sbgEComLogEkfStatus.h File Reference

Parse logs used to report EKF filter status. More...

#include <sbgCommon.h>
#include <streamBuffer/sbgStreamBuffer.h>

Go to the source code of this file.

Data Structures
struct	_SbgEComLogEkfStatus

Macros
#define	SBG_EKF_STATUS_ROLL_PITCH_VALID   (0x0001u << 0)
#define	SBG_EKF_STATUS_HEADING_VALID   (0x0001u << 1)
#define	SBG_EKF_STATUS_VELOCITY_VALID   (0x0001u << 2)
#define	SBG_EKF_STATUS_POSITION_VALID   (0x0001u << 3)
#define	SBG_EKF_STATUS_ALIGN_VALID   (0x0001u << 4)
#define	SBG_EKF_STATUS_GNSS_SPOOFING_SRC_TIME   (0x0001u << 3)
#define	SBG_EKF_STATUS_GNSS_SPOOFING_SRC_BEHAVIOR   (0x0001u << 4)
#define	SBG_EKF_STATUS_GNSS_SPOOFING_SRC_SOLUTION   (0x0001u << 5)
#define	SBG_EKF_STATUS_AIDING_VERTICAL_REF_USED   (0x00000001u << 0)
#define	SBG_EKF_STATUS_AIDING_ZUPT_USED   (0x00000001u << 1)
#define	SBG_EKF_STATUS_AIDING_ZARU_USED   (0x00000001u << 2)
#define	SBG_EKF_STATUS_AIDING_MOTION_CONSTRAINT_USED   (0x00000001u << 3)
#define	SBG_EKF_STATUS_AIDING_MAGNETOMETER_USED   (0x00000001u << 4)
#define	SBG_EKF_STATUS_AIDING_GNSS1_VEL_USED   (0x00000001u << 5)
#define	SBG_EKF_STATUS_AIDING_GNSS1_POS_USED   (0x00000001u << 6)
#define	SBG_EKF_STATUS_AIDING_GNSS1_HDT_USED   (0x00000001u << 7)
#define	SBG_EKF_STATUS_AIDING_GNSS2_VEL_USED   (0x00000001u << 8)
#define	SBG_EKF_STATUS_AIDING_GNSS2_POS_USED   (0x00000001u << 9)
#define	SBG_EKF_STATUS_AIDING_GNSS2_HDT_USED   (0x00000001u << 10)
#define	SBG_EKF_STATUS_AIDING_ODO_USED   (0x00000001u << 11)
#define	SBG_EKF_STATUS_AIDING_DVL_BT_USED   (0x00000001u << 12)
#define	SBG_EKF_STATUS_AIDING_DVL_WT_USED   (0x00000001u << 13)
#define	SBG_EKF_STATUS_AIDING_USBL_USED   (0x00000001u << 14)
#define	SBG_EKF_STATUS_AIDING_DEPTH_USED   (0x00000001u << 15)
#define	SBG_EKF_STATUS_AIDING_AIRSPEED_USED   (0x00000001u << 16)
#define	SBG_EKF_STATUS_AIDING_BARO_USED   (0x00000001u << 17)
#define	SBG_EKF_STATUS_AIDING_GENERIC_VEL1_USED   (0x00000001u << 18)
#define	SBG_EKF_STATUS_AIDING_GENERIC_POS1_USED   (0x00000001u << 19)

Typedefs
typedef enum _SbgEComEkfStatusSolutionType	SbgEComEkfStatusSolutionType
typedef enum _SbgEComEkfStatusNavSafety	SbgEComEkfStatusNavSafety
typedef enum _SbgEComEkfStatusSpoofing	SbgEComEkfStatusSpoofing
typedef struct _SbgEComLogEkfStatus	SbgEComLogEkfStatus

