
				<value name="AIDING_HEIGHT_ABOVE_ELLIPSOID" value="35" />
				<value name="AIDING_VEL_ECEF" value="40" />
				<value name="AIDING_VEL_NED" value="41" />
				<value name="AIDING_VEL_BODY_FRAME" value="42" />
				<value name="AIDING_HEADING_TRUE" value="49" />
				<value name="AIDING_MAGNETIC_FIELD" value="50" />
				<value name="AIDING_PRESSURE" value="51" />
			</enum>
			<param name="type" index="5" type="FilterAidingMeasurementType" />
			<param name="indicator" index="6" type="FilterMeasurementIndicator" />
		</field>
		<field descriptor="0x47" name="Odometer Scale Factor Error">
			Filter reported odometer scale factor error. The total scale factor estimate is the user indicated scale factor, plus the user indicated scale factor times the scale factor error.
			<param name="scale_factor_error" index="0" type="float" />
			<param name="valid_flags" index="4" type="u16" />
		</field>
		<field descriptor="0x48" name="Odometer Scale Factor Error Uncertainty">
			Filter reported odometer scale factor error uncertainty.
			<param name="scale_factor_error_uncertainty" index="0" type="float" />
			<param name="valid_flags" index="4" type="u16" />
		</field>
		<field descriptor="0x49" name="GNSS Dual Antenna Status">
			Summary information for status of GNSS dual antenna heading estimate.
			<param name="time_of_week" index="0" type="float" />
			<param name="heading" index="4" type="float" />
			<param name="heading_unc" index="8" type="float" />
			<enum name="FixType" type="u8">
				<value name="FIX_NONE" value="0" />
				<value name="FIX_DA_FLOAT" value="1" />
				<value name="FIX_DA_FIXED" value="2" />
			</enum>
			<param name="fix_type" index="12" type="FixType" />
			<bitfield name="DualAntennaStatusFlags" type="u16">
				<value name="rcv_1_data_valid" firstBit="0" />
				<value name="rcv_2_data_valid" firstBit="1" />
				<value name="antenna_offsets_valid" firstBit="2" />
			</bitfield>
			<param name="status_flags" index="13" type="DualAntennaStatusFlags" />
			<param name="valid_flags" index="15" type="u16" />
		</field>
		<field descriptor="0x50" name="Aiding Frame Configuration Error">
			Filter reported aiding source frame configuration error
			<param name="frame_id" index="0" type="u8" />
			<param name="translation" index="1" type="Vector3f" />
			<param name="attitude" index="1" type="Quatf" />
		</field>
		<field descriptor="0x51" name="Aiding Frame Configuration Error Uncertainty">
			Filter reported aiding source frame configuration error uncertainty
			<param name="frame_id" index="0" type="u8" />
			<param name="translation_unc" index="1" type="Vector3f" />
			<param name="attitude_unc" index="1" type="Vector3f" />
		</field>
	</descriptor_set>
</mipdefs>
