INSTINCT Code Coverage Report

Line	Branch	Exec	Source
1			// This file is part of INSTINCT, the INS Toolkit for Integrated
2			// Navigation Concepts and Training by the Institute of Navigation of
3			// the University of Stuttgart, Germany.
4			//
5			// This Source Code Form is subject to the terms of the Mozilla Public
6			// License, v. 2.0. If a copy of the MPL was not distributed with this
7			// file, You can obtain one at https://mozilla.org/MPL/2.0/.
8
9			/// @file UbloxTypes.hpp
10			/// @brief Type Definitions for Ublox messages
11			/// @author T. Topp (topp@ins.uni-stuttgart.de)
12			/// @date 2020-05-19
13
14			#pragma once
15
16			#include <string>
17			#include <array>
18			#include <optional>
19			#include <bitset>
20			#include <vector>
21			#include <cstdint>
22			#include <fmt/ostream.h>
23
24			#include "Navigation/GNSS/Core/SatelliteIdentifier.hpp"
25
26			namespace NAV::vendor::ublox
27			{
28			/// @brief Error detection modes available
29			enum ErrorDetectionMode : uint8_t
30			{
31			ERRORDETECTIONMODE_NONE, ///< No error detection is used
32			ERRORDETECTIONMODE_CHECKSUM, ///< 16-bit checksum is used
33			};
34
35			/// @brief Enumeration of the available asynchronous ASCII talker IDs.
36			enum NmeaTalkerID : uint8_t
37			{
38			NMEA_TALKER_ID_OFF = 0, ///< Asynchronous output is turned off.
39			NMEA_TALKER_ID_GP = 1, ///< GPS, SBAS, QZSS
40			NMEA_TALKER_ID_GL = 2, ///< GLONASS
41			NMEA_TALKER_ID_GA = 3, ///< Galileo
42			NMEA_TALKER_ID_GB = 4, ///< BeiDou
43			NMEA_TALKER_ID_GN = 5 ///< Any combination of GNSS
44			};
45
46			/// @brief NMEA Message Type.
47			enum NmeaMessageClass : uint8_t
48			{
49			NMEA_MSG_CLASS_STANDARD = 0xF0, ///< Standard Messages
50			NMEA_MSG_CLASS_PUBX = 0xF1 ///< PUBX Messages
51			};
52
53			/// @brief NMEA Standard Messages.
54			/// Class ID = 0xF0
55			enum NmeaStandardMessages : uint8_t
56			{
57			NMEA_STANDARD_MSG_DTM = 0x0A, ///< Datum Reference
58			NMEA_STANDARD_MSG_GBQ = 0x44, ///< Poll a standard message (if the current Talker ID is GB)
59			NMEA_STANDARD_MSG_GBS = 0x09, ///< GNSS Satellite Fault Detection
60			NMEA_STANDARD_MSG_GGA = 0x00, ///< Global positioning system fix data
61			NMEA_STANDARD_MSG_GLL = 0x01, ///< Latitude and longitude, with time of position fix and status
62			NMEA_STANDARD_MSG_GLQ = 0x43, ///< Poll a standard message (if the current Talker ID is GL)
63			NMEA_STANDARD_MSG_GNQ = 0x42, ///< Poll a standard message (if the current Talker ID is GN)
64			NMEA_STANDARD_MSG_GNS = 0x0D, ///< GNSS fix data
65			NMEA_STANDARD_MSG_GPQ = 0x40, ///< Poll a standard message (if the current Talker ID is GP)
66			NMEA_STANDARD_MSG_GRS = 0x06, ///< GNSS Range Residuals
67			NMEA_STANDARD_MSG_GSA = 0x02, ///< GNSS DOP and Active Satellites
68			NMEA_STANDARD_MSG_GST = 0x07, ///< GNSS Pseudo Range Error Statistics
69			NMEA_STANDARD_MSG_GSV = 0x03, ///< GNSS Satellites in View
70			NMEA_STANDARD_MSG_RMC = 0x04, ///< Recommended Minimum data
71			NMEA_STANDARD_MSG_TXT = 0x41, ///< Text Transmission
72			NMEA_STANDARD_MSG_VLW = 0x0F, ///< Dual ground/water distance
73			NMEA_STANDARD_MSG_VTG = 0x05, ///< Course over ground and Ground speed
74			NMEA_STANDARD_MSG_ZDA = 0x08 ///< Time and Date
75			};
76
77			/// @brief NMEA PUBX Messages.
78			/// Class ID = 0xF1
79			enum NmeaPubxMessages : uint8_t
80			{
81			NMEA_PUBX_MSG_CONFIG = 0x41, ///< Set Protocols and Baudrate
82			NMEA_PUBX_MSG_POSITION = 0x00, ///< Lat/Long Position Data
83			NMEA_PUBX_MSG_RATE = 0x40, ///< Set NMEA message output rate
84			NMEA_PUBX_MSG_SVSTATUS = 0x03, ///< Satellite Status
85			NMEA_PUBX_MSG_TIME = 0x04 ///< Time of Day and Clock Information
86			};
87
88			/// @brief The available UBX Class IDs
89			enum UbxClass : uint8_t
90			{
91			UBX_CLASS_NONE = 0x00, ///< No Message Class specified
92			UBX_CLASS_NAV = 0x01, ///< Navigation Results Messages: Position, Speed, Time, Acceleration, Heading, DOP, SVs used
93			UBX_CLASS_RXM = 0x02, ///< Receiver Manager Messages: Satellite Status, RTC Status
94			UBX_CLASS_INF = 0x04, ///< Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice
95			UBX_CLASS_ACK = 0x05, ///< Ack/Nak Messages: Acknowledge or Reject messages to UBX-CFG input messages
96			UBX_CLASS_CFG = 0x06, ///< Configuration Input Messages: Configure the receiver
97			UBX_CLASS_UPD = 0x09, ///< Firmware Update Messages: Memory/Flash erase/write, Reboot, Flash identification, etc.
98			UBX_CLASS_MON = 0x0A, ///< Monitoring Messages: Communication Status, CPU Load, Stack Usage, Task Status
99			UBX_CLASS_AID [[deprecated]] = 0x0B, ///< AssistNow Aiding Messages: Ephemeris, Almanac, other A-GPS data input
100			UBX_CLASS_TIM = 0x0D, ///< Timing Messages: Time Pulse Output, Time Mark Results
101			UBX_CLASS_ESF = 0x10, ///< External Sensor Fusion Messages: External Sensor Measurements and Status Information
102			UBX_CLASS_MGA = 0x13, ///< Multiple GNSS Assistance Messages: Assistance data for various GNSS
103			UBX_CLASS_LOG = 0x21, ///< Logging Messages: Log creation, deletion, info and retrieval
104			UBX_CLASS_SEC = 0x27, ///< Security Feature Messages
105			UBX_CLASS_HNR = 0x28 ///< High Rate Navigation Results Messages: High rate time, position, speed, heading
106			};
107
108			/// @brief The available ACK Messages
109			enum UbxAckMessages : uint8_t
110			{
111			/// Message Acknowledged (Length = 2; Type = Output)
112			UBX_ACK_ACK = 0x01,
113			/// Message Not-Acknowledged (Length = 2; Type = Output)
114			UBX_ACK_NAK = 0x00
115			};
116
117			/// @brief Message Acknowledged
118			///
119			/// Output upon processing of an input message. ACK Message is sent as soon as possible but at least within one second.