Enumerations
enum	_SbgEComEkfStatusSolutionType {   SBG_EKF_STATUS_SOLUTION_TYPE_INVALID = 0 ,   SBG_EKF_STATUS_SOLUTION_TYPE_VG = 1 ,   SBG_EKF_STATUS_SOLUTION_TYPE_AHRS = 2 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_INERTIAL = 3 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_MOTION_CONSTRAINT = 4 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_ZUPT = 5 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_GNSS_VEL = 6 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_GNSS_UNKNOWN = 7 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_SINGLE_POINT = 8 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_DGPS = 9 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_SBAS = 10 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_RTK_FLOAT = 11 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_RTK_FIXED = 12 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_PPP_FLOAT = 13 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_PPP_FIXED = 14 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_ODO = 15 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_DVL = 16 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_USBL = 17 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_AIRSPEED = 18 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_VEL1 = 19 ,   SBG_EKF_STATUS_SOLUTION_TYPE_NAV_POS1 = 20 }
enum	_SbgEComEkfStatusNavSafety {   SBG_EKF_STATUS_NAV_SAFETY_UNKNOWN = 0 ,   SBG_EKF_STATUS_NAV_NOMINAL = 1 ,   SBG_EKF_STATUS_NAV_MITIGATED = 2 ,   SBG_EKF_STATUS_NAV_UNPROTECTED = 3 }
enum	_SbgEComEkfStatusSpoofing {   SBG_EKF_STATUS_SPOOFING_UNKNOWN = 0 ,   SBG_EKF_STATUS_SPOOFING_RELIABLE = 1 ,   SBG_EKF_STATUS_SPOOFING_INDICATED = 2 ,   SBG_EKF_STATUS_SPOOFING_CONFIRMED = 3 }

Functions
SbgErrorCode	sbgEComLogEkfStatusReadFromStream (SbgEComLogEkfStatus *pLogData, SbgStreamBuffer *pStreamBuffer)
SbgErrorCode	sbgEComLogEkfStatusWriteToStream (const SbgEComLogEkfStatus *pLogData, SbgStreamBuffer *pStreamBuffer)
void	sbgEComLogEkfStatusConstruct (SbgEComLogEkfStatus *pLogData)
void	sbgEComLogEkfStatusSetNavSafety (SbgEComLogEkfStatus *pLogData, SbgEComEkfStatusNavSafety navSafety)
SbgEComEkfStatusNavSafety	sbgEComLogEkfStatusGetNavSafety (const SbgEComLogEkfStatus *pLogData)
void	sbgEComLogEkfStatusSetGnss1SpoofingIndicator (SbgEComLogEkfStatus *pLogData, SbgEComEkfStatusSpoofing spoofing)
SbgEComEkfStatusSpoofing	sbgEComLogEkfStatusGetGnss1SpoofingIndicator (const SbgEComLogEkfStatus *pLogData)
void	sbgEComLogEkfStatusSetGnss2SpoofingIndicator (SbgEComLogEkfStatus *pLogData, SbgEComEkfStatusSpoofing spoofing)
SbgEComEkfStatusSpoofing	sbgEComLogEkfStatusGetGnss2SpoofingIndicator (const SbgEComLogEkfStatus *pLogData)

Detailed Description

Parse logs used to report EKF filter status.

Author

SBG Systems

Date

March 19, 2026

Copyright

Copyright (C) 2007-2026, SBG Systems SAS. All rights reserved.

License

The MIT license

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Macro Definition Documentation

SBG_EKF_STATUS_ROLL_PITCH_VALID

#define SBG_EKF_STATUS_ROLL_PITCH_VALID   (0x0001u << 0)

Set if attitude data is reliable (Roll/Pitch error within defined criteria).

SBG_EKF_STATUS_HEADING_VALID

#define SBG_EKF_STATUS_HEADING_VALID   (0x0001u << 1)

Set if heading data is reliable (Heading error within defined criteria).

SBG_EKF_STATUS_VELOCITY_VALID

#define SBG_EKF_STATUS_VELOCITY_VALID   (0x0001u << 2)

Set if velocity data is reliable (Velocity error within defined criteria).

SBG_EKF_STATUS_POSITION_VALID

#define SBG_EKF_STATUS_POSITION_VALID   (0x0001u << 3)

Set if position data is reliable (Position error within defined criteria).

SBG_EKF_STATUS_ALIGN_VALID

#define SBG_EKF_STATUS_ALIGN_VALID   (0x0001u << 4)

Set if the INS is aligned and sensor error estimation has converged enough to trust the solution.

SBG_EKF_STATUS_GNSS_SPOOFING_SRC_TIME

#define SBG_EKF_STATUS_GNSS_SPOOFING_SRC_TIME   (0x0001u << 3)

Set if GNSS reports inconsistent time information.

