GNSS and RTCM Message Types

Definitions are sourced from release/install/raisin_ros2_messages/ubuntu/22.04/x86_64/release/messages. Only the public message schemas are documented here.

Messages

ublox_msgs

  • Ack: - Fields:

    • uint8 cls_id

    • uint8 msg_id

    • Constants: - uint8 CLASS_ID=5 - uint8 NACK_MESSAGE_ID=0 - uint8 ACK_MESSAGE_ID=1

  • AidALM: - Fields:

    • uint32 svid

    • uint32 week

    • uint32[] dwrd

    • Constants: - uint8 CLASS_ID=11 - uint8 MESSAGE_ID=48

  • AidEPH: - Fields:

    • uint32 svid

    • uint32 how

    • uint32[] sf1d

    • uint32[] sf2d

    • uint32[] sf3d

    • Constants: - uint8 CLASS_ID=11 - uint8 MESSAGE_ID=49

  • AidHUI: - Fields:

    • uint32 health

    • float64 utc_a0

    • float64 utc_a1

    • int32 utc_tow

    • int16 utc_wnt

    • int16 utc_ls

    • int16 utc_wnf

    • int16 utc_dn

    • int16 utc_lsf

    • int16 utc_spare

    • float32 klob_a0

    • float32 klob_a1

    • float32 klob_a2

    • float32 klob_a3

    • float32 klob_b0

    • float32 klob_b1

    • float32 klob_b2

    • float32 klob_b3

    • uint32 flags

    • Constants: - uint8 CLASS_ID=11 - uint8 MESSAGE_ID=2 - uint32 FLAGS_HEALTH=1 - uint32 FLAGS_UTC=2 - uint32 FLAGS_KLOB=4

  • CfgANT: - Fields:

    • uint16 flags

    • uint16 pins

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=19 - uint16 FLAGS_SVCS=1 - uint16 FLAGS_SCD=2 - uint16 FLAGS_OCD=4 - uint16 FLAGS_PDWN_ON_SCD=8 - uint16 FLAGS_RECOVERY=16 - uint16 PIN_SWITCH_MASK=31 - uint16 PIN_SCD_MASK=992 - uint16 PIN_OCD_MASK=31744 - uint16 PIN_RECONFIG=32678

  • CfgCFG: - Fields:

    • uint32 clear_mask

    • uint32 save_mask

    • uint32 load_mask

    • uint8 device_mask

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=9 - uint32 MASK_IO_PORT=1 - uint32 MASK_MSG_CONF=2 - uint32 MASK_INF_MSG=4 - uint32 MASK_NAV_CONF=8 - uint32 MASK_RXM_CONF=16 - uint32 MASK_SEN_CONF=256 - uint32 MASK_RINV_CONF=512 - uint32 MASK_ANT_CONF=1024 - uint32 MASK_LOG_CONF=2048 - uint32 MASK_FTS_CONF=4096 - uint8 DEV_BBR=1 - uint8 DEV_FLASH=2 - uint8 DEV_EEPROM=4 - uint8 DEV_SPI_FLASH=16

  • CfgDAT: - Fields:

    • uint16 datum_num

    • uint8[6] datum_name

    • float64 maj_a

    • float64 flat

    • float32 d_x

    • float32 d_y

    • float32 d_z

    • float32 rot_x

    • float32 rot_y

    • float32 rot_z

    • float32 scale

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=6 - uint16 DATUM_NUM_WGS84=0 - uint16 DATUM_NUM_USER=65535

  • CfgDGNSS: - Fields:

    • uint8 dgnss_mode

    • uint8[3] reserved0

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=112 - uint8 DGNSS_MODE_RTK_FLOAT=2 - uint8 DGNSS_MODE_RTK_FIXED=3

  • CfgGNSS: - Fields:

    • uint8 msg_ver

    • uint8 num_trk_ch_hw

    • uint8 num_trk_ch_use

    • uint8 num_config_blocks

    • CfgGNSSBlock[] blocks

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=62

  • CfgGNSSBlock: - Fields:

    • uint8 gnss_id

    • uint8 res_trk_ch

    • uint8 max_trk_ch

    • uint8 reserved1

    • uint32 flags

    • Constants: - uint8 GNSS_ID_GPS=0 - uint8 GNSS_ID_SBAS=1 - uint8 GNSS_ID_GALILEO=2 - uint8 GNSS_ID_BEIDOU=3 - uint8 GNSS_ID_IMES=4 - uint8 GNSS_ID_QZSS=5 - uint8 GNSS_ID_GLONASS=6 - uint8 RES_TRK_CH_GPS=8 - uint8 RES_TRK_CH_QZSS=0 - uint8 RES_TRK_CH_SBAS=0 - uint8 RES_TRK_CH_GLONASS=8 - uint8 MAX_TRK_CH_MAJOR_MIN=4 - uint8 MAX_TRK_CH_GPS=16 - uint8 MAX_TRK_CH_GLONASS=14 - uint8 MAX_TRK_CH_QZSS=3 - uint8 MAX_TRK_CH_SBAS=3 - uint32 FLAGS_ENABLE=1 - uint32 FLAGS_SIG_CFG_MASK=16711680 - uint32 SIG_CFG_GPS_L1CA=65536 - uint32 SIG_CFG_SBAS_L1CA=65536 - uint32 SIG_CFG_GALILEO_E1OS=65536 - uint32 SIG_CFG_BEIDOU_B1I=65536 - uint32 SIG_CFG_IMES_L1=65536 - uint32 SIG_CFG_QZSS_L1CA=65536 - uint32 SIG_CFG_QZSS_L1SAIF=262144 - uint32 SIG_CFG_GLONASS_L1OF=65536

  • CfgHNR: - Fields:

    • uint8 high_nav_rate

    • uint8[3] reserved0

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=92

  • CfgINF: - Fields:

    • CfgINFBlock[] blocks

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=2

  • CfgINFBlock: - Fields:

    • uint8 protocol_id

    • uint8[3] reserved1

    • uint8[6] inf_msg_mask

    • Constants: - uint8 PROTOCOL_ID_UBX=0 - uint8 PROTOCOL_ID_NMEA=1 - uint8 INF_MSG_ERROR=1 - uint8 INF_MSG_WARNING=2 - uint8 INF_MSG_NOTICE=4 - uint8 INF_MSG_TEST=8 - uint8 INF_MSG_DEBUG=16

  • CfgMSG: - Fields:

    • uint8 msg_class

    • uint8 msg_id

    • uint8 rate

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=1

  • CfgNAV5: - Fields:

