<!-- $Id$ -->
<!-- Mediatek, DIYDrones 1.4/1.6 Binary Protocol description -->

<!DOCTYPE mtk SYSTEM "mtk.dtd">

<mtk>
 <class name="DIY14" ID="0x01">
    <message name="NAV" ID="0x05" length="26">
      <field name="LAT" format="I4BE" scaling="1e-8" unit="deg"/>
      <field name="LON" format="I4BE" scaling="1e-8" unit="deg"/>
      <field name="HEIGHT" format="I4BE" unit="cm"/>
      <field name="GSpeed" format="I4BE" unit="cm/s"/>
      <field name="Heading" format="I4BE" scaling="1e-6" unit="deg"/>
      <field name="numSV" format="U1"/>
      <field name="GPSfix" format="U1"/>
      <field name="ITOW" format="U4BE" unit="ms"/>
    </message>
 </class>

 <class name="DIY16" ID="0xD0">
    <message name="NAV" ID="0xDD" length="32">
      <field name="LAT" format="I4" scaling="1e-8" unit="deg"/>
      <field name="LON" format="I4" scaling="1e-8" unit="deg"/>
      <field name="HEIGHT" format="I4" unit="cm"/>
      <field name="GSpeed" format="I4" unit="cm/s"/>
      <field name="Heading" format="I4" scaling="1e-2" unit="deg"/>
      <field name="numSV" format="U1"/>
      <field name="GPSfix" format="U1"/>
      <field name="UTC_DATE" format="U4" scaling="ms" unit="HHMMSSMMM"/>
      <field name="UTC_TIME" format="U4" scaling="d" unit="DDMMYY"/>
      <field name="HDOP" format="U2"/>
    </message>
 </class>
</mtk>