SBG_EKF_STATUS_GNSS_SPOOFING_SRC_BEHAVIOR

#define SBG_EKF_STATUS_GNSS_SPOOFING_SRC_BEHAVIOR   (0x0001u << 4)

Set if GNSS exhibits abnormal behavior consistent with spoofing.

SBG_EKF_STATUS_GNSS_SPOOFING_SRC_SOLUTION

#define SBG_EKF_STATUS_GNSS_SPOOFING_SRC_SOLUTION   (0x0001u << 5)

Set if the GNSS PVT solution is inconsistent with the INS solution.

SBG_EKF_STATUS_AIDING_VERTICAL_REF_USED

#define SBG_EKF_STATUS_AIDING_VERTICAL_REF_USED   (0x00000001u << 0)

Set if the vertical reference is used in the solution.

SBG_EKF_STATUS_AIDING_ZUPT_USED

#define SBG_EKF_STATUS_AIDING_ZUPT_USED   (0x00000001u << 1)

Set if a Zero Velocity Update (ZUPT) is is used in the solution.

SBG_EKF_STATUS_AIDING_ZARU_USED

#define SBG_EKF_STATUS_AIDING_ZARU_USED   (0x00000001u << 2)

Set if a Zero Angular Rate Update (ZARU) is used in the solution.

SBG_EKF_STATUS_AIDING_MOTION_CONSTRAINT_USED

#define SBG_EKF_STATUS_AIDING_MOTION_CONSTRAINT_USED   (0x00000001u << 3)

Set if vehicle motion constraints are used in the solution.

SBG_EKF_STATUS_AIDING_MAGNETOMETER_USED

#define SBG_EKF_STATUS_AIDING_MAGNETOMETER_USED   (0x00000001u << 4)

Set if the magnetometer is used in the solution.

SBG_EKF_STATUS_AIDING_GNSS1_VEL_USED

#define SBG_EKF_STATUS_AIDING_GNSS1_VEL_USED   (0x00000001u << 5)

Set if GNSS 1 velocity is used in the solution.

SBG_EKF_STATUS_AIDING_GNSS1_POS_USED

#define SBG_EKF_STATUS_AIDING_GNSS1_POS_USED   (0x00000001u << 6)

Set if GNSS 1 position is used in the solution.

SBG_EKF_STATUS_AIDING_GNSS1_HDT_USED

#define SBG_EKF_STATUS_AIDING_GNSS1_HDT_USED   (0x00000001u << 7)

Set if GNSS 1 true heading is used in the solution.

SBG_EKF_STATUS_AIDING_GNSS2_VEL_USED

#define SBG_EKF_STATUS_AIDING_GNSS2_VEL_USED   (0x00000001u << 8)

Set if GNSS 2 velocity is used in the solution.

SBG_EKF_STATUS_AIDING_GNSS2_POS_USED

#define SBG_EKF_STATUS_AIDING_GNSS2_POS_USED   (0x00000001u << 9)

Set if GNSS 2 position is used in the solution.

SBG_EKF_STATUS_AIDING_GNSS2_HDT_USED

#define SBG_EKF_STATUS_AIDING_GNSS2_HDT_USED   (0x00000001u << 10)

Set if GNSS 2 true heading is used in the solution.

SBG_EKF_STATUS_AIDING_ODO_USED

#define SBG_EKF_STATUS_AIDING_ODO_USED   (0x00000001u << 11)

Set if odometer velocity is used in the solution.

SBG_EKF_STATUS_AIDING_DVL_BT_USED

#define SBG_EKF_STATUS_AIDING_DVL_BT_USED   (0x00000001u << 12)

Set if DVL bottom-track velocity is used in the solution.

SBG_EKF_STATUS_AIDING_DVL_WT_USED

#define SBG_EKF_STATUS_AIDING_DVL_WT_USED   (0x00000001u << 13)

Set if DVL water-track velocity is used in the solution.

SBG_EKF_STATUS_AIDING_USBL_USED

#define SBG_EKF_STATUS_AIDING_USBL_USED   (0x00000001u << 14)

Set if USBL position is used in the solution.

SBG_EKF_STATUS_AIDING_DEPTH_USED

#define SBG_EKF_STATUS_AIDING_DEPTH_USED   (0x00000001u << 15)

Set if depth is used in the solution.