    • uint16 mask

    • uint8 dyn_model

    • uint8 fix_mode

    • int32 fixed_alt

    • uint32 fixed_alt_var

    • int8 min_elev

    • uint8 dr_limit

    • uint16 p_dop

    • uint16 t_dop

    • uint16 p_acc

    • uint16 t_acc

    • uint8 static_hold_thresh

    • uint8 dgnss_time_out

    • uint8 cno_thresh_num_svs

    • uint8 cno_thresh

    • uint8[2] reserved1

    • uint16 static_hold_max_dist

    • uint8 utc_standard

    • uint8[5] reserved2

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=36 - uint16 MASK_DYN=1 - uint16 MASK_MIN_EL=2 - uint16 MASK_FIX_MODE=4 - uint16 MASK_DR_LIM=8 - uint16 MASK_POS_MASK=16 - uint16 MASK_TIME_MASK=32 - uint16 MASK_STATIC_HOLD_MASK=64 - uint16 MASK_DGPS_MASK=128 - uint16 MASK_CNO=256 - uint16 MASK_UTC=1024 - uint8 DYN_MODEL_PORTABLE=0 - uint8 DYN_MODEL_STATIONARY=2 - uint8 DYN_MODEL_PEDESTRIAN=3 - uint8 DYN_MODEL_AUTOMOTIVE=4 - uint8 DYN_MODEL_SEA=5 - uint8 DYN_MODEL_AIRBORNE_1G=6 - uint8 DYN_MODEL_AIRBORNE_2G=7 - uint8 DYN_MODEL_AIRBORNE_4G=8 - uint8 DYN_MODEL_WRIST_WATCH=9 - uint8 FIX_MODE_2D_ONLY=1 - uint8 FIX_MODE_3D_ONLY=2 - uint8 FIX_MODE_AUTO=3 - uint8 UTC_STANDARD_AUTOMATIC=0 - uint8 UTC_STANDARD_GPS=3 - uint8 UTC_STANDARD_GLONASS=6 - uint8 UTC_STANDARD_BEIDOU=7

  • CfgNAVX5: - Fields:

    • uint16 version

    • uint16 mask1

    • uint32 mask2

    • uint8[2] reserved1

    • uint8 min_svs

    • uint8 max_svs

    • uint8 min_cno

    • uint8 reserved2

    • uint8 ini_fix3d

    • uint8[2] reserved3

    • uint8 ack_aiding

    • uint16 wkn_rollover

    • uint8 sig_atten_comp_mode

    • uint8[5] reserved4

    • uint8 use_ppp

    • uint8 aop_cfg

    • uint8[2] reserved5

    • uint16 aop_orb_max_err

    • uint8[7] reserved6

    • uint8 use_adr

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=35 - uint16 MASK1_MIN_MAX=4 - uint16 MASK1_MIN_CNO=8 - uint16 MASK1_INITIAL_FIX_3D=64 - uint16 MASK1_WKN_ROLL=512 - uint16 MASK1_ACK_AID=1024 - uint16 MASK1_PPP=8192 - uint16 MASK1_AOP=16384 - uint32 MASK2_ADR=64 - uint32 MASK2_SIG_ATTEN_COMP_MODE=128

  • CfgNMEA: - Fields:

    • uint8 filter

    • uint8 nmea_version

    • uint8 num_sv

    • uint8 flags

    • uint32 gnss_to_filter

    • uint8 sv_numbering

    • uint8 main_talker_id

    • uint8 gsv_talker_id

    • uint8 version

    • uint8[2] bds_talker_id

    • uint8[6] reserved1

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=23 - uint8 FILTER_POS=1 - uint8 FILTER_MSK_POS=2 - uint8 FILTER_TIME=4 - uint8 FILTER_DATE=8 - uint8 FILTER_GPS_ONLY=16 - uint8 FILTER_TRACK=32 - uint8 NMEA_VERSION_4_1=65 - uint8 NMEA_VERSION_4_0=64 - uint8 NMEA_VERSION_2_3=35 - uint8 NMEA_VERSION_2_1=33 - uint8 NUM_SV_UNLIMITED=0 - uint8 FLAGS_COMPAT=1 - uint8 FLAGS_CONSIDER=2 - uint8 FLAGS_LIMIT82=4 - uint8 FLAGS_HIGH_PREC=8 - uint32 GNSS_TO_FILTER_GPS=1 - uint32 GNSS_TO_FILTER_SBAS=2 - uint32 GNSS_TO_FILTER_QZSS=16 - uint32 GNSS_TO_FILTER_GLONASS=32 - uint32 GNSS_TO_FILTER_BEIDOU=64 - uint8 SV_NUMBERING_STRICT=0 - uint8 SV_NUMBERING_EXTENDED=1 - uint8 MAIN_TALKER_ID_NOT_OVERRIDDEN=0 - uint8 MAIN_TALKER_ID_GP=1 - uint8 MAIN_TALKER_ID_GL=2 - uint8 MAIN_TALKER_ID_GN=3 - uint8 MAIN_TALKER_ID_GA=4 - uint8 MAIN_TALKER_ID_GB=5 - uint8 GSV_TALKER_ID_GNSS_SPECIFIC=0 - uint8 GSV_TALKER_ID_MAIN=1 - uint8 VERSION=1

  • CfgNMEA6: - Fields:

    • uint8 filter

    • uint8 version

    • uint8 num_sv

    • uint8 flags

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=23 - uint8 FILTER_POS=1 - uint8 FILTER_MSK_POS=2 - uint8 FILTER_TIME=4 - uint8 FILTER_DATE=8 - uint8 FILTER_SBAS_FILT=16 - uint8 FILTER_TRACK=32 - uint8 NMEA_VERSION_2_3=35 - uint8 NMEA_VERSION_2_1=33 - uint8 FLAGS_COMPAT=1 - uint8 FLAGS_CONSIDER=2

  • CfgNMEA7: - Fields:

    • uint8 filter

    • uint8 nmea_version

    • uint8 num_sv

    • uint8 flags

    • uint32 gnss_to_filter

    • uint8 sv_numbering

    • uint8 main_talker_id

    • uint8 gsv_talker_id

    • uint8 reserved

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=23 - uint8 FILTER_POS=1 - uint8 FILTER_MSK_POS=2 - uint8 FILTER_TIME=4 - uint8 FILTER_DATE=8 - uint8 FILTER_GPS_ONLY=16 - uint8 FILTER_TRACK=32 - uint8 NMEA_VERSION_2_3=35 - uint8 NMEA_VERSION_2_1=33 - uint8 NUM_SV_UNLIMITED=0 - uint8 FLAGS_COMPAT=1 - uint8 FLAGS_CONSIDER=2 - uint32 GNSS_TO_FILTER_GPS=1 - uint32 GNSS_TO_FILTER_SBAS=2 - uint32 GNSS_TO_FILTER_QZSS=16 - uint32 GNSS_TO_FILTER_GLONASS=32 - uint8 SV_NUMBERING_STRICT=0 - uint8 SV_NUMBERING_EXTENDED=1 - uint8 MAIN_TALKER_ID_NOT_OVERRIDDEN=0 - uint8 MAIN_TALKER_ID_GP=1 - uint8 MAIN_TALKER_ID_GL=2 - uint8 MAIN_TALKER_ID_GN=3 - uint8 GSV_TALKER_ID_GNSS_SPECIFIC=0 - uint8 GSV_TALKER_ID_MAIN=1

  • CfgPRT: - Fields:

