from uart1.h in NaviCtrl code (please take a look at SVN for latest version of header files)
New version V2 : New data structure for Version > 10)
typedef struct
{
// only valid for (Version < 10), otherwise use new struct V2
u8 Version; // version of the data structure
GPS_Pos_t CurrentPosition; // see ubx.h for details
GPS_Pos_t TargetPosition;
GPS_PosDev_t TargetPositionDeviation;
GPS_Pos_t HomePosition;
GPS_PosDev_t HomePositionDeviation;
u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
u8 WaypointNumber; // number of stored waypoints
u8 SatsInUse; // number of satellites used for position solution
s16 Altimeter; // hight according to air pressure
s16 Variometer; // climb(+) and sink(-) rate
u16 FlyingTime; // in seconds
u8 UBat; // Battery Voltage in 0.1 Volts
u16 GroundSpeed; // speed over ground in cm/s (2D)
s16 Heading; // current flight direction in ° as angle to north
s16 CompassHeading; // current compass value in °
s8 AngleNick; // current Nick angle in 1°
s8 AngleRoll; // current Rick angle in 1°
u8 RC_Quality; // RC_Quality
u8 FCStatusFlags; // Flags from FC
u8 NCFlags; // Flags from NC
u8 Errorcode; // 0 --> okay
u8 OperatingRadius; // current operation radius around the Home Position in m
s16 TopSpeed; // velocity in vertical direction in cm/s
u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
s16 SetpointAltitude; // setpoint for altitude
u8 Gas; // for future use
u16 Current; // actual current in 0.1A steps
u16 UsedCapacity; // used capacity in mAh
} __attribute__((packed)) NaviData_t;
// ------- NCFlags -------------------------------------
#define NC_FLAG_FREE 0x01
#define NC_FLAG_PH 0x02
#define NC_FLAG_CH 0x04
#define NC_FLAG_RANGE_LIMIT 0x08
#define NC_FLAG_NOSERIALLINK 0x10
#define NC_FLAG_TARGET_REACHED 0x20
#define NC_FLAG_MANUAL 0x40
#define NC_FLAG_GPS_OK 0x80
// ------- FCStatusFlags -------------------------------
#define FC_STATUS_MOTOR_RUN 0x01
#define FC_STATUS_FLY 0x02
#define FC_STATUS_CALIBRATE 0x04
#define FC_STATUS_START 0x08
#define FC_STATUS_EMERGENCY_LANDING 0x10
#define FC_STATUS_LOWBAT 0x20
#define FC_STATUS_VARIO_TRIM_UP 0x40
#define FC_STATUS_VARIO_TRIM_DOWN 0x80
// ------- FCStatusFlags2 ------------------------------
#define FC_STATUS2_CAREFREE_ACTIVE 0x01
#define FC_STATUS2_ALTITUDE_CONTROL_ACTIVE 0x02
#define FC_STATUS2_FAILSAFE_ACTIVE 0x04
#define FC_STATUS2_OUT1 0x08
#define FC_STATUS2_OUT2 0x10
#define FC_STATUS2_RES1 0x20
#define FC_STATUS2_RES2 0x40
#define FC_STATUS2_RES3 0x80
from uart1.h in NaviCtrl
typedef struct
{
u16 Distance; // distance to target in cm
s16 Bearing; // course to target in deg
} __attribute__((packed)) GPS_PosDev_t;
from ubx.h in NaviCtrl