120			struct UbxAckAck
121			{
122			uint8_t clsID = 0; ///< Class ID of the Acknowledged Message
123			uint8_t msgID = 0; ///< Message ID of the Acknowledged Message
124			};
125
126			/// @brief Message Not-Acknowledged
127			///
128			/// Output upon processing of an input message. NAK Message is sent as soon as possible but at least within one second.
129			struct UbxAckNak
130			{
131			uint8_t clsID = 0; ///< Class ID of the Not-Acknowledged Message
132			uint8_t msgID = 0; ///< Message ID of the Not-Acknowledged Message
133			};
134
135			/// @brief The available CFG Messages
136			enum UbxCfgMessages : uint8_t
137			{
138			/// Antenna Control Settings (Length = 4; Type = Get/Set)
139			UBX_CFG_ANT = 0x13,
140			/// Get/Set data batching configuration (Length = 8; Type = Get/Set)
141			UBX_CFG_BATCH = 0x93,
142			/// Clear, Save and Load configurations (Length = (12) or (13); Type = Command)
143			UBX_CFG_CFG = 0x09,
144			/// - Set User-defined Datum. (Length = 44; Type = Set)
145			/// - The currently defined Datum (Length = 52; Type = Get)
146			UBX_CFG_DAT = 0x06,
147			/// DGNSS configuration (Length = 4; Type = Get/Set)
148			UBX_CFG_DGNSS = 0x70,
149			/// Disciplined oscillator configuration (Length = 4 + 32*numOsc; Type = Get/Set)
150			UBX_CFG_DOSC = 0x61,
151			/// External synchronization source configuration (Length = 4 + 36*numSources; Type = Get/Set)
152			UBX_CFG_ESRC = 0x60,
153			/// Geofencing configuration (Length = 8 + 12*numFences; Type = Get/Set)
154			UBX_CFG_GEOFENCE = 0x69,
155			/// GNSS system configuration (Length = 4 + 8*numConfigBlocks; Type = Get/Set)
156			UBX_CFG_GNSS = 0x3E,
157			/// High Navigation Rate Settings (Length = 4; Type = Get/Set)
158			UBX_CFG_HNR = 0x5C,
159			/// - Poll configuration for one protocol (Length = 1; Type = Poll Request)
160			/// - Information message configuration (Length = 0 + 10*N; Type = Get/Set)
161			UBX_CFG_INF = 0x02,
162			/// Jamming/Interference Monitor configuration (Length = 8; Type = Get/Set)
163			UBX_CFG_ITFM = 0x39,
164			/// Data Logger Configuration (Length = 12; Type = Get/Set)
165			UBX_CFG_LOGFILTER = 0x47,
166			/// - Poll a message configuration (Length = 2; Type = Poll Request)
167			/// - Set Message Rate(s) (Length = 8; Type = Get/Set)
168			/// - Set Message Rate (Length = 3; Type = Get/Set)
169			UBX_CFG_MSG = 0x01,
170			/// Navigation Engine Settings (Length = 36; Type = Get/Set)
171			UBX_CFG_NAV5 = 0x24,
172			/// - Navigation Engine Expert Settings (Length = 40; Type = Get/Set)
173			/// - Navigation Engine Expert Settings (Length = 40; Type = Get/Set)
174			/// - Navigation Engine Expert Settings (Length = 44; Type = Get/Set)
175			UBX_CFG_NAVX5 = 0x23,
176			/// - NMEA protocol configuration (deprecated) (Length = 4; Type = Get/Set)
177			/// - NMEA protocol configuration V0 (deprecated) (Length = 12; Type = Get/Set)
178			/// - Extended NMEA protocol configuration V1 (Length = 20; Type = Get/Set)
179			UBX_CFG_NMEA = 0x17,
180			/// Odometer, Low-speed COG Engine Settings (Length = 20; Type = Get/Set)
181			UBX_CFG_ODO = 0x1E,
182			/// - Extended Power Management configuration (Length = 44; Type = Get/Set)
183			/// - Extended Power Management configuration (Length = 48; Type = Get/Set)
184			/// - Extended Power Management configuration (Length = 48; Type = Get/Set)
185			UBX_CFG_PM2 = 0x3B,
186			/// Power Mode Setup (Length = 8; Type = Get/Set)
187			UBX_CFG_PMS = 0x86,
188			/// - Polls the configuration for one I/O Port (Length = 1; Type = Poll Request)
189			/// - Port Configuration for UART (Length = 20; Type = Get/Set)
190			/// - Port Configuration for USB Port (Length = 20; Type = Get/Set)
191			/// - Port Configuration for SPI Port (Length = 20; Type = Get/Set)
192			/// - Port Configuration for DDC Port (Length = 20; Type = Get/Set)
193			UBX_CFG_PRT = 0x00,
194			/// Put receiver in a defined power state (Length = 8; Type = Set)
195			UBX_CFG_PWR = 0x57,
196			/// Navigation/Measurement Rate Settings (Length = 6; Type = Get/Set)
197			UBX_CFG_RATE = 0x08,
198			/// Contents of Remote Inventory (Length = 1 + 1*N; Type = Get/Set)
199			UBX_CFG_RINV = 0x34,
200			/// Reset Receiver / Clear Backup Data Structures (Length = 4; Type = Command)
201			UBX_CFG_RST = 0x04,
202			/// - RXM configuration (Length = 2; Type = Get/Set)
203			/// - RXM configuration (Length = 2; Type = Get/Set)
204			UBX_CFG_RXM = 0x11,
205			/// SBAS Configuration (Length = 8; Type = Get/Set)
206			UBX_CFG_SBAS = 0x16,
207			/// SLAS Configuration (Length = 4; Type = Get/Set)
208			UBX_CFG_SLAS = 0x8D,
209			/// Synchronization manager configuration (Length = 20; Type = Get/Set)
210			UBX_CFG_SMGR = 0x62,
211			/// Time Mode Settings 2 (Length = 28; Type = Get/Set)
212			UBX_CFG_TMODE2 = 0x3D,
213			/// Time Mode Settings 3 (Length = 40; Type = Get/Set)
214			UBX_CFG_TMODE3 = 0x71,
215			/// - Poll Time Pulse Parameters for Time Pulse 0 (Length = 0; Type = Poll Request)
216			/// - Poll Time Pulse Parameters (Length = 1; Type = Poll Request)
217			/// - Time Pulse Parameters (Length = 32; Type = Get/Set)
218			/// - Time Pulse Parameters (Length = 32; Type = Get/Se
219			UBX_CFG_TP5 = 0x31,
220			/// TX buffer time slots configuration (Length = 16; Type = Set)
221			UBX_CFG_TXSLOT = 0x53,
222			/// USB Configuration (Length = 108; Type = Get/Set)
223			UBX_CFG_USB = 0x1B,
224			};
225
226			/// @brief The available ESF Messages
227			enum UbxEsfMessages : uint8_t
228			{
229			/// Vehicle dynamics information (Length = 36; Type = Periodic/Polled)
230			UBX_ESF_INS = 0x15,
231			/// External Sensor Fusion Measurements (Length = (8 + 4*numMeas) or (12 + 4*numMeas); Type = Input/Output)
232			UBX_ESF_MEAS = 0x02,
233			/// Raw sensor measurements (Length = 4 + 8*N; Type = Output)
234			UBX_ESF_RAW = 0x03,
235			/// External Sensor Fusion (ESF) status information (Length = 16 + 4*numSens; Type = Periodic/Polled)
236			UBX_ESF_STATUS = 0x10,
237			};
238
239			/// @brief Vehicle dynamics information
240			///
241			/// This message outputs information about the vehicle dynamics.