    • uint8 port_id

    • uint8 reserved0

    • uint16 tx_ready

    • uint32 mode

    • uint32 baud_rate

    • uint16 in_proto_mask

    • uint16 out_proto_mask

    • uint16 flags

    • uint16 reserved1

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=0 - uint8 PORT_ID_DDC=0 - uint8 PORT_ID_UART1=1 - uint8 PORT_ID_UART2=2 - uint8 PORT_ID_USB=3 - uint8 PORT_ID_SPI=4 - uint16 TX_READY_EN=1 - uint16 TX_READY_POLARITY_HIGH_ACTIVE=0 - uint16 TX_READY_POLARITY_LOW_ACTIVE=2 - uint16 TX_READY_PIN_SHIFT=2 - uint16 TX_READY_PIN_MASK=124 - uint16 TX_READY_THRES_SHIFT=7 - uint16 TX_READY_THRES_MASK=65408 - uint32 MODE_DDC_SLAVE_ADDR_SHIFT=1 - uint32 MODE_DDC_SLAVE_ADDR_MASK=254 - uint32 MODE_RESERVED1=16 - uint32 MODE_CHAR_LEN_MASK=192 - uint32 MODE_CHAR_LEN_5BIT=0 - uint32 MODE_CHAR_LEN_6BIT=64 - uint32 MODE_CHAR_LEN_7BIT=128 - uint32 MODE_CHAR_LEN_8BIT=192 - uint32 MODE_PARITY_MASK=3584 - uint32 MODE_PARITY_EVEN=0 - uint32 MODE_PARITY_ODD=512 - uint32 MODE_PARITY_NO=2048 - uint32 MODE_STOP_BITS_MASK=12288 - uint32 MODE_STOP_BITS_1=0 - uint32 MODE_STOP_BITS_15=4096 - uint32 MODE_STOP_BITS_2=8192 - uint32 MODE_STOP_BITS_05=12288 - uint32 MODE_SPI_SPI_MODE_CPOL=4 - uint32 MODE_SPI_SPI_MODE_CPHA=2 - uint32 MODE_SPI_FLOW_CONTROL=64 - uint32 MODE_SPI_FF_COUNT_SHIFT=8 - uint32 MODE_SPI_FF_COUNT_MASK=16128 - uint16 PROTO_UBX=1 - uint16 PROTO_NMEA=2 - uint16 PROTO_RTCM=4 - uint16 PROTO_RTCM3=32 - uint16 FLAGS_EXTENDED_TX_TIMEOUT=2

  • CfgRATE: - Fields:

    • uint16 meas_rate

    • uint16 nav_rate

    • uint16 time_ref

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=8 - uint16 TIME_REF_UTC=0 - uint16 TIME_REF_GPS=1 - uint16 TIME_REF_GLONASS=2 - uint16 TIME_REF_BEIDOU=3 - uint16 TIME_REF_GALILEO=4

  • CfgRST: - Fields:

    • uint16 nav_bbr_mask

    • uint8 reset_mode

    • uint8 reserved1

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=4 - uint16 NAV_BBR_HOT_START=0 - uint16 NAV_BBR_WARM_START=1 - uint16 NAV_BBR_COLD_START=65535 - uint16 NAV_BBR_EPH=1 - uint16 NAV_BBR_ALM=2 - uint16 NAV_BBR_HEALTH=4 - uint16 NAV_BBR_KLOB=8 - uint16 NAV_BBR_POS=16 - uint16 NAV_BBR_CLKD=32 - uint16 NAV_BBR_OSC=64 - uint16 NAV_BBR_UTC=128 - uint16 NAV_BBR_RTC=256 - uint16 NAV_BBR_AOP=32768 - uint8 RESET_MODE_HW_IMMEDIATE=0 - uint8 RESET_MODE_SW=1 - uint8 RESET_MODE_GNSS=2 - uint8 RESET_MODE_HW_AFTER_SHUTDOWN=4 - uint8 RESET_MODE_GNSS_STOP=8 - uint8 RESET_MODE_GNSS_START=9

  • CfgSBAS: - Fields:

    • uint8 mode

    • uint8 usage

    • uint8 max_sbas

    • uint8 scanmode2

    • uint32 scanmode1

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=22 - uint8 MODE_ENABLED=1 - uint8 MODE_TEST=2 - uint8 USAGE_RANGE=1 - uint8 USAGE_DIFF_CORR=2 - uint8 USAGE_INTEGRITY=4

  • CfgTMODE3: - Fields:

    • uint8 version

    • uint8 reserved1

    • uint16 flags

    • int32 ecef_x_or_lat

    • int32 ecef_y_or_lon

    • int32 ecef_z_or_alt

    • int8 ecef_x_or_lat_hp

    • int8 ecef_y_or_lon_hp

    • int8 ecef_z_or_alt_hp

    • uint8 reserved2

    • uint32 fixed_pos_acc

    • uint32 svin_min_dur

    • uint32 svin_acc_limit

    • uint8[8] reserved3

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=113 - uint16 FLAGS_MODE_MASK=255 - uint16 FLAGS_MODE_DISABLED=0 - uint16 FLAGS_MODE_SURVEY_IN=1 - uint16 FLAGS_MODE_FIXED=2 - uint16 FLAGS_LLA=256

  • CfgUSB: - Fields:

    • uint16 vendor_id

    • uint16 product_id

    • uint8[2] reserved1

    • uint8[2] reserved2

    • uint16 power_consumption

    • uint16 flags

    • int8[32] vendor_string

    • int8[32] product_string

    • int8[32] serial_number

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=27 - uint16 FLAGS_RE_ENUM=0 - uint16 FLAGS_POWER_MODE=2

  • CfgVALDEL: - Fields:

    • uint8 version

    • uint8 layers

    • uint8[2] reserved0

    • uint32[] keys

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=140 - uint8 LAYER_BBR=1 - uint8 LAYER_FLASH=2

  • CfgVALGET: - Fields:

    • uint8 version

    • uint8 layers

    • uint16 position

    • uint32[] keys

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=139 - uint8 LAYER_RAM=0 - uint8 LAYER_BBR=1 - uint8 LAYER_FLASH=2 - uint8 LAYER_DEFAULT=7

  • CfgVALSET: - Fields:

    • uint8 version

    • uint8 layers

    • uint8[2] reserved0

    • CfgVALSETCfgdata[] cfgdata

    • Constants: - uint8 CLASS_ID=6 - uint8 MESSAGE_ID=138 - uint8 LAYER_RAM=1 - uint8 LAYER_BBR=2 - uint8 LAYER_FLASH=4

  • CfgVALSETCfgdata: - Fields:

    • uint32 key

    • uint8[] data

    • Constants: - uint32 GPS_ENABLE=271646751 - uint32 GPS_L1CA_ENABLE=271646721 - uint32 GPS_L2C_ENABLE=271646723 - uint32 SBAS_ENABLE=271646752 - uint32 SBAS_L1CA_ENABLE=271646725 - uint32 GAL_ENABLE=271646753 - uint32 GAL_E1_ENABLE=271646727 - uint32 GAL_E5B_ENABLE=271646730 - uint32 BDS_ENABLE=271646754 - uint32 BDS_B1_ENABLE=271646733 - uint32 BDS_B2_ENABLE=271646734 - uint32 QZSS_ENABLE=271646756 - uint32 QZSS_L1CA_ENABLE=271646738 - uint32 QZSS_L1S_ENABLE=271646740 - uint32 QZSS_L2C_ENABLE=271646741 - uint32 GLO_ENABLE=271646757 - uint32 GLO_L1_ENABLE=271646744 - uint32 GLO_L2_ENABLE=271646746

  • EsfINS: - Fields:

    • uint32 bitfield0

    • uint8[4] reserved1

    • uint32 i_tow

    • int32 x_ang_rate

    • int32 y_ang_rate

    • int32 z_ang_rate

    • int32 x_accel

    • int32 y_accel

    • int32 z_accel

    • Constants: - uint8 CLASS_ID=16 - uint8 MESSAGE_ID=21 - uint32 BITFIELD0_VERSION=255 - uint32 BITFIELD0_X_ANG_RATE_VALID=256 - uint32 BITFIELD0_Y_ANG_RATE_VALID=512 - uint32 BITFIELD0_Z_ANG_RATE_VALID=1024 - uint32 BITFIELD0_X_ACCEL_VALID=2048 - uint32 BITFIELD0_Y_ACCEL_VALID=4096 - uint32 BITFIELD0_Z_ACCEL_VALID=8192

  • EsfMEAS: - Fields:

    • uint32 time_tag

    • uint16 flags

    • uint16 id

    • uint32[] data

    • uint32[] calib_t_tag

    • Constants: - uint8 CLASS_ID=16 - uint8 MESSAGE_ID=2 - uint16 FLAGS_TIME_MARK_SENT_MASK=3 - uint16 TIME_MARK_NONE=0 - uint16 TIME_MARK_EXT0=1 - uint16 TIME_MARK_EXT=2 - uint16 FLAGS_TIME_MARK_EDGE=4 - uint16 FLAGS_CALIB_T_TAG_VALID=8 - uint32 DATA_FIELD_MASK=16777215 - uint32 DATA_TYPE_MASK=1056964608 - uint32 DATA_TYPE_SHIFT=24 - uint32 DATA_TYPE_NONE=0 - uint32 DATA_TYPE_Z_AXIS_GYRO=5 - uint32 DATA_TYPE_WHEEL_TICKS_FRONT_LEFT=6 - uint32 DATA_TYPE_WHEEL_TICKS_FRONT_RIGHT=7 - uint32 DATA_TYPE_WHEEL_TICKS_REAR_LEFT=8 - uint32 DATA_TYPE_WHEEL_TICKS_REAR_RIGHT=9 - uint32 DATA_TYPE_SINGLE_TICK=10 - uint32 DATA_TYPE_SPEED=11 - uint32 DATA_TYPE_GYRO_TEMPERATURE=12 - uint32 DATA_TYPE_GYRO_ANG_RATE_Y=13 - uint32 DATA_TYPE_GYRO_ANG_RATE_X=14 - uint32 DATA_TYPE_ACCELEROMETER_X=16 - uint32 DATA_TYPE_ACCELEROMETER_Y=17 - uint32 DATA_TYPE_ACCELEROMETER_Z=18

  • EsfRAW: - Fields:

    • uint8[4] reserved0

    • EsfRAWBlock[] blocks

    • Constants: - uint8 CLASS_ID=16 - uint8 MESSAGE_ID=3

  • EsfRAWBlock: - Fields:

    • uint32 data

    • uint32 s_t_tag

    • Constants: - uint32 DATA_FIELD_MASK=16777215 - uint32 DATA_TYPE_MASK=4278190080

  • EsfSTATUS: - Fields:

    • uint32 i_tow

    • uint8 version

    • uint8[7] reserved1

    • uint8 fusion_mode

    • uint8[2] reserved2

    • uint8 num_sens

    • EsfSTATUSSens[] sens

    • Constants: - uint8 CLASS_ID=16 - uint8 MESSAGE_ID=16 - uint8 FUSION_MODE_INIT=0 - uint8 FUSION_MODE_FUSION=1 - uint8 FUSION_MODE_SUSPENDED=2 - uint8 FUSION_MODE_DISABLED=3

  • EsfSTATUSSens: - Fields:

    • uint8 sens_status1

    • uint8 sens_status2

    • uint8 freq

    • uint8 faults

  • HnrPVT: - Fields:

    • uint32 i_tow

    • uint16 year

    • uint8 month

    • uint8 day

    • uint8 hour

    • uint8 min

    • uint8 sec

    • uint8 valid

    • int32 nano

    • uint8 gps_fix

    • uint8 flags

    • uint8[2] reserved0

    • int32 lon

    • int32 lat

    • int32 height

    • int32 h_msl

    • int32 g_speed

    • int32 speed

    • int32 head_mot

    • int32 head_veh

    • uint32 h_acc

    • uint32 v_acc

    • uint32 s_acc

    • uint32 head_acc

    • uint8[4] reserved1

    • Constants: - uint8 CLASS_ID=40 - uint8 MESSAGE_ID=0 - uint8 VALID_DATE=1 - uint8 VALID_TIME=2 - uint8 VALID_FULLY_RESOLVED=4 - uint8 VALID_MAG=8 - uint8 FIX_TYPE_NO_FIX=0 - uint8 FIX_TYPE_DEAD_RECKONING_ONLY=1 - uint8 FIX_TYPE_2D=2 - uint8 FIX_TYPE_3D=3 - uint8 FIX_TYPE_GPS_DEAD_RECKONING_COMBINED=4 - uint8 FIX_TYPE_TIME_ONLY=5 - uint8 FLAGS_GNSS_FIX_OK=1 - uint8 FLAGS_DIFF_SOLN=2 - uint8 FLAGS_WKN_SET=4 - uint8 FLAGS_TOW_SET=8 - uint8 FLAGS_HEAD_VEH_VALID=32

  • Inf: - Fields:

    • char[] str

    • Constants: - uint8 CLASS_ID=4

  • MgaGAL: - Fields:

    • uint8 type

    • uint8 version

    • uint8 svid

    • uint8 reserved0

    • uint16 iod_nav

    • int16 delta_n

    • int32 m0

    • uint32 e

    • uint32 sqrt_a

    • int32 omega0

    • int32 i0

    • int32 omega

    • int32 omega_dot

    • int16 i_dot

    • int16 cuc

    • int16 cus

    • int16 crc

    • int16 crs

    • int16 cic

    • int16 cis

    • uint16 toe

    • int32 af0

    • int32 af1

    • int8 af2

    • uint8 sisaindex_e1_e5b

    • uint16 toc

    • int16 bgd_e1_e5b

    • uint8[2] reserved1

    • uint8 health_e1b

    • uint8 data_validity_e1b

    • uint8 health_e5b

    • uint8 data_validity_e5b

    • uint8[4] reserved2

    • Constants: - uint8 CLASS_ID=19 - uint8 MESSAGE_ID=2

  • MonGNSS: - Fields:

    • uint8 version

    • uint8 supported

    • uint8 default_gnss

    • uint8 enabled

    • uint8 simultaneous

    • uint8[3] reserved1

    • Constants: - uint8 CLASS_ID=10 - uint8 MESSAGE_ID=40 - uint8 BIT_MASK_GPS=1 - uint8 BIT_MASK_GLONASS=2 - uint8 BIT_MASK_BEIDOU=4 - uint8 BIT_MASK_GALILEO=8

  • MonHW: - Fields:

    • uint32 pin_sel

    • uint32 pin_bank

    • uint32 pin_dir

    • uint32 pin_val

    • uint16 noise_per_ms

    • uint16 agc_cnt

    • uint8 a_status

    • uint8 a_power

    • uint8 flags

    • uint8 reserved0

    • uint32 used_mask

    • uint8[17] vp

    • uint8 jam_ind

    • uint8[2] reserved1

    • uint32 pin_irq

    • uint32 pull_h

    • uint32 pull_l

    • Constants: - uint8 CLASS_ID=10 - uint8 MESSAGE_ID=9 - uint8 A_STATUS_INIT=0 - uint8 A_STATUS_UNKNOWN=1 - uint8 A_STATUS_OK=2 - uint8 A_STATUS_SHORT=3 - uint8 A_STATUS_OPEN=4 - uint8 A_POWER_OFF=0 - uint8 A_POWER_ON=1 - uint8 A_POWER_UNKNOWN=2 - uint8 FLAGS_RTC_CALIB=1 - uint8 FLAGS_SAFE_BOOT=2 - uint8 FLAGS_JAMMING_STATE_MASK=12 - uint8 JAMMING_STATE_UNKNOWN_OR_DISABLED=0 - uint8 JAMMING_STATE_OK=4 - uint8 JAMMING_STATE_WARNING=8 - uint8 JAMMING_STATE_CRITICAL=12 - uint8 FLAGS_XTAL_ABSENT=16 - uint8 JAM_IND_NONE=0 - uint8 JAM_IND_STRONG=255

  • MonHW6: - Fields:

    • uint32 pin_sel

    • uint32 pin_bank

    • uint32 pin_dir

    • uint32 pin_val

    • uint16 noise_per_ms

    • uint16 agc_cnt

    • uint8 a_status

    • uint8 a_power

    • uint8 flags

    • uint8 reserved0

    • uint32 used_mask

    • uint8[25] vp

    • uint8 jam_ind

    • uint8[2] reserved1

    • uint32 pin_irq

    • uint32 pull_h

    • uint32 pull_l

    • Constants: - uint8 CLASS_ID=10 - uint8 MESSAGE_ID=9 - uint8 A_STATUS_INIT=0 - uint8 A_STATUS_UNKNOWN=1 - uint8 A_STATUS_OK=2 - uint8 A_STATUS_SHORT=3 - uint8 A_STATUS_OPEN=4 - uint8 A_POWER_OFF=0 - uint8 A_POWER_ON=1 - uint8 A_POWER_UNKNOWN=2 - uint8 FLAGS_RTC_CALIB=1 - uint8 FLAGS_SAFE_BOOT=2 - uint8 FLAGS_JAMMING_STATE_MASK=12 - uint8 JAMMING_STATE_UNKNOWN_OR_DISABLED=0 - uint8 JAMMING_STATE_OK=4 - uint8 JAMMING_STATE_WARNING=8 - uint8 JAMMING_STATE_CRITICAL=12 - uint8 FLAGS_XTAL_ABSENT=16 - uint8 JAM_IND_NONE=0 - uint8 JAM_IND_STRONG=255

  • MonVER: - Fields:

    • char[30] sw_version

    • char[10] hw_version

    • MonVERExtension[] extension

    • Constants: - uint8 CLASS_ID=10 - uint8 MESSAGE_ID=4

  • MonVERExtension: - Fields:

    • char[30] field

  • NavATT: - Fields:

    • uint32 i_tow

    • uint8 version

    • uint8[3] reserved0

    • int32 roll

    • int32 pitch

    • int32 heading

    • uint32 acc_roll

    • uint32 acc_pitch

    • uint32 acc_heading

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=5

  • NavCLOCK: - Fields:

    • uint32 i_tow

    • int32 clk_b

    • int32 clk_d

    • uint32 t_acc

    • uint32 f_acc

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=34

  • NavCOV: - Fields:

    • uint32 i_tow

    • uint8 version

    • uint8 pos_cov_valid

    • uint8 vel_cov_valid

    • uint8[9] reserved_0

    • float32 pos_cov_nn

    • float32 pos_cov_ne

    • float32 pos_cov_nd

    • float32 pos_cov_ee

    • float32 pos_cov_ed

    • float32 pos_cov_dd

    • float32 vel_cov_nn

    • float32 vel_cov_ne

    • float32 vel_cov_nd

    • float32 vel_cov_ee

    • float32 vel_cov_ed

    • float32 vel_cov_dd

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=54

  • NavDGPS: - Fields:

    • uint32 i_tow

    • int32 age

    • int16 base_id

    • int16 base_health

    • int8 num_ch

    • uint8 status

    • uint16 reserved1

    • NavDGPSSV[] sv

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=49 - uint8 DGPS_CORRECTION_NONE=0 - uint8 DGPS_CORRECTION_PR_PRR=1

  • NavDGPSSV: - Fields:

    • uint8 svid

    • uint8 flags

    • uint16 age_c

    • float32 prc

    • float32 prrc

    • Constants: - uint8 FLAGS_CHANNEL_MASK=15 - uint8 FLAGS_DGPS=16

  • NavDOP: - Fields:

    • uint32 i_tow

    • uint16 g_dop

    • uint16 p_dop

    • uint16 t_dop

    • uint16 v_dop

    • uint16 h_dop

    • uint16 n_dop

    • uint16 e_dop

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=4

  • NavPOSECEF: - Fields:

    • uint32 i_tow

    • int32 ecef_x

    • int32 ecef_y

    • int32 ecef_z

    • uint32 p_acc

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=1

  • NavPOSLLH: - Fields:

    • uint32 i_tow

    • int32 lon

    • int32 lat

    • int32 height

    • int32 h_msl

    • uint32 h_acc

    • uint32 v_acc

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=2

  • NavPVT: - Fields:

    • uint32 i_tow

    • uint16 year

    • uint8 month

    • uint8 day

    • uint8 hour

    • uint8 min

    • uint8 sec

    • uint8 valid

    • uint32 t_acc

    • int32 nano

    • uint8 fix_type

    • uint8 flags

    • uint8 flags2

    • uint8 num_sv

    • int32 lon

    • int32 lat

    • int32 height

    • int32 h_msl

    • uint32 h_acc

    • uint32 v_acc

    • int32 vel_n

    • int32 vel_e

    • int32 vel_d

    • int32 g_speed

    • int32 heading

    • uint32 s_acc

    • uint32 head_acc

    • uint16 p_dop

    • uint8[6] reserved1

    • int32 head_veh

    • int16 mag_dec

    • uint16 mag_acc

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=7 - uint8 VALID_DATE=1 - uint8 VALID_TIME=2 - uint8 VALID_FULLY_RESOLVED=4 - uint8 VALID_MAG=8 - uint8 FIX_TYPE_NO_FIX=0 - uint8 FIX_TYPE_DEAD_RECKONING_ONLY=1 - uint8 FIX_TYPE_2D=2 - uint8 FIX_TYPE_3D=3 - uint8 FIX_TYPE_GNSS_DEAD_RECKONING_COMBINED=4 - uint8 FIX_TYPE_TIME_ONLY=5 - uint8 FLAGS_GNSS_FIX_OK=1 - uint8 FLAGS_DIFF_SOLN=2 - uint8 FLAGS_PSM_MASK=28 - uint8 PSM_OFF=0 - uint8 PSM_ENABLED=4 - uint8 PSM_ACQUIRED=8 - uint8 PSM_TRACKING=12 - uint8 PSM_POWER_OPTIMIZED_TRACKING=16 - uint8 PSM_INACTIVE=20 - uint8 FLAGS_HEAD_VEH_VALID=32 - uint8 FLAGS_CARRIER_PHASE_MASK=192 - uint8 CARRIER_PHASE_NO_SOLUTION=0 - uint8 CARRIER_PHASE_FLOAT=64 - uint8 CARRIER_PHASE_FIXED=128 - uint8 FLAGS2_CONFIRMED_AVAILABLE=32 - uint8 FLAGS2_CONFIRMED_DATE=64 - uint8 FLAGS2_CONFIRMED_TIME=128