SBG_EKF_STATUS_AIDING_AIRSPEED_USED

#define SBG_EKF_STATUS_AIDING_AIRSPEED_USED   (0x00000001u << 16)

Set if true airspeed is used in the solution.

SBG_EKF_STATUS_AIDING_BARO_USED

#define SBG_EKF_STATUS_AIDING_BARO_USED   (0x00000001u << 17)

Set if barometric altitude is used in the solution.

SBG_EKF_STATUS_AIDING_GENERIC_VEL1_USED

#define SBG_EKF_STATUS_AIDING_GENERIC_VEL1_USED   (0x00000001u << 18)

Set if generic velocity 1 is used in the solution.

SBG_EKF_STATUS_AIDING_GENERIC_POS1_USED

#define SBG_EKF_STATUS_AIDING_GENERIC_POS1_USED   (0x00000001u << 19)

Set if generic position 1 is used in the solution.

Typedef Documentation

SbgEComEkfStatusSolutionType

typedef enum _SbgEComEkfStatusSolutionType SbgEComEkfStatusSolutionType

Solution types.

SbgEComEkfStatusNavSafety

typedef enum _SbgEComEkfStatusNavSafety SbgEComEkfStatusNavSafety

Navigation safety indicator.

SbgEComEkfStatusSpoofing

typedef enum _SbgEComEkfStatusSpoofing SbgEComEkfStatusSpoofing

Spoofing indicator.

SbgEComLogEkfStatus

typedef struct _SbgEComLogEkfStatus SbgEComLogEkfStatus

Stores EKF filter status data.

Enumeration Type Documentation

_SbgEComEkfStatusSolutionType

enum _SbgEComEkfStatusSolutionType

Solution types.

Enumerator
SBG_EKF_STATUS_SOLUTION_TYPE_INVALID	EKF is not initialized. All outputs are invalid.
SBG_EKF_STATUS_SOLUTION_TYPE_VG	Vertical gyro mode with roll and pitch estimated from the vertical reference.
SBG_EKF_STATUS_SOLUTION_TYPE_AHRS	AHRS mode with roll, pitch, and heading estimated from magnetometers, dual-GNSS heading, or gyro-compassing.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_INERTIAL	Full INS solution using inertial data only.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_MOTION_CONSTRAINT	Full INS solution using vehicle motion constraints.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_ZUPT	Full INS solution using Zero Velocity Updates (ZUPT).
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_GNSS_VEL	Full INS solution using GNSS velocity.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_GNSS_UNKNOWN	Full INS solution using GNSS position of unknown type.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_SINGLE_POINT	Full INS solution using GNSS single-point position.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_DGPS	Full INS solution using GNSS DGPS position.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_SBAS	Full INS solution using GNSS SBAS position.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_RTK_FLOAT	Full INS solution using GNSS RTK with float position.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_RTK_FIXED	Full INS solution using GNSS RTK with fixed position.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_PPP_FLOAT	Full INS solution using GNSS PPP with float position.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_PPP_FIXED	Full INS solution using GNSS PPP with fixed position.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_ODO	Full INS solution using odometer velocity.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_DVL	Full INS solution using DVL velocity.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_USBL	Full INS solution using USBL position.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_AIRSPEED	Full INS solution using true airspeed.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_VEL1	Full INS solution using generic velocity 1.
SBG_EKF_STATUS_SOLUTION_TYPE_NAV_POS1	Full INS solution using generic position 1.

_SbgEComEkfStatusNavSafety

enum _SbgEComEkfStatusNavSafety

Navigation safety indicator.

Enumerator
SBG_EKF_STATUS_NAV_SAFETY_UNKNOWN	Safety cannot be assessed. Anti-spoofing is disabled, or navigation uncertainty is too high to reliably detect or mitigate spoofing.
SBG_EKF_STATUS_NAV_NOMINAL	No spoofing is detected, and navigation operates under nominal conditions.
SBG_EKF_STATUS_NAV_MITIGATED	Spoofing is detected or suspected, but navigation remains protected thanks to mitigation using inertial and/or other aiding sources.
SBG_EKF_STATUS_NAV_UNPROTECTED	Navigation is operating with limited or no spoofing mitigation capability (e.g. due to high uncertainty, or insufficient aiding).