242			/// For ADR products (in protocol versions less than 19.2), the output dynamics
243			/// information (angular rates and accelerations) is expressed with respect to the
244			/// vehicle-frame. More information can be found in the ADR Navigation Output
245			/// section.
246			/// For ADR products, the output dynamics information (angular rates and
247			/// accelerations) is expressed with respect to the vehicle-frame. More information
248			/// can be found in the ADR Navigation Output section.
249			/// For UDR products, the output dynamics information (angular rates and
250			/// accelerations) are expressed with respect to the body-frame. More information
251			/// can be found in the UDR Navigation Output section.
252			struct UbxEsfIns
253			{
254			std::bitset<4UL * 8UL> bitfield0; ///< Bitfield (zAccelValid, yAccelValid, xAccelValid, zAngRateValid, yAngRateValid, xAngRateValid, version)
255			std::array<uint8_t, 4> reserved1{}; ///< Reserved
256			uint32_t iTOW = 0; ///< GPS time of week of the navigation epoch. See the description of iTOW for details. [ms]
257			int32_t xAngRate = 0; ///< Compensated x-axis angular rate. [deg/s * 1e-3]
258			int32_t yAngRate = 0; ///< Compensated y-axis angular rate. [deg/s * 1e-3]
259			int32_t zAngRate = 0; ///< Compensated z-axis angular rate. [deg/s * 1e-3]
260			int32_t xAccel = 0; ///< Compensated x-axis acceleration (gravity-free). [m/s^2 * 1e-2]
261			int32_t yAccel = 0; ///< Compensated y-axis acceleration (gravity-free). [m/s^2 * 1e-2]
262			int32_t zAccel = 0; ///< Compensated z-axis acceleration (gravity-free). [m/s^2 * 1e-2]
263			};
264
265			/// @brief External Sensor Fusion Measurements
266			///
267			/// Possible data types for the data field are described in the ESF Measurement Data section.
268			struct UbxEsfMeas
269			{
270			uint32_t timeTag = 0; ///< Time tag of measurement generated by external sensor
271			std::bitset<2UL * 8UL> flags; ///< Flags. Set all unused bits to zero (timeMarkSent, timeMarkEdge, calibTtagValid, numMeas)
272			uint16_t id = 0; ///< Identification number of data provider
273			std::vector<uint32_t> data; ///< data (see graphic below)
274			std::optional<std::vector<uint32_t>> calibTtag; ///< Receiver local time calibrated. This field must not be supplied when calibTtagValid is set to 0. [ms]
275			};
276
277			/// @brief Raw sensor measurements
278			///
279			/// The message contains measurements from the active inertial sensors
280			/// connected to the GNSS chip. Possible data types for the data field are
281			/// accelerometer, gyroscope and temperature readings as described in the ESF
282			/// Measurement Data section.
283			/// Note that the rate selected in UBX-CFG-MSG is not respected. If a positive rate is
284			/// selected then all raw measurements will be output.
285			/// See also Raw Sensor Measurement Data.
286			struct UbxEsfRaw
287			{
288			/// @brief Repeated data in this message
289			struct UbxEsfRawData
290			{
291			uint32_t data = 0; ///< data. Same as in UBX-ESF-MEAS (see graphic below)
292			uint32_t sTtag = 0; ///< sensor time tag
293			};
294
295			std::array<uint8_t, 4> reserved1{}; ///< Reserved
296			std::vector<UbxEsfRawData> data; ///< Repeated block
297			};
298
299			/// @brief External Sensor Fusion (ESF) status information
300			struct UbxEsfStatus
301			{
302			/// @brief Repeated data in this message
303			struct UbxEsfStatusSensor
304			{
305			std::bitset<1UL * 8UL> sensStatus1; ///< Sensor status, part 1 (seegraphic below)
306			std::bitset<1UL * 8UL> sensStatus2; ///< Sensor status, part 2 (seegraphic below)
307			uint8_t freq = 0; ///< Observation frequency [Hz]
308			std::bitset<1UL * 8UL> faults; ///< Sensor faults (see graphic below)
309			};
310
311			uint32_t iTOW = 0; ///< GPS time of week of the navigation epoch. See the description of iTOW for details. [ms]
312			uint8_t version = 0; ///< Message version (2 for this version)
313			std::array<uint8_t, 7> reserved1{}; ///< Reserved
314			/// Fusion mode:0: Initialization mode: receiver is initializing some unknown values required for doing sensor fusion
315			/// 1: Fusion mode: GNSS and sensor data are used for navigation solution computation
316			/// 2: Suspended fusion mode: sensor fusion is temporarily disabled due to e.g. invalid sensor data or detected ferry
317			/// 3: Disabled fusion mode: sensor fusion is permanently disabled until receiver reset due e.g. to sensor error More details can be found in the Fusion Modes section.