  • NavPVT7: - Fields:

    • uint32 i_tow

    • uint16 year

    • uint8 month

    • uint8 day

    • uint8 hour

    • uint8 min

    • uint8 sec

    • uint8 valid

    • uint32 t_acc

    • int32 nano

    • uint8 fix_type

    • uint8 flags

    • uint8 flags2

    • uint8 num_sv

    • int32 lon

    • int32 lat

    • int32 height

    • int32 h_msl

    • uint32 h_acc

    • uint32 v_acc

    • int32 vel_n

    • int32 vel_e

    • int32 vel_d

    • int32 g_speed

    • int32 heading

    • uint32 s_acc

    • uint32 head_acc

    • uint16 p_dop

    • uint8[6] reserved1

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=7 - uint8 VALID_DATE=1 - uint8 VALID_TIME=2 - uint8 VALID_FULLY_RESOLVED=4 - uint8 VALID_MAG=8 - uint8 FIX_TYPE_NO_FIX=0 - uint8 FIX_TYPE_DEAD_RECKONING_ONLY=1 - uint8 FIX_TYPE_2D=2 - uint8 FIX_TYPE_3D=3 - uint8 FIX_TYPE_GNSS_DEAD_RECKONING_COMBINED=4 - uint8 FIX_TYPE_TIME_ONLY=5 - uint8 FLAGS_GNSS_FIX_OK=1 - uint8 FLAGS_DIFF_SOLN=2 - uint8 FLAGS_PSM_MASK=28 - uint8 PSM_OFF=0 - uint8 PSM_ENABLED=4 - uint8 PSM_ACQUIRED=8 - uint8 PSM_TRACKING=12 - uint8 PSM_POWER_OPTIMIZED_TRACKING=16 - uint8 PSM_INACTIVE=20 - uint8 FLAGS_HEAD_VEH_VALID=32 - uint8 FLAGS_CARRIER_PHASE_MASK=192 - uint8 CARRIER_PHASE_NO_SOLUTION=0 - uint8 CARRIER_PHASE_FLOAT=64 - uint8 CARRIER_PHASE_FIXED=128 - uint8 FLAGS2_CONFIRMED_AVAILABLE=32 - uint8 FLAGS2_CONFIRMED_DATE=64 - uint8 FLAGS2_CONFIRMED_TIME=128

  • NavRELPOSNED: - Fields:

    • uint8 version

    • uint8 reserved0

    • uint16 ref_station_id

    • uint32 i_tow

    • int32 rel_pos_n

    • int32 rel_pos_e

    • int32 rel_pos_d

    • int8 rel_pos_hpn

    • int8 rel_pos_hpe

    • int8 rel_pos_hpd

    • uint8 reserved1

    • uint32 acc_n

    • uint32 acc_e

    • uint32 acc_d

    • uint32 flags

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=60 - uint32 FLAGS_GNSS_FIX_OK=1 - uint32 FLAGS_DIFF_SOLN=2 - uint32 FLAGS_REL_POS_VALID=4 - uint32 FLAGS_CARR_SOLN_MASK=24 - uint32 FLAGS_CARR_SOLN_NONE=0 - uint32 FLAGS_CARR_SOLN_FLOAT=8 - uint32 FLAGS_CARR_SOLN_FIXED=16 - uint32 FLAGS_IS_MOVING=32 - uint32 FLAGS_REF_POS_MISS=64 - uint32 FLAGS_REF_OBS_MISS=128

  • NavRELPOSNED9: - Fields:

    • uint8 version

    • uint8 reserved1

    • uint16 ref_station_id

    • uint32 i_tow

    • int32 rel_pos_n

    • int32 rel_pos_e

    • int32 rel_pos_d

    • int32 rel_pos_length

    • int32 rel_pos_heading

    • uint8[4] reserved2

    • int8 rel_pos_hpn

    • int8 rel_pos_hpe

    • int8 rel_pos_hpd

    • int8 rel_pos_hp_length

    • uint32 acc_n

    • uint32 acc_e

    • uint32 acc_d

    • uint32 acc_length

    • uint32 acc_heading

    • uint8[4] reserved3

    • uint32 flags

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=60 - uint32 FLAGS_GNSS_FIX_OK=1 - uint32 FLAGS_DIFF_SOLN=2 - uint32 FLAGS_REL_POS_VALID=4 - uint32 FLAGS_CARR_SOLN_MASK=24 - uint32 FLAGS_CARR_SOLN_NONE=0 - uint32 FLAGS_CARR_SOLN_FLOAT=8 - uint32 FLAGS_CARR_SOLN_FIXED=16 - uint32 FLAGS_IS_MOVING=32 - uint32 FLAGS_REF_POS_MISS=64 - uint32 FLAGS_REF_OBS_MISS=128 - uint32 FLAGS_REL_POS_HEAD_VALID=256 - uint32 FLAGS_REL_POS_NORM=512

  • NavSAT: - Fields:

    • uint32 i_tow

    • uint8 version

    • uint8 num_svs

    • uint8[2] reserved0

    • NavSATSV[] sv

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=53

  • NavSATSV: - Fields:

    • uint8 gnss_id

    • uint8 sv_id

    • uint8 cno

    • int8 elev

    • int16 azim

    • int16 pr_res

    • uint32 flags

    • Constants: - uint32 FLAGS_QUALITY_IND_MASK=7 - uint8 QUALITY_IND_NO_SIGNAL=0 - uint8 QUALITY_IND_SEARCHING_SIGNAL=1 - uint8 QUALITY_IND_SIGNAL_ACQUIRED=2 - uint8 QUALITY_IND_SIGNAL_DETECTED_BUT_UNUSABLE=3 - uint8 QUALITY_IND_CODE_LOCKED_AND_TIME_SYNC=4 - uint8 QUALITY_IND_CODE_AND_CARR_LOCK_AND_TIME_SYNC1=5 - uint8 QUALITY_IND_CODE_AND_CARR_LOCK_AND_TIME_SYNC2=6 - uint8 QUALITY_IND_CODE_AND_CARR_LOCK_AND_TIME_SYNC3=7 - uint32 FLAGS_SV_USED=8 - uint32 FLAGS_HEALTH_MASK=48 - uint32 HEALTH_UNKNOWN=0 - uint32 HEALTH_HEALTHY=1 - uint32 HEALTH_UNHEALTHY=2 - uint32 FLAGS_DIFF_CORR=64 - uint32 FLAGS_SMOOTHED=128 - uint32 FLAGS_ORBIT_SOURCE_MASK=1792 - uint32 ORBIT_SOURCE_UNAVAILABLE=0 - uint32 ORBIT_SOURCE_EPH=256 - uint32 ORBIT_SOURCE_ALM=512 - uint32 ORBIT_SOURCE_ASSIST_OFFLINE=768 - uint32 ORBIT_SOURCE_ASSIST_AUTONOMOUS=1024 - uint32 ORBIT_SOURCE_OTHER1=1280 - uint32 ORBIT_SOURCE_OTHER2=1536 - uint32 ORBIT_SOURCE_OTHER3=1792 - uint32 FLAGS_EPH_AVAIL=2048 - uint32 FLAGS_ALM_AVAIL=4096 - uint32 FLAGS_ANO_AVAIL=8192 - uint32 FLAGS_AOP_AVAIL=16384 - uint32 FLAGS_SBAS_CORR_USED=65536 - uint32 FLAGS_RTCM_CORR_USED=131072 - uint32 FLAGS_PR_CORR_USED=1048576 - uint32 FLAGS_CR_CORR_USED=2097152 - uint32 FLAGS_DO_CORR_USED=4194304

