class Fields: rcvrTow = R8(1) week = U2(2) leapS = I1(3) numMeas = U1(4) recStat = X1(5) version = U1(6) reserved1_1 = U1(7) reserved1_2 = U1(8) class Repeated: prMeas = R8(1) cpMeas = R8(2) dpMeas = R4(3) gnssId = U1(4) svId = U1(5) reserved2 = U1(6) freqId = U1(7) lockTime = U2(8) cn0 = U1(9) prStdev = X1(10) cpStdev = X1(11) doStdev = X1(12) trkStat = X1(13) reserved3 = U1(14)
class Fields: Version = U1(1) Layers = X1(2) reserved1 = U1(3) reserved2 = U1(4) KeyId = I4(5) Value = U2(6)
class Fields: Version = U1(1) Reserved1 = U1(2) RefStationId = U2(3) iTOW = U4(4) RelPosN = I4(5) RelPosE = I4(6) RelPosD = I4(7) RelPosLength = I4(8) RelPosHeading = I4(9) Reserved2 = U4(10) RelPosHPN = I1(11) RelPosHPE = I1(12) RelPosHPD = I1(13) relPosHPLength = I1(14) accN = U4(15) accE = U4(16) accD = U4(17) accLength = U4(18) accHeading = U4(19) Reserved3 = U4(20) flags = X4(21, allowed={ 0: 'gnssFixOK', 1: 'diffSoln', 2: 'relPosValid', 3: 'carrSoln1', 4: 'carrSoln2', 5: 'isMoving', 6: 'refPosMiss', 7: 'refObsMiss', 8: 'relPosHeadingValid', 9: 'relPosNormalized' })
class Fields: pinSel = X4(1) # Mask of Pins Set as Peripheral/PIO pinBank = X4(2) # Mask of Pins Set as Bank A/B pinDir = X4(3) # Mask of Pins Set as Input/Output pinVal = X4(4) # Mask of Pins Value Low/High noisePerMS = U2(5) # Noise Level as measured by the GPS Core agcCnt = U2( 6) # AGC Monitor (counts SIGHI xor SIGLO, range 0 to 8191) aStatus = U1( 7 ) # Status of the Antenna Supervisor State Machine (0=INIT, 1=DONTKNOW, 2=OK, 3=SHORT, 4=OPEN) aPower = U1( 8) # Current PowerStatus of Antenna (0=OFF, 1=ON, 2=DONTKNOW) flags = X1(9) # Flags (see graphic below) reserved1 = U1(10) usedMask = X4( 11) # Mask of Pins that are used by the Virtual Pin Manager VP = CH( 12, 17) # Array of Pin Mappings for each of the 17 Physical Pins jamInd = U1( 13 ) # CW Jamming indicator, scaled (0 = no CW jamming, 255 = strong CW jamming) reserved2 = U2(14) pinIrq = X4(15) # Mask of Pins Value using the PIO Irq pullH = X4( 16) # Mask of Pins Value using the PIO Pull High Resistor pullL = X4( 17) # Mask of Pins Value using the PIO Pull Low Resistor
class Repeated: gnssId = U1(6) svId = U1(7) cno = U1(8) elev = I1(9) azim = I2(10) prRes = I2(11) flags = X4(12)
class Repeated: gnssId = U1(1) svId = U1(2) cno = U1(3) elev = I1(4) azim = I2(5) prRes = I2(5) flags = X4(6)
class Repeated: chn = U1(1) svid = U1(2) flags = X1(3) quality = X1(4) cno = U1(5) elev = I1(6) axim = I2(7) prRes = I4(8)
class Fields: dur = U4(1) meanX = I4(2) meanY = I4(3) meanZ = I4(4) meanV = U4(5) obs = U4(6) valid = U1(7) active = U1(8) reserved = U2(9)
class Fields: reserved1 = U1(1) # reserved lpMode = U1( # Low Power Mode 2, allowed={ 0: "Continuous Mode", 1: "Power Save Mode", 4: "Continuous Mode" # for ver>=14 0 and 4 are the same } )
class Fields: portID = U1(1) reserved1 = U1(2) txReady = X2(3) mode = X4(4) reserved2 = U4(5) inProtoMask = X2(6) outProtoMask = X2(7) flags = X2(8) reserved3 = U2(9)
class Repeated: protocolID = U1(1, allowed={ 0: 'UBX', 1: 'NMEA', 255: 'Reserved', }) reserved1_1 = U1(2) reserved1_2 = U1(3) reserved1_3 = U1(4) infMsgMask = X1(5)