318			uint8_t fusionMode = 0;
319			std::array<uint8_t, 2> reserved2{}; ///< Reserved
320			uint8_t numSens = 0; ///< Number of sensors
321			std::vector<UbxEsfStatusSensor> sensors; ///< Repeated block
322			};
323
324			/// @brief The available HNR Messages
325			enum UbxHnrMessages : uint8_t
326			{
327			/// Vehicle dynamics information (Length = 36; Type = Periodic/Polled)
328			UBX_HNR_INS = 0x02,
329			/// High Rate Output of PVT Solution (Length = 72; Type = Periodic/Polled)
330			UBX_HNR_PVT = 0x00,
331			};
332
333			/// @brief The available INF Messages
334			enum UbxInfMessages : uint8_t
335			{
336			/// ASCII output with debug contents (Length = 0 + 1*N; Type = Output)
337			UBX_INF_DEBUG = 0x04,
338			/// ASCII output with error contents (Length = 0 + 1*N; Type = Output)
339			UBX_INF_ERROR = 0x00,
340			/// ASCII output with informational contents (Length = 0 + 1*N; Type = Output)
341			UBX_INF_NOTICE = 0x02,
342			/// ASCII output with test contents (Length = 0 + 1*N; Type = Output)
343			UBX_INF_TEST = 0x03,
344			/// ASCII output with warning contents (Length = 0 + 1*N; Type = Output)
345			UBX_INF_WARNING = 0x01,
346			};
347
348			/// @brief The available LOG Messages
349			enum UbxLogMessages : uint8_t
350			{
351			/// Batched data (Length = 100; Type = Polled)
352			UBX_LOG_BATCH = 0x11,
353			/// Create Log File (Length = 8; Type = Command)
354			UBX_LOG_CREATE = 0x07,
355			/// Erase Logged Data (Length = 0; Type = Command)
356			UBX_LOG_ERASE = 0x03,
357			/// - Find index of a log entry based on a given time (Length = 12; Type = Input)
358			/// - Response to FINDTIME request (Length = 8; Type = Output)
359			UBX_LOG_FINDTIME = 0x0E,
360			/// - Poll for log information (Length = 0; Type = Poll Request)
361			/// - Log information (Length = 48; Type = Output)
362			UBX_LOG_INFO = 0x08,
363			/// Request batch data (Length = 4; Type = Command)
364			UBX_LOG_RETRIEVEBATCH = 0x10,
365			/// Odometer log entry (Length = 32; Type = Output)
366			UBX_LOG_RETRIEVEPOSEXTRA = 0x0F,
367			/// Position fix log entry (Length = 40; Type = Output)
368			UBX_LOG_RETRIEVEPOS = 0x0B,
369			/// Byte string log entry (Length = 16 + 1*byteCount; Type = )
370			UBX_LOG_RETRIEVESTRING = 0x0D,
371			/// Request log data (Length = 12; Type = Command)
372			UBX_LOG_RETRIEVE = 0x09,
373			/// Store arbitrary string in on-board flash (Length = 0 + 1*N; Type = Command)
374			UBX_LOG_STRING = 0x04,
375			};
376
377			/// @brief The available MGA Messages
378			enum UbxMgaMessages : uint8_t
379			{
380			/// Multiple GNSS Acknowledge message (Length = 8; Type = Output)
381			UBX_MGA_ACK_DATA0 = 0x60,
382			/// Multiple GNSS AssistNow Offline Assistance (Length = 76; Type = Input)
383			UBX_MGA_ANO = 0x20,
384			/// BDS Ephemeris Assistance (Length = 88; Type = Input)
385			UBX_MGA_BDS_EPH = 0x03,
386			/// BDS Almanac Assistance (Length = 40; Type = Input)
387			UBX_MGA_BDS_ALM = 0x03,
388			/// BDS Health Assistance (Length = 68; Type = Input)
389			UBX_MGA_BDS_HEALTH = 0x03,
390			/// BDS UTC Assistance (Length = 20; Type = Input)
391			UBX_MGA_BDS_UTC = 0x03,
392			/// BDS Ionospheric Assistance (Length = 16; Type = Input)
393			UBX_MGA_BDS_IONO = 0x03,
394			/// - Poll the Navigation Database (Length = 0; Type = Poll Request)
395			/// - Navigation Database Dump Entry (Length = 12 + 1*N; Type = Input/Output)
396			UBX_MGA_DBD = 0x80,
397			/// Transfer MGA-ANO data block to flash (Length = 6 + 1*size; Type = Input)
398			UBX_MGA_FLASH_DATA = 0x21,
399			/// Finish flashing MGA-ANO data (Length = 2; Type = Input)
400			UBX_MGA_FLASH_STOP = 0x21,
401			/// Acknowledge last FLASH-DATA or -STOP (Length = 6; Type = Output)
402			UBX_MGA_FLASH_ACK = 0x21,
403			/// Galileo Ephemeris Assistance (Length = 76; Type = Input)
404			UBX_MGA_GAL_EPH = 0x02,
405			/// Galileo Almanac Assistance (Length = 32; Type = Input)
406			UBX_MGA_GAL_ALM = 0x02,
407			/// Galileo GPS time offset assistance (Length = 12; Type = Input)
408			UBX_MGA_GAL_TIMEOFFSET = 0x02,
409			/// Galileo UTC Assistance (Length = 20; Type = Input)
410			UBX_MGA_GAL_UTC = 0x02,
411			/// GLONASS Ephemeris Assistance (Length = 48; Type = Input)
412			UBX_MGA_GLO_EPH = 0x06,
413			/// GLONASS Almanac Assistance (Length = 36; Type = Input)
414			UBX_MGA_GLO_ALM = 0x06,
415			/// GLONASS Auxiliary Time Offset Assistance (Length = 20; Type = Input)
416			UBX_MGA_GLO_TIMEOFFSET = 0x06,
417			/// GPS Ephemeris Assistance (Length = 68; Type = Input)
418			UBX_MGA_GPS_EPH = 0x00,
419			/// GPS Almanac Assistance (Length = 36; Type = Input)
420			UBX_MGA_GPS_ALM = 0x00,
421			/// GPS Health Assistance (Length = 40; Type = Input)
422			UBX_MGA_GPS_HEALTH = 0x00,
423			/// GPS UTC Assistance (Length = 20; Type = Input)
424			UBX_MGA_GPS_UTC = 0x00,
425			/// GPS Ionosphere Assistance (Length = 16; Type = Input)
426			UBX_MGA_GPS_IONO = 0x00,
427			/// Initial Position Assistance (Length = 20; Type = Input)
428			UBX_MGA_INI_POS_XYZ = 0x40,
429			/// Initial Position Assistance (Length = 20; Type = Input)
430			UBX_MGA_INI_POS_LLH = 0x40,
431			/// Initial Time Assistance (Length = 24; Type = Input)
432			UBX_MGA_INI_TIME_UTC = 0x40,
433			/// Initial Time Assistance (Length = 24; Type = Input)
434			UBX_MGA_INI_TIME_GNSS = 0x40,
435			/// Initial Clock Drift Assistance (Length = 12; Type = Input)
436			UBX_MGA_INI_CLKD = 0x40,