_SbgEComEkfStatusSpoofing

enum _SbgEComEkfStatusSpoofing

Spoofing indicator.

Enumerator
SBG_EKF_STATUS_SPOOFING_UNKNOWN	Undetermined spoofing status.
SBG_EKF_STATUS_SPOOFING_RELIABLE	GNSS solution is considered as reliable.
SBG_EKF_STATUS_SPOOFING_INDICATED	One spoofing detector indicated potential spoofing event.
SBG_EKF_STATUS_SPOOFING_CONFIRMED	Multiple indications of spoofing.

Function Documentation

sbgEComLogEkfStatusReadFromStream()

SbgErrorCode sbgEComLogEkfStatusReadFromStream	(	SbgEComLogEkfStatus *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Parse data for the SBG_ECOM_LOG_EKF_STATUS message and fill the corresponding structure.

Parameters

[out]	pLogData	Log structure instance to fill.
[in]	pStreamBuffer	Input stream buffer to read the log from.

Returns

SBG_NO_ERROR if a valid log has been read from the stream buffer.

sbgEComLogEkfStatusWriteToStream()

SbgErrorCode sbgEComLogEkfStatusWriteToStream	(	const SbgEComLogEkfStatus *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Write data for the SBG_ECOM_LOG_EKF_STATUS message to the output stream buffer from the provided structure.

Parameters

[in]	pLogData	Log structure instance to write.
[out]	pStreamBuffer	Output stream buffer to write the log to.

Returns

SBG_NO_ERROR if the log has been written to the stream buffer.

sbgEComLogEkfStatusConstruct()

void sbgEComLogEkfStatusConstruct

(

SbgEComLogEkfStatus *

pLogData

)

Construct an empty / zero initialized instance.

Parameters

[in]

pLogData

Log instance.

sbgEComLogEkfStatusSetNavSafety()

void sbgEComLogEkfStatusSetNavSafety	(	SbgEComLogEkfStatus *	pLogData,
		SbgEComEkfStatusNavSafety	navSafety )

Set the navigation safety indicator.

Parameters

[in]	pLogData	Log instance.
[in]	navSafety	The navigation safety indicator to set.

sbgEComLogEkfStatusGetNavSafety()

SbgEComEkfStatusNavSafety sbgEComLogEkfStatusGetNavSafety

(

const SbgEComLogEkfStatus *

pLogData

)

Returns the navigation safety indicator.

Parameters

[in]

pLogData

Log instance.

Returns

The navigation safety indicator.

sbgEComLogEkfStatusSetGnss1SpoofingIndicator()

void sbgEComLogEkfStatusSetGnss1SpoofingIndicator	(	SbgEComLogEkfStatus *	pLogData,
		SbgEComEkfStatusSpoofing	spoofing )

Set the GNSS 1 spoofing indicator.

Parameters

[in]	pLogData	Log instance.
[in]	spoofing	The GNSS 1 spoofing indicator to set.

sbgEComLogEkfStatusGetGnss1SpoofingIndicator()

SbgEComEkfStatusSpoofing sbgEComLogEkfStatusGetGnss1SpoofingIndicator

(

const SbgEComLogEkfStatus *

pLogData

)

Returns the GNSS 1 spoofing indicator.

Parameters

[in]

pLogData

Log instance.

Returns

The GNSS 1 spoofing indicator.

sbgEComLogEkfStatusSetGnss2SpoofingIndicator()

void sbgEComLogEkfStatusSetGnss2SpoofingIndicator	(	SbgEComLogEkfStatus *	pLogData,
		SbgEComEkfStatusSpoofing	spoofing )

Set the GNSS 2 spoofing indicator.

Parameters

[in]	pLogData	Log instance.
[in]	spoofing	The GNSS 2 spoofing indicator to set.

sbgEComLogEkfStatusGetGnss2SpoofingIndicator()

SbgEComEkfStatusSpoofing sbgEComLogEkfStatusGetGnss2SpoofingIndicator

(

const SbgEComLogEkfStatus *

pLogData

)

Returns the GNSS 2 spoofing indicator.

Parameters

[in]

pLogData

Log instance.

Returns

The GNSS 2 spoofing indicator.