class Fields: tpIdx = U1(1) # Time pulse selection (0 = TIMEPULSE, 1 = TIMEPULSE2) version = U1(2) # Message version (0x00 for this version) reserved2 = U2(3) antCableDelay = I2(4) # Antenna cable delay rfGroupDelay = I2(5) # RF group delay freqPeriod = U4(6) # Frequency or period time, depending on setting of bit 'isFreq' freqPeriodLock = U4(7) # Frequency or period time when locked to GPS time, only used if 'lockedOtherSet' is set pulseLenRatio = U4(8) # Pulse length or duty cycle, depending on 'isLength' pulseLenRatioLock = U4(9) # Pulse length or duty cycle when locked to GPS time, only used if 'lockedOtherSet' is set userConfigDelay = I4(10) # User configurable time pulse delay flags = X4(11) # Configuration flags
class Fields: version = U1(1) # Message version (0x02 for this version) reserved1 = U1(2) # Reserved maxStartupStartupDur = U1(3) # Maximum time to spend in Acquisition state. If 0: bound disabled (see maxStartupStateDur). (not supported in protocol versions less than 17), (not supported in protocol versions 23 to 23.01) reserved2 = U1(4) # Reserved flags = X4(5) # PSM configuration flags (see graphic below) updatePeriod = U4(6) # ms Position update period. If set to 0, the receiver will never retry a fix and it will wait for external events searchPeriod = U4(7) # ms Acquisition retry period if previously failed. If set to 0, the receiver will never retry a startup (not supported in protocol versions 23 to 23.01) gridOffset = U4(8) # ms Grid offset relative to GPS start of week (not supported in protocol versions 23 to 23.01) onTime = U2(9) # s Time to stay in Tracking state (not supported in protocol versions 23 to 23.01) minAcqTime = U2(10) # s minimal search time reserved3 = U(11, 20) # Reserved extintInactivityMs = U4(12) # ms inactivity time out on EXTINT pint if enabled
class Fields: version = U1(1) reserved1_1 = U1(2) reserved1_2 = U1(3) reserved1_3 = U1(4) uniqueId_1 = U1(5) # TODO - hack uniqueId_2 = U1(6) uniqueId_3 = U1(7) uniqueId_4 = U1(8) uniqueId_5 = U1(9)
class Repeated: gnssId = U1(1, allowed={ 0: 'GPS', 1: 'SBAS', 2: 'Galileo', 3: 'BeiDou', 4: 'IMES', 5: 'QZSS', 6: 'GLONASS', }) resTrkCh = U1(2) maxTrkCh = U1(3) reserved = U1(4) flags = X4(5)
class Fields: iTOW = U4(1) version = U1(2) numSvs = U1(3) reserved1_1 = U1(4) reserved1_2 = U1(5) class Repeated: gnssId = U1(6) svId = U1(7) cno = U1(8) elev = I1(9) azim = I2(10) prRes = I2(11) flags = X4(12)
class Fields: iTOW = U4(1) Version = U1(2) numSvs = U1(3) Reserved1 = U1(4) Reserved2 = U1(5) class Repeated: gnssId = U1(1) svId = U1(2) cno = U1(3) elev = I1(4) azim = I2(5) prRes = I2(5) flags = X4(6)
class Fields: Version = U1(1) Reserved1_1 = U1(2) Reserved1_2 = U1(3) Flags = X1(4, allowed={1: 'invalidLlh'}) iTOW = U4(5) lon = I4(6) lat = I4(7) height = I4(8) hMSL = I4(9) # height above mean sea level lonHp = I1(10) latHp = I1(11) heightHp = I1(12) hMSLHp = I1(13) hAcc = U4(14) vAcc = U4(15)