437			/// Initial Frequency Assistance (Length = 12; Type = Input)
438			UBX_MGA_INI_FREQ = 0x40,
439			/// Earth Orientation Parameters Assistance (Length = 72; Type = Input)
440			UBX_MGA_INI_EOP = 0x40,
441			/// QZSS Ephemeris Assistance (Length = 68; Type = Input)
442			UBX_MGA_QZSS_EPH = 0x05,
443			/// QZSS Almanac Assistance (Length = 36; Type = Input)
444			UBX_MGA_QZSS_ALM = 0x05,
445			/// QZSS Health Assistance (Length = 12; Type = Input)
446			UBX_MGA_QZSS_HEALTH = 0x05,
447			};
448
449			/// @brief The available MON Messages
450			enum UbxMonMessages : uint8_t
451			{
452			/// Data batching buffer status (Length = 12; Type = Polled)
453			UBX_MON_BATCH = 0x32,
454			/// Information message major GNSS selection (Length = 8; Type = Polled)
455			UBX_MON_GNSS = 0x28,
456			/// Extended Hardware Status (Length = 28; Type = Periodic/Polled)
457			UBX_MON_HW2 = 0x0B,
458			/// Hardware Status (Length = 60; Type = Periodic/Polled)
459			UBX_MON_HW = 0x09,
460			/// I/O Subsystem Status (Length = 0 + 20*N; Type = Periodic/Polled)
461			UBX_MON_IO = 0x02,
462			/// Message Parse and Process Status (Length = 120; Type = Periodic/Polled)
463			UBX_MON_MSGPP = 0x06,
464			/// - Poll Request for installed patches (Length = 0; Type = Poll Request)
465			/// - Output information about installed patches (Length = 4 + 16*nEntries; Type = Polled)
466			UBX_MON_PATCH = 0x27,
467			/// Receiver Buffer Status (Length = 24; Type = Periodic/Polled)
468			UBX_MON_RXBUFF = 0x07,
469			/// Receiver Status Information (Length = 1; Type = Output)
470			UBX_MON_RXR = 0x21,
471			/// Synchronization Manager Status (Length = 16; Type = Periodic/Polled)
472			UBX_MON_SMGR = 0x2E,
473			/// Transmitter Buffer Status (Length = 28; Type = Periodic/Polled)
474			UBX_MON_TXBUFF = 0x08,
475			/// - Poll Receiver/Software Version (Length = 0; Type = Poll Request)
476			/// - Receiver/Software Version (Length = 40 + 30*N; Type = Polled)
477			UBX_MON_VER = 0x04,
478			};
479
480			/// @brief The available NAV Messages
481			enum UbxNavMessages : uint8_t
482			{
483			/// AssistNow Autonomous Status (Length = 16; Type = Periodic/Polled)
484			UBX_NAV_AOPSTATUS = 0x60,
485			/// Attitude Solution (Length = 32; Type = Periodic/Polled)
486			UBX_NAV_ATT = 0x05,
487			/// Clock Solution (Length = 20; Type = Periodic/Polled)
488			UBX_NAV_CLOCK = 0x22,
489			/// DGPS Data Used for NAV (Length = 16 + 12*numCh; Type = Periodic/Polled)
490			UBX_NAV_DGPS = 0x31,
491			/// Dilution of precision (Length = 18; Type = Periodic/Polled)
492			UBX_NAV_DOP = 0x04,
493			/// End Of Epoch (Length = 4; Type = Periodic)
494			UBX_NAV_EOE = 0x61,
495			/// Geofencing status (Length = 8 + 2*numFences; Type = Periodic/Polled)
496			UBX_NAV_GEOFENCE = 0x39,
497			/// High Precision Position Solution in ECEF (Length = 28; Type = Periodic/Polled)
498			UBX_NAV_HPPOSECEF = 0x13,
499			/// High Precision Geodetic Position Solution (Length = 36; Type = Periodic/Polled)
500			UBX_NAV_HPPOSLLH = 0x14,
501			/// Odometer Solution (Length = 20; Type = Periodic/Polled)
502			UBX_NAV_ODO = 0x09,
503			/// GNSS Orbit Database Info (Length = 8 + 6*numSv; Type = Periodic/Polled)
504			UBX_NAV_ORB = 0x34,
505			/// Position Solution in ECEF (Length = 20; Type = Periodic/Polled)
506			UBX_NAV_POSECEF = 0x01,
507			/// Geodetic Position Solution (Length = 28; Type = Periodic/Polled)
508			UBX_NAV_POSLLH = 0x02,
509			/// Navigation Position Velocity Time Solution (Length = 92; Type = Periodic/Polled)
510			UBX_NAV_PVT = 0x07,
511			/// Relative Positioning Information in NED frame (Length = 40; Type = Periodic/Polled)
512			UBX_NAV_RELPOSNED = 0x3C,
513			/// Reset odometer (Length = 0; Type = Command)
514			UBX_NAV_RESETODO = 0x10,
515			/// Satellite Information (Length = 8 + 12*numSvs; Type = Periodic/Polled)
516			UBX_NAV_SAT = 0x35,
517			/// SBAS Status Data (Length = 12 + 12*cnt; Type = Periodic/Polled)
518			UBX_NAV_SBAS = 0x32,
519			/// QZSS L1S SLAS Status Data (Length = 20 + 8*cnt; Type = Periodic/Polled)
520			UBX_NAV_SLAS = 0x42,
521			/// Navigation Solution Information (Length = 52; Type = Periodic/Polled)
522			UBX_NAV_SOL = 0x06,
523			/// Receiver Navigation Status (Length = 16; Type = Periodic/Polled)
524			UBX_NAV_STATUS = 0x03,
525			/// Space Vehicle Information (Length = 8 + 12*numCh; Type = Periodic/Polled)
526			UBX_NAV_SVINFO = 0x30,
527			/// Survey-in data (Length = 40; Type = Periodic/Polled)
528			UBX_NAV_SVIN = 0x3B,
529			/// BDS Time Solution (Length = 20; Type = Periodic/Polled)
530			UBX_NAV_TIMEBDS = 0x24,
531			/// Galileo Time Solution (Length = 20; Type = Periodic/Polled)
532			UBX_NAV_TIMEGAL = 0x25,
533			/// GLO Time Solution (Length = 20; Type = Periodic/Polled)
534			UBX_NAV_TIMEGLO = 0x23,
535			/// GPS Time Solution (Length = 16; Type = Periodic/Polled)
536			UBX_NAV_TIMEGPS = 0x20,
537			/// Leap second event information (Length = 24; Type = Periodic/Polled)
538			UBX_NAV_TIMELS = 0x26,
539			/// UTC Time Solution (Length = 20; Type = Periodic/Polled)
540			UBX_NAV_TIMEUTC = 0x21,
541			/// Velocity Solution in ECEF (Length = 20; Type = Periodic/Polled)
542			UBX_NAV_VELECEF = 0x11,
543			/// Velocity Solution in NED (Length = 36; Type = Periodic/Polled)
544			UBX_NAV_VELNED = 0x12,
545			};
546
547			/// @brief Attitude Solution
548			///
549			/// This message outputs the attitude solution as roll, pitch and heading angles.
