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add additional messages to support M8P based RTK #5

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add additional messages to support M8P based RTK #5

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d80a8c2
add additional messages to support M8P based RTK
bugobliterator Nov 14, 2016
c9644cf
add init.py
bugobliterator Nov 14, 2016
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Empty file added __init__.py
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27 changes: 27 additions & 0 deletions ublox.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@
# NAV messages
MSG_NAV_POSECEF = 0x1
MSG_NAV_POSLLH = 0x2
MSG_NAV_HPPOSLLH = 0x14
MSG_NAV_STATUS = 0x3
MSG_NAV_DOP = 0x4
MSG_NAV_SOL = 0x6
Expand All @@ -48,10 +49,14 @@
MSG_NAV_EKFSTATUS = 0x40
MSG_NAV_SBAS = 0x32
MSG_NAV_SOL = 0x06
MSG_NAV_SVIN = 0x3B
MSG_NAV_RELPOSNED = 0x3C

# RXM messages
MSG_RXM_RAW = 0x10
MSG_RXM_RAWX = 0x15
MSG_RXM_SFRB = 0x11
MSG_RXM_SFRBX = 0x13
MSG_RXM_SVSI = 0x20
MSG_RXM_EPH = 0x31
MSG_RXM_ALM = 0x30
Expand Down Expand Up @@ -363,6 +368,10 @@ def format(self, msg):
(CLASS_NAV, MSG_NAV_POSLLH) : UBloxDescriptor('NAV_POSLLH',
'<IiiiiII',
['iTOW', 'Longitude', 'Latitude', 'height', 'hMSL', 'hAcc', 'vAcc']),
(CLASS_NAV, MSG_NAV_HPPOSLLH):UBloxDescriptor('NAV_HPPOSLLH',
'<B3BLllllccccLL',
['version','reserved1[3]','iTOW','lon','lat','height','hMSL','lonHp','latHp','heightHp','hMSLHp','hAcc','vAcc']),

(CLASS_NAV, MSG_NAV_VELNED) : UBloxDescriptor('NAV_VELNED',
'<IiiiIIiII',
['iTOW', 'velN', 'velE', 'velD', 'speed', 'gSpeed', 'heading',
Expand Down Expand Up @@ -415,6 +424,12 @@ def format(self, msg):
'numCh',
'<BBBBBbhi',
['chn', 'svid', 'flags', 'quality', 'cno', 'elev', 'azim', 'prRes']),
(CLASS_NAV, MSG_NAV_SVIN) : UBloxDescriptor('NAV_SVIN',
'<B3BLLlllbbbBLLBB2B',
['version','reserved1[3]','iTOW','dur','meanX','meanY','meanZ','meanXHP','meanYHP','meanZHP','reserved2','meanAcc','obs','valid','active','reserved3[2]']),
(CLASS_NAV, MSG_NAV_RELPOSNED):UBloxDescriptor('NAV_RELPOSNED',
'<BBHLlllbbbBLLLL',
['version','reserved1','refStationId','iTOW','relPosN','relPosE','relPosD','relPosHPN','relPosHPE','relPosHPD','reserved2','accN','accE','accD','flags']),
(CLASS_RXM, MSG_RXM_SVSI) : UBloxDescriptor('RXM_SVSI',
'<IhBB',
['iTOW', 'week', 'numVis', 'numSV'],
Expand All @@ -438,9 +453,21 @@ def format(self, msg):
'numSV',
'<ddfBbbB',
['cpMes', 'prMes', 'doMes', 'sv', 'mesQI', 'cno', 'lli']),
(CLASS_RXM, MSG_RXM_RAWX) : UBloxDescriptor('RXM_RAWX',
'<dHbBBB2B',
['rcvTow','week','leapS','numMeas','recStat','version','reserved1[2]'],
'numMeas',
'<ddfBBBBHBBBBBB',
['prMes','cpMes','doMes','gnssId','svId','reserverd2','freqId','locktime','cno','prStdev','cpStdev','doStdev','trkStat','reserved3']),
(CLASS_RXM, MSG_RXM_SFRB) : UBloxDescriptor('RXM_SFRB',
'<BB10I',
['chn', 'svid', 'dwrd[10]']),
(CLASS_RXM, MSG_RXM_SFRBX) : UBloxDescriptor('RXM_SFRBX',
'<BBBBBBBB',
['gnssId','svId','reserved','freqId','numWords','reserved2','version','reserved3'],
'numWords',
'<L',
['dwrd']),
(CLASS_AID, MSG_AID_ALM) : UBloxDescriptor('AID_ALM',
'<II',
'_remaining',
Expand Down