class Fields: msgClass = U1(1) # Message Class msgId = U1(2) # Message Identifier rateI2C = U1(3) # Send rate on I2C port rateUART1 = U1(4) # Send rate on UART 1 port rateRes1 = U1(5) # Send rate on port 4 (reserved) rateUSB = U1(6) # Send rate on USB port rateSPI = U1(7) # Send rate on SPI port rateRes2 = U1(8) # Send rate on port 5 (reserved)
class Fields: msgClass = U1(1) msgID = U1(2) rate_p1 = U1(3) rate_p2 = U1(4) rate_p3 = U1(5) rate_usb = U1(6) rate_p5 = U1(7) rate_p6 = U1(8)
class Fields: iTOW = U4(0) # GPS time of week gpsFix = U1(4) flags = X1(5) fixStat = X1(6) flags2 = X1(7) ttff = U4(8) # time to first fix msss = U4(12)
class Fields: iTow = U4(1) gpsFix = U1(2) flags = X1(3) fixStat = X1(4) flags2 = X1(5) ttff = U4(6) msss = U4(7)
class Fields: navBbrMask = X2(1) # BBR Sections to clear. The following Special Sets # apply: # 0x0000 Hot start # 0x0001 Warm start # 0xFFFF Cold start resetMode = U1(2) # Reset Type # 0x00 - Hardware reset (Watchdog) immediately # 0x01 - Controlled Software reset # 0x02 - Controlled Software reset (GNSS only) # 0x04 - Hardware reset (Watchdog) after # shutdown # 0x08 - Controlled GNSS stop # 0x09 - Controlled GNSS start reserved1 = U1(3) # Reserved
class Fields: iTOW = U4(1) year = U2(2) month = U1(3) day = U1(4) hour = U1(5) minute = U1(5) sec = U1(5) valid = X1(6) tAcc = U4(7) nano = I4(8) fixType = U1(9) flags = X1(10) flags2 = X1(11) numSV = U1(12) lon = I4(13) lat = I4(14) height = I4(15) hMSL = I4(16) hAcc = U4(17) vAcc = U4(18) velN = I4(19) velE = I4(20) velD = I4(21) gSpeed = I4(22) headMot = I4(23) sAcc = U4(24) headAcc = U4(25) pDOP = U2(26) reserved1_1 = U4(27) reserved1_2 = U2(28) headVeh = I4(29) magDec = I2(30) magAcc = U2(31)
class Fields: version = U1(1) reserved1 = U2(2) reserved11 = U1(3) iTow = U4(4) dur = U4(5) meanX = I4(6) meanY = I4(7) meanZ = I4(8) meanXHP = I1(9) meanYHP = I1(10) meanZHP = I1(11) reserved2 = U1(12) meanAcc = U4(13) obs = U4(14) valid = U1(15) active = U1(16) reserved3 = U2(17)
class Fields: gnssId = U1(1) svId = U1(2) reserved1 = U1(3) freqId = U1(4) numWords = U1(5) chn = U1(6) ver = U1(7) reserved2 = U1(8) class Repeated: dwrd = U4(1)
class Fields: msgVer = U1(1) numTrkChHw = U1(2) numTrkChUse = U1(3) numConfigBlocks = U1(4) class Repeated: gnssId = U1(1, allowed={ 0: 'GPS', 1: 'SBAS', 2: 'Galileo', 3: 'BeiDou', 4: 'IMES', 5: 'QZSS', 6: 'GLONASS', }) resTrkCh = U1(2) maxTrkCh = U1(3) reserved = U1(4) flags = X4(5)
class Repeated: gnssId = U1(29) svId = U1(30) cNo = U1(31) mpathIndic = U1(32) dopplerMS = I4(33) dopplerHz = I4(34) wholeChips = U2(35) fracChips = U2(36) codePhase = U4(37) intCodePhase = U1(38) pseuRangeRMSErr = U1(39) reserved5_1 = U1(40) reserved5_2 = U1(41)
class Repeated: prMeas = R8(1) cpMeas = R8(2) dpMeas = R4(3) gnssId = U1(4) svId = U1(5) reserved2 = U1(6) freqId = U1(7) lockTime = U2(8) cn0 = U1(9) prStdev = X1(10) cpStdev = X1(11) doStdev = X1(12) trkStat = X1(13) reserved3 = U1(14)
class Fields: iTOW = U4(1) numCh = U1(2) globalFlags = X1(3, allowed={ 0: 'Antaris', 1: 'u-Blox 5', 2: 'u-Blox 6', 3: 'u-Blox 7', 4: 'u-Blox 8', }) reserved1 = U2(4) class Repeated: chn = U1(1) svid = U1(2) flags = X1(3) quality = X1(4) cno = U1(5) elev = I1(6) axim = I2(7) prRes = I4(8)