550			/// More details about vehicle attitude can be found in the Vehicle Attitude Output
551			/// (ADR) section for ADR products.
552			/// More details about vehicle attitude can be found in the Vehicle Attitude Output
553			/// (UDR) section for UDR products.
554			struct UbxNavAtt
555			{
556			uint32_t iTOW = 0; ///< GPS time of week of the navigation epoch [ms]. See the description of iTOW for details.
557			uint8_t version = 0; ///< Message version (0 for this version)
558			std::array<uint8_t, 3> reserved1{}; ///< Reserved
559			int32_t roll = 0; ///< Vehicle roll [deg * 1e-5]
560			int32_t pitch = 0; ///< Vehicle pitch [deg * 1e-5]
561			int32_t heading = 0; ///< Vehicle heading [deg * 1e-5]
562			uint32_t accRoll = 0; ///< Vehicle roll accuracy [deg * 1e-5] (if null, roll angle is not available).
563			uint32_t accPitch = 0; ///< Vehicle pitch accuracy [deg * 1e-5] (if null, pitch angle is not available).
564			uint32_t accHeading = 0; ///< Vehicle heading accuracy [deg * 1e-5] (if null, heading angle is not available).
565			};
566
567			/// @brief Position Solution in ECEF
568			///
569			/// See important comments concerning validity of position given in section
570			/// Navigation Output Filters.
571			struct UbxNavPosecef
572			{
573			uint32_t iTOW = 0; ///< GPS time of week of the navigation epoch [ms]. See the description of iTOW for details.
574			int32_t ecefX = 0; ///< ECEF X coordinate [cm]
575			int32_t ecefY = 0; ///< ECEF Y coordinate [cm]
576			int32_t ecefZ = 0; ///< ECEF Z coordinate [cm]
577			uint32_t pAcc = 0; ///< Position Accuracy Estimate [cm]
578			};
579
580			/// @brief Geodetic Position Solution
581			///
582			/// See important comments concerning validity of position given in section
583			/// Navigation Output Filters.
584			/// This message outputs the Geodetic position in the currently selected ellipsoid.
585			/// The default is the WGS84 Ellipsoid, but can be changed with the message UBX-CFG-DAT.
586			struct UbxNavPosllh
587			{
588			uint32_t iTOW = 0; ///< GPS time of week of the navigation epoch [ms]. See the description of iTOW for details.
589			int32_t lon = 0; ///< Longitude [deg * 1e-7]
590			int32_t lat = 0; ///< Latitude [deg * 1e-7]
591			int32_t height = 0; ///< Height above ellipsoid [mm]
592			int32_t hMSL = 0; ///< Height above mean sea level [mm]
593			uint32_t hAcc = 0; ///< Horizontal accuracy estimate [mm]
594			uint32_t vAcc = 0; ///< Vertical accuracy estimate [mm]
595			};
596
597			/// @brief Velocity Solution in NED
598			///
599			/// See important comments concerning validity of position given in section Navigation Output Filters.
600			struct UbxNavVelned
601			{
602			uint32_t iTOW = 0; ///< GPS time of week of the navigation epoch [ms]. See the description of iTOW for details.
603			int32_t velN = 0; ///< North velocity component [cm/s]
604			int32_t velE = 0; ///< East velocity component [cm/s]
605			int32_t velD = 0; ///< Down velocity component [cm/s]
606			uint32_t speed = 0; ///< Speed (3-D)
607			uint32_t gSpeed = 0; ///< Ground speed (2-D)
608			int32_t heading = 0; ///< Heading of motion 2-D [deg * 1e-5]
609			uint32_t sAcc = 0; ///< Speed accuracy Estimation [cm/s]
610			uint32_t cAcc = 0; ///< Course / Heading accuracy estimation [deg * 1e-5]
611			};
612
613			/// @brief The available RXM Messages
614			enum UbxRxmMessages : uint8_t
615			{
616			/// Indoor Messaging System Information (Length = 4 + 44*numTx; Type = Periodic/Polled)
617			UBX_RXM_IMES = 0x61,
618			/// - Satellite Measurements for RRLP (Length = 44 + 24*numSV; Type = Periodic/Polled)
619			UBX_RXM_MEASX = 0x14,
620			/// - Requests a Power Management task (Length = 8; Type = Command)
621			/// - Requests a Power Management task (Length = 16; Type = Command)
622			UBX_RXM_PMREQ = 0x41,
623			/// - Multi-GNSS Raw Measurement Data (Length = 16 + 32*numMeas; Type = Periodic/Polled)
624			/// - Multi-GNSS Raw Measurement Data (Length = 16 + 32*numMeas; Type = Periodic/Polled)
625			UBX_RXM_RAWX = 0x15,
626			/// - Galileo SAR Short-RLM report (Length = 16; Type = Output)
627			/// - Galileo SAR Long-RLM report (Length = 28; Type = Output)
628			UBX_RXM_RLM = 0x59,
629			/// RTCM input status (Length = 8; Type = Output)
630			UBX_RXM_RTCM = 0x32,
631			/// - Broadcast Navigation Data Subframe (Length = 8 + 4*numWords; Type = Output)
632			/// - Broadcast Navigation Data Subframe (Length = 8 + 4*numWords; Type = Output)
633			UBX_RXM_SFRBX = 0x13,
634			/// SV Status Info (Length = 8 + 6*numSV; Type = Periodic/Polled)
635			UBX_RXM_SVSI = 0x20,
636			};
637
638			/// @brief Multi-GNSS Raw Measurement Data
639			///
640			/// This message contains the information needed to be able to generate a RINEX 3 multi-GNSS observation file.
