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