def __init__(self,msg):
self.pps,self.header,self.msg_id,self.msg_len,self.itow,self.ftow,self.week,self.gpsfix,self.flags, \
self.ecefX,self.ecefY,self.ecefZ,self.pAcc,self.ecefVX,self.ecefVY,self.ecefVZ, \
self.sAcc,self.pdop,self.reserved1,self.numSV,self.reserved2,self.cs = \
struct.unpack("<IHHHIihBBiiiIiiiIHBBIH", msg[62:126])
self.calc_cs = KBB_util.calc_checksum_16(msg[68:124])
self.calculatedLLA = False
def __init__(self,msg):
self.pps,self.header,self.msg_id,self.msg_len,self.itow,self.ftow,self.week,self.gpsfix,self.flags, \
self.ecefX,self.ecefY,self.ecefZ,self.pAcc,self.ecefVX,self.ecefVY,self.ecefVZ, \
self.sAcc,self.pdop,self.reserved1,self.numSV,self.reserved2,self.cs = \
struct.unpack("<IHHHIihBBiiiIiiiIHBBIH", msg[KBB_V12_MSG_nav_sol.START_BYTE:KBB_V12_MSG_nav_sol.START_BYTE+KBB_V12_MSG_nav_sol.LENGTH])
self.calc_cs = KBB_util.calc_checksum_16(msg[KBB_V12_MSG_nav_sol.START_BYTE+6:KBB_V12_MSG_nav_sol.START_BYTE+KBB_V12_MSG_nav_sol.LENGTH-2])
self.calculatedLLA = False
def __init__(self,msg): self.header,self.msg_id,self.msg_len,self.itow,self.ftow,self.week,self.gpsfix,self.flags, \ self.ecefX,self.ecefY,self.ecefZ,self.pAcc,self.ecefVX,self.ecefVY,self.ecefVZ, \ self.sAcc,self.pdop,self.reserved1,self.numSV,self.reserved2,self.cs = \ struct.unpack(ubx_nav_sol_t._unpack_str,msg[0:ubx_nav_sol_t._unpack_size]) self.calc_cs = KBB_util.calc_checksum_16(msg[2:ubx_nav_sol_t._unpack_size-2]) self.calculatedLLA = False
def __init__(self, msg):
self.pps,self.header,self.msg_id,self.msg_len,self.itow,self.ftow,self.week,self.gpsfix,self.flags, \
self.ecefX,self.ecefY,self.ecefZ,self.pAcc,self.ecefVX,self.ecefVY,self.ecefVZ, \
self.sAcc,self.pdop,self.reserved1,self.numSV,self.reserved2,self.cs = \
struct.unpack("<IHHHIihBBiiiIiiiIHBBIH", msg[KBB_V12_MSG_nav_sol.START_BYTE:KBB_V12_MSG_nav_sol.START_BYTE+KBB_V12_MSG_nav_sol.LENGTH])
self.calc_cs = KBB_util.calc_checksum_16(
msg[KBB_V12_MSG_nav_sol.START_BYTE +
6:KBB_V12_MSG_nav_sol.START_BYTE + KBB_V12_MSG_nav_sol.LENGTH -
2])
self.calculatedLLA = False
def check_header(self):
# check to see if we are missing packets
if DBG>3:print self.header.msg_num
if self.msg_num_prev is None:
self.msg_num_prev = self.header.msg_num
else:
if self.msg_num_prev + 1 != self.header.msg_num:
if DBG>2:print "Skipped a beat:", self.msg_num_prev, "->", self.header.msg_num, "@", self.msg_count, self.get_err("msg_skipped"), self.header.msg_num-self.msg_num_prev
self.inc_err("msg_skipped", self.header.msg_num-self.msg_num_prev)
self.msg_num_prev = self.header.msg_num
self.msg_count+=1
# check the checksum
self.header.calculated_checksum = KBB_util.calc_checksum_16(self.msg[6:])
if self.header.calculated_checksum != self.header.checksum:
self.valid_packet = False
self.inc_err("checksum mismatch",1)
else:
self.valid_packet = True
def check_header(self):
# check to see if we are missing packets
if DBG > 3: print self.header.msg_num
if self.msg_num_prev is None:
self.msg_num_prev = self.header.msg_num
else:
if self.msg_num_prev + 1 != self.header.msg_num:
if DBG > 2:
print "Skipped a beat:", self.msg_num_prev, "->", self.header.msg_num, "@", self.msg_count, self.get_err(
"msg_skipped"), self.header.msg_num - self.msg_num_prev
self.inc_err("msg_skipped",
self.header.msg_num - self.msg_num_prev)
self.msg_num_prev = self.header.msg_num
self.msg_count += 1
# check the checksum
self.header.calculated_checksum = KBB_util.calc_checksum_16(
self.msg[6:])
if self.header.calculated_checksum != self.header.checksum:
self.valid_packet = False
self.inc_err("checksum mismatch", 1)
else:
self.valid_packet = True