641			/// This message contains pseudorange, Doppler, carrier phase, phase lock and
642			/// signal quality information for GNSS satellites once signals have been
643			/// synchronized. This message supports all active GNSS.
644			struct UbxRxmRawx
645			{
646			/// @brief Repeated data in this message
647			struct UbxRxmRawxData
648			{
649			/// Pseudorange measurement [m].
650			/// GLONASS inter frequency channel delays are compensated with an internal calibration table.
651			double prMes = 0.0;
652			/// Carrier phase measurement [cycles].
653			/// The carrier phase initial ambiguity is initialized using an approximate
654			/// value to make the magnitude of the phase close to the pseudorange measurement.
655			/// Clock resets are applied to both phase and code measurements in accordance with the RINEX specification.
656			double cpMes = 0.0;
657			float doMes = 0.0F; ///< Doppler measurement (positive sign for approaching satellites) [Hz]
658			uint8_t gnssId = 0; ///< GNSS identifier (see Satellite Numbering for a list of identifiers)
659			uint8_t svId = 0; ///< Satellite identifier (see Satellite Numbering)
660			uint8_t sigId = 0; ///< New style signal identifier (see Signal Identifiers).(not supported in protocol versions less than 27)
661			uint8_t freqId = 0; ///< Only used for GLONASS: This is the frequency slot + 7 (range from 0 to 13)
662			uint16_t locktime = 0; ///< Carrier phase locktime counter [ms] (maximum 64500ms)
663			uint8_t cno = 0; ///< Carrier-to-noise density ratio (signal strength) [dB-Hz]
664			std::bitset<1UL * 8UL> prStdev; ///< Estimated pseudorange measurement standard deviation [m * 0.01*2^n] (see graphic below)
665			std::bitset<1UL * 8UL> cpStdev; ///< Estimated carrier phase measurement standard deviation [cycles * 0.004] (note a raw value of 0x0F indicates the value is invalid) (see graphic below)
666			std::bitset<1UL * 8UL> doStdev; ///< Estimated Doppler measurement standard deviation. [Hz * 0.002*2^n] (see graphic below)
667			std::bitset<1UL * 8UL> trkStat; ///< Tracking status bitfield (see graphic below)
668			uint8_t reserved2 = 0; ///< Reserved
669
670			/// @brief Pseudorange valid
671		28669	[[nodiscard]] bool prValid() const { return trkStat[0]; }
672
673			/// @brief Carrier phase valid
674		28669	[[nodiscard]] bool cpValid() const { return trkStat[1]; }
675
676			/// @brief Half cycle valid
677		28590	[[nodiscard]] bool halfCycValid() const { return trkStat[2]; }
678
679			/// @brief Half cycle subtracted from phase
680			[[nodiscard]] bool subHalfSubtractedFromPhase() const { return trkStat[3]; }
681			};
682
683			/// Measurement time of week in receiverblocal time approximately aligned to the GPS time system.
684			/// The receiver local time of week, week number and leap second information can be used to translate the
685			/// time to other time systems. More information about the difference in time systems can be found in RINEX 3
686			/// documentation. For a receiver operating in GLONASS only mode, UTC time can be determined by subtracting the leapS field
687			/// from GPS time regardless of whether the GPS leap seconds are valid. [s]
688			double rcvTow = 0.0;
689			uint16_t week = 0; ///< GPS week number in receiver local time [weeks]
690			/// GPS leap seconds (GPS-UTC). This field represents the receiver's best knowledge of the leap seconds offset.
691			/// A flag is given in the recStat bitfield to indicate if the leap seconds are known.
692			int8_t leapS = 0;
693			uint8_t numMeas = 0; ///< Number of measurements to follow
694			std::bitset<1UL * 8UL> recStat; ///< Receiver tracking status bitfield (see graphic below)
695			uint8_t version = 0; ///< Message version (0x01 for this version).
696			std::array<uint8_t, 2> reserved1{}; ///< Reserved
697			std::vector<UbxRxmRawxData> data; ///< Repeated block
698			};
699
700			/// @brief Broadcast Navigation Data Subframe
701			///
702			/// This message reports a complete subframe of broadcast navigation data
703			/// decoded from a single signal. The number of data words reported in each
704			/// message depends on the nature of the signal.
705			/// See the section on Broadcast Navigation Data for further details.
706			struct UbxRxmSfrbx
707			{
708			uint8_t gnssId = 0; ///< GNSS identifier (see Satellite Numbering)
709			uint8_t svId = 0; ///< Satellite identifier (see Satellite Numbering)
710			uint8_t sigId = 0; ///< Signal identifier
711			uint8_t freqId = 0; ///< Only used for GLONASS: This is the frequency slot + 7 (range from 0 to 13)
712			uint8_t numWords = 0; ///< The number of data words contained in this message (0..16)
713			uint8_t chn = 0; ///< The tracking channel number the message was received on
714			uint8_t version = 0; ///< Message version (0x01 for this version)
715			uint8_t reserved0 = 0; ///< Reserved
716			std::vector<uint32_t> dwrd; ///< The data words
717
718			// TODO: Make this into functions
719			// uint8_t subFrameId = 0; ///< bit 20-22 of word 2/dwrd[1]. 3 bits subframe id (HOW = Handover Word) of GPS
720			// uint8_t wrdType = 0; ///< bit 3-8 of dwrd[0]. 6 bits word types of Galileo I/NAV
721			};
722
723			/// @brief The available SEC Messages
724			enum UbxSecMessages : uint8_t
725			{
726			/// Unique Chip ID (Length = 9; Type = Output)
727			UBX_SEC_UNIQID = 0x03,
728			};
729
730			/// @brief The available TIM Messages
731			enum UbxTimMessages : uint8_t
732			{
733			/// Oscillator frequency changed notification (Length = 32; Type = Periodic/Polled)
734			UBX_TIM_FCHG = 0x16,
735			/// Host oscillator control (Length = 8; Type = Input)
736			UBX_TIM_HOC = 0x17,
737			/// Source measurement (Length = 12 + 24*numMeas; Type = Input/Output)
738			UBX_TIM_SMEAS = 0x13,
739			/// Survey-in data (Length = 28; Type = Periodic/Polled)
740			UBX_TIM_SVIN = 0x04,
741			/// Time mark data (Length = 28; Type = Periodic/Polled)