  • NavSBAS: - Fields:

    • uint32 i_tow

    • uint8 geo

    • uint8 mode

    • int8 sys

    • uint8 service

    • uint8 cnt

    • uint8[3] reserved0

    • NavSBASSV[] sv

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=50 - uint8 MODE_DISABLED=0 - uint8 MODE_ENABLED_INTEGRITY=1 - uint8 MODE_ENABLED_TESTMODE=3 - int8 SYS_UNKNOWN=-1 - int8 SYS_WAAS=0 - int8 SYS_EGNOS=1 - int8 SYS_MSAS=2 - int8 SYS_GAGAN=3 - int8 SYS_GPS=16 - uint8 SERVICE_RANGING=1 - uint8 SERVICE_CORRECTIONS=2 - uint8 SERVICE_INTEGRITY=4 - uint8 SERVICE_TESTMODE=8

  • NavSBASSV: - Fields:

    • uint8 svid

    • uint8 flags

    • uint8 udre

    • uint8 sv_sys

    • uint8 sv_service

    • uint8 reserved1

    • int16 prc

    • uint16 reserved2

    • int16 ic

  • NavSOL: - Fields:

    • uint32 i_tow

    • int32 f_tow

    • int16 week

    • uint8 gps_fix

    • uint8 flags

    • int32 ecef_x

    • int32 ecef_y

    • int32 ecef_z

    • uint32 p_acc

    • int32 ecef_vx

    • int32 ecef_vy

    • int32 ecef_vz

    • uint32 s_acc

    • uint16 p_dop

    • uint8 reserved1

    • uint8 num_sv

    • uint32 reserved2

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=6 - uint8 GPS_NO_FIX=0 - uint8 GPS_DEAD_RECKONING_ONLY=1 - uint8 GPS_2D_FIX=2 - uint8 GPS_3D_FIX=3 - uint8 GPS_GPS_DEAD_RECKONING_COMBINED=4 - uint8 GPS_TIME_ONLY_FIX=5 - uint8 FLAGS_GPS_FIX_OK=1 - uint8 FLAGS_DIFF_SOLN=2 - uint8 FLAGS_WKNSET=4 - uint8 FLAGS_TOWSET=8

  • NavSTATUS: - Fields:

    • uint32 i_tow

    • uint8 gps_fix

    • uint8 flags

    • uint8 fix_stat

    • uint8 flags2

    • uint32 ttff

    • uint32 msss

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=3 - uint8 GPS_NO_FIX=0 - uint8 GPS_DEAD_RECKONING_ONLY=1 - uint8 GPS_2D_FIX=2 - uint8 GPS_3D_FIX=3 - uint8 GPS_GPS_DEAD_RECKONING_COMBINED=4 - uint8 GPS_TIME_ONLY_FIX=5 - uint8 FLAGS_GPS_FIX_OK=1 - uint8 FLAGS_DIFF_SOLN=2 - uint8 FLAGS_WKNSET=4 - uint8 FLAGS_TOWSET=8 - uint8 FIX_STAT_DIFF_CORR_MASK=1 - uint8 FIX_STAT_MAP_MATCHING_MASK=192 - uint8 MAP_MATCHING_NONE=0 - uint8 MAP_MATCHING_VALID=64 - uint8 MAP_MATCHING_USED=128 - uint8 MAP_MATCHING_DR=192 - uint8 FLAGS2_PSM_STATE_MASK=3 - uint8 PSM_STATE_ACQUISITION=0 - uint8 PSM_STATE_TRACKING=1 - uint8 PSM_STATE_POWER_OPTIMIZED_TRACKING=2 - uint8 PSM_STATE_INACTIVE=3 - uint8 FLAGS2_SPOOF_DET_STATE_MASK=24 - uint8 SPOOF_DET_STATE_UNKNOWN=0 - uint8 SPOOF_DET_STATE_NONE=8 - uint8 SPOOF_DET_STATE_SPOOFING=16 - uint8 SPOOF_DET_STATE_MULTIPLE=24

  • NavSVIN: - Fields:

    • uint8 version

    • uint8[3] reserved0

    • uint32 i_tow

    • uint32 dur

    • int32 mean_x

    • int32 mean_y

    • int32 mean_z

    • int8 mean_xhp

    • int8 mean_yhp

    • int8 mean_zhp

    • uint8 reserved1

    • uint32 mean_acc

    • uint32 obs

    • uint8 valid

    • uint8 active

    • uint8[2] reserved3

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=59

  • NavSVINFO: - Fields:

    • uint32 i_tow

    • uint8 num_ch

    • uint8 global_flags

    • uint16 reserved2

    • NavSVINFOSV[] sv

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=48 - uint8 CHIPGEN_ANTARIS=0 - uint8 CHIPGEN_UBLOX5=1 - uint8 CHIPGEN_UBLOX6=2 - uint8 CHIPGEN_UBLOX7=3 - uint8 CHIPGEN_UBLOX8=4

  • NavSVINFOSV: - Fields:

    • uint8 chn

    • uint8 svid

    • uint8 flags

    • uint8 quality

    • uint8 cno

    • int8 elev

    • int16 azim

    • int32 pr_res

    • Constants: - uint8 FLAGS_SV_USED=1 - uint8 FLAGS_DIFF_CORR=2 - uint8 FLAGS_ORBIT_AVAIL=4 - uint8 FLAGS_ORBIT_EPH=8 - uint8 FLAGS_UNHEALTHY=16 - uint8 FLAGS_ORBIT_ALM=32 - uint8 FLAGS_ORBIT_AOP=64 - uint8 FLAGS_SMOOTHED=128 - uint8 QUALITY_IDLE=0 - uint8 QUALITY_SEARCHING=1 - uint8 QUALITY_ACQUIRED=2 - uint8 QUALITY_DETECTED=3 - uint8 QUALITY_CODE_LOCK=4 - uint8 QUALITY_CODE_AND_CARRIER_LOCKED1=5 - uint8 QUALITY_CODE_AND_CARRIER_LOCKED2=6 - uint8 QUALITY_CODE_AND_CARRIER_LOCKED3=7

  • NavTIMEGPS: - Fields:

    • uint32 i_tow

    • int32 f_tow

    • int16 week

    • int8 leap_s

    • uint8 valid

    • uint32 t_acc

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=32 - uint8 VALID_TOW=1 - uint8 VALID_WEEK=2 - uint8 VALID_LEAP_S=4

  • NavTIMEUTC: - Fields:

    • uint32 i_tow

    • uint32 t_acc

    • int32 nano

    • uint16 year

    • uint8 month

    • uint8 day

    • uint8 hour

    • uint8 min

    • uint8 sec

    • uint8 valid

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=33 - uint8 VALID_TOW=1 - uint8 VALID_WKN=2 - uint8 VALID_UTC=4 - uint8 VALID_UTC_STANDARD_MASK=240 - uint8 UTC_STANDARD_NOT_AVAILABLE=0 - uint8 UTC_STANDARD_CRL=16 - uint8 UTC_STANDARD_NIST=32 - uint8 UTC_STANDARD_USNO=48 - uint8 UTC_STANDARD_BIPM=64 - uint8 UTC_STANDARD_EL=80 - uint8 UTC_STANDARD_SU=96 - uint8 UTC_STANDARD_NTSC=112 - uint8 UTC_STANDARD_UNKNOWN=240

  • NavVELECEF: - Fields:

    • uint32 i_tow

    • int32 ecef_vx

    • int32 ecef_vy

    • int32 ecef_vz

    • uint32 s_acc

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=17

  • NavVELNED: - Fields:

    • uint32 i_tow

    • int32 vel_n

    • int32 vel_e

    • int32 vel_d

    • uint32 speed

    • uint32 g_speed

    • int32 heading

    • uint32 s_acc

    • uint32 c_acc

    • Constants: - uint8 CLASS_ID=1 - uint8 MESSAGE_ID=18

  • RxmALM: - Fields:

    • uint32 svid

    • uint32 week

    • uint32[] dwrd

    • Constants: - uint8 CLASS_ID=2 - uint8 MESSAGE_ID=48

  • RxmEPH: - Fields:

    • uint32 svid

    • uint32 how

    • uint32[] sf1d

    • uint32[] sf2d

    • uint32[] sf3d

    • Constants: - uint8 CLASS_ID=2 - uint8 MESSAGE_ID=49

  • RxmRAW: - Fields:

    • int32 rcv_tow

    • int16 week

    • uint8 num_sv

    • uint8 reserved1

    • RxmRAWSV[] sv

    • Constants: - uint8 CLASS_ID=2 - uint8 MESSAGE_ID=16

  • RxmRAWSV: - Fields:

    • float64 cp_mes

    • float64 pr_mes

    • float32 do_mes

    • uint8 sv

    • int8 mes_qi

    • int8 cno

    • uint8 lli

  • RxmRAWX: - Fields:

    • float64 rcv_tow

    • uint16 week

    • int8 leap_s

    • uint8 num_meas

    • uint8 rec_stat

    • uint8 version

    • uint8[2] reserved1

    • RxmRAWXMeas[] meas

    • Constants: - uint8 CLASS_ID=2 - uint8 MESSAGE_ID=21 - uint8 REC_STAT_LEAP_SEC=1 - uint8 REC_STAT_CLK_RESET=2

  • RxmRAWXMeas: - Fields:

    • float64 pr_mes

    • float64 cp_mes

    • float32 do_mes

    • uint8 gnss_id

    • uint8 sv_id

    • uint8 reserved0

    • uint8 freq_id

    • uint16 locktime

    • int8 cno

    • uint8 pr_stdev

    • uint8 cp_stdev

    • uint8 do_stdev

    • uint8 trk_stat

    • uint8 reserved1

    • Constants: - uint8 TRK_STAT_PR_VALID=1 - uint8 TRK_STAT_CP_VALID=2 - uint8 TRK_STAT_HALF_CYC=4 - uint8 TRK_STAT_SUB_HALF_CYC=8

  • RxmRTCM: - Fields:

    • uint8 version

    • uint8 flags

    • uint8[2] reserved0

    • uint16 ref_station

    • uint16 msg_type

    • Constants: - uint8 CLASS_ID=2 - uint8 MESSAGE_ID=50 - uint8 FLAGS_CRC_FAILED=1

  • RxmSFRB: - Fields:

    • uint8 chn

    • uint8 svid

    • uint32[10] dwrd

    • Constants: - uint8 CLASS_ID=2 - uint8 MESSAGE_ID=17

  • RxmSFRBX: - Fields:

    • uint8 gnss_id

    • uint8 sv_id

    • uint8 reserved0

    • uint8 freq_id

    • uint8 num_words

    • uint8 chn

    • uint8 version

    • uint8 reserved1

    • uint32[] dwrd

    • Constants: - uint8 CLASS_ID=2 - uint8 MESSAGE_ID=19

  • RxmSVSI: - Fields:

    • int32 i_tow

    • int16 week

    • uint8 num_vis

    • uint8 num_sv

    • RxmSVSISV[] sv

    • Constants: - uint8 CLASS_ID=2 - uint8 MESSAGE_ID=32

  • RxmSVSISV: - Fields:

    • uint8 svid

    • uint8 sv_flag

    • int16 azim

    • int8 elev

    • uint8 age

    • Constants: - uint8 FLAG_URA_MASK=15 - uint8 FLAG_HEALTHY=16 - uint8 FLAG_EPH_VAL=32 - uint8 FLAG_ALM_VAL=64 - uint8 FLAG_NOT_AVAIL=128 - uint8 AGE_ALM_MASK=15 - uint8 AGE_EPH_MASK=240

  • TimTM2: - Fields:

    • uint8 ch

    • uint8 flags

    • uint16 rising_edge_count

    • uint16 wn_r

    • uint16 wn_f

    • uint32 tow_ms_r

    • uint32 tow_sub_ms_r

    • uint32 tow_ms_f

    • uint32 tow_sub_ms_f

    • uint32 acc_est

    • Constants: - uint8 CLASS_ID=13 - uint8 MESSAGE_ID=3 - uint8 FLAGS_MODE_RUNNING=1 - uint8 FLAGS_RUN=2 - uint8 FLAGS_NEWFALLINGEDGE=4 - uint8 FLAGS_TIMEBASE_GNSS=8 - uint8 FLAGS_TIMEBASE_UTC=16 - uint8 FLAGS_UTC_AVAIL=32 - uint8 FLAGS_TIME_VALID=64 - uint8 FLAGS_NEWRISINGEDGE=128

  • UpdSOS: - Fields:

    • uint8 cmd

    • uint8[3] reserved1

    • Constants: - uint8 CLASS_ID=9 - uint8 MESSAGE_ID=20 - uint8 CMD_FLASH_BACKUP_CREATE=0 - uint8 CMD_FLASH_BACKUP_CLEAR=1

  • UpdSOSAck: - Fields:

    • uint8 cmd

    • uint8[3] reserved0

    • uint8 response

    • uint8[3] reserved1

    • Constants: - uint8 CLASS_ID=9 - uint8 MESSAGE_ID=20 - uint8 CMD_BACKUP_CREATE_ACK=2 - uint8 CMD_SYSTEM_RESTORED=3 - uint8 BACKUP_CREATE_NACK=0 - uint8 BACKUP_CREATE_ACK=1 - uint8 SYSTEM_RESTORED_RESPONSE_UNKNOWN=0 - uint8 SYSTEM_RESTORED_RESPONSE_FAILED=1 - uint8 SYSTEM_RESTORED_RESPONSE_RESTORED=2 - uint8 SYSTEM_RESTORED_RESPONSE_NOT_RESTORED=3

rtcm_msgs

  • Message: - Fields:

    • std_msgs/Header header

    • uint8[] message