742			UBX_TIM_TM2 = 0x03,
743			/// Time Pulse Time and Frequency Data (Length = 56; Type = Periodic)
744			UBX_TIM_TOS = 0x12,
745			/// Time Pulse Timedata (Length = 16; Type = Periodic/Polled)
746			UBX_TIM_TP = 0x01,
747			/// - Stop calibration (Length = 1; Type = Command)
748			/// - VCO calibration extended command (Length = 12; Type = Command)
749			/// - Results of the calibration (Length = 12; Type = Periodic/Polled)
750			UBX_TIM_VCOCAL = 0x15,
751			/// Sourced Time Verification (Length = 20; Type = Periodic/Polled)
752			UBX_TIM_VRFY = 0x06,
753			};
754
755			/// @brief The available UPD Messages
756			enum UbxUpdMessages : uint8_t
757			{
758			/// - Poll Backup File Restore Status (Length = 0; Type = Poll Request)
759			/// - Create Backup File in Flash (Length = 4; Type = Command)
760			/// - Clear Backup in Flash (Length = 4; Type = command)
761			/// - Backup File Creation Acknowledge (Length = 8; Type = Output)
762			/// - System Restored from Backup (Length = 8; Type = Output)
763			UBX_UPD_SOS = 0x14,
764			};
765
766			/// @brief Get the UBX Msg Class From String object
767			///
768			/// @param[in] className String of the UBX Class
769			/// @return The UBX class
770			[[nodiscard]] UbxClass getMsgClassFromString(const std::string& className);
771
772			/// @brief Get the UBX Msg Id From String object
773			/// @param[in] msgClass The Ubx Msg Class to search in
774			/// @param[in] idName String of the Msg Id
775			/// @return The Msg Id integer
776			[[nodiscard]] uint8_t getMsgIdFromString(UbxClass msgClass, const std::string& idName);
777
778			/// @brief Get the UBX Msg Id From String objects
779			/// @param[in] className String of the UBX class
780			/// @param[in] idName String of the Msg Id
781			/// @return The Msg Id integer
782			[[nodiscard]] uint8_t getMsgIdFromString(const std::string& className, const std::string& idName);
783
784			/// @brief Get the a string from a UBX Msg Class
785			/// @param[in] msgClass The Ubx Msg Class
786			/// @return The Msg Class string
787			[[nodiscard]] std::string getStringFromMsgClass(UbxClass msgClass);
788
789			/// @brief Get the a string from a UBX Msg Id
790			/// @param[in] msgClass The Ubx Msg Class to search in
791			/// @param[in] msgId Msg Id
792			/// @return The Msg Id string
793			[[nodiscard]] std::string getStringFromMsgId(UbxClass msgClass, uint8_t msgId);
794
795			/// @brief Get the GNSS Satellite System from gnssId
796			/// @param gnssId Ublox gnssId
797			[[nodiscard]] SatelliteSystem getSatSys(uint8_t gnssId);
798
799			/// @brief Get the GNSS code from gnssId and sigId
800			/// @param gnssId Ublox gnssId
801			/// @param sigId Ublox sigId
802			/// @return The Code object
803			[[nodiscard]] Code getCode(uint8_t gnssId, uint8_t sigId);
804
805			} // namespace NAV::vendor::ublox
806
807			/// @brief Stream insertion operator overload
808			/// @param[in, out] os Output stream object to stream the time into
809			/// @param[in] obj Object to print
810			/// @return Returns the output stream object in order to chain stream insertions
811			std::ostream& operator<<(std::ostream& os, const NAV::vendor::ublox::UbxClass& obj);
812
813			#ifndef DOXYGEN_IGNORE
814
815			template<>
816			struct fmt::formatter<NAV::vendor::ublox::ErrorDetectionMode> : ostream_formatter
817			{};
818			template<>
819			struct fmt::formatter<NAV::vendor::ublox::NmeaTalkerID> : ostream_formatter
820			{};
821			template<>
822			struct fmt::formatter<NAV::vendor::ublox::NmeaMessageClass> : ostream_formatter
823			{};
824			template<>
825			struct fmt::formatter<NAV::vendor::ublox::NmeaStandardMessages> : ostream_formatter
826			{};
827			template<>
828			struct fmt::formatter<NAV::vendor::ublox::NmeaPubxMessages> : ostream_formatter
829			{};
830
831			/// @brief Formatter for UbxClass
832			template<>
833			struct fmt::formatter<NAV::vendor::ublox::UbxClass> : fmt::formatter<std::string>
834			{
835			/// @brief Defines how to format SatelliteSystem structs
836			/// @param[in] ubxClass Struct to format
837			/// @param[in, out] ctx Format context
838			/// @return Output iterator
839			template<typename FormatContext>
840		✗	auto format(const NAV::vendor::ublox::UbxClass& ubxClass, FormatContext& ctx) const
841			{
842		✗	return fmt::formatter<std::string>::format(NAV::vendor::ublox::getStringFromMsgClass(ubxClass), ctx);
843			}
844			};
845
846			template<>
847			struct fmt::formatter<NAV::vendor::ublox::UbxAckMessages> : ostream_formatter
848			{};
849			template<>
850			struct fmt::formatter<NAV::vendor::ublox::UbxCfgMessages> : ostream_formatter
851			{};
852			template<>
853			struct fmt::formatter<NAV::vendor::ublox::UbxEsfMessages> : ostream_formatter
854			{};
855			template<>
856			struct fmt::formatter<NAV::vendor::ublox::UbxHnrMessages> : ostream_formatter
857			{};
858			template<>
859			struct fmt::formatter<NAV::vendor::ublox::UbxInfMessages> : ostream_formatter
860			{};
861			template<>
862			struct fmt::formatter<NAV::vendor::ublox::UbxLogMessages> : ostream_formatter
863			{};
864			template<>
865			struct fmt::formatter<NAV::vendor::ublox::UbxMgaMessages> : ostream_formatter
866			{};
867			template<>
868			struct fmt::formatter<NAV::vendor::ublox::UbxMonMessages> : ostream_formatter
869			{};
870			template<>
871			struct fmt::formatter<NAV::vendor::ublox::UbxNavMessages> : ostream_formatter
872			{};
873			template<>
874			struct fmt::formatter<NAV::vendor::ublox::UbxRxmMessages> : ostream_formatter
875			{};
876			template<>
877			struct fmt::formatter<NAV::vendor::ublox::UbxSecMessages> : ostream_formatter
878			{};
879			template<>
880			struct fmt::formatter<NAV::vendor::ublox::UbxTimMessages> : ostream_formatter
881			{};
882			template<>
883			struct fmt::formatter<NAV::vendor::ublox::UbxUpdMessages> : ostream_formatter
884			{};
885
886			#endif
887