INSTINCT Code Coverage Report

Directory: src/
File: NodeData/IMU/VectorNavBinaryOutput.hpp
Date: 2025-11-25 23:34:18
Exec Total Coverage
Lines: 465 1611 28.9%
Functions: 9 13 69.2%
Branches: 790 4450 17.8%
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 VectorNavBinaryOutput.hpp
10 /// @brief Binary Outputs from VectorNav Sensors
11 /// @author T. Topp (topp@ins.uni-stuttgart.de)
12 /// @date 2021-07-01
13
14 #pragma once
15
16 #include <cmath>
17 #include <memory>
18
19 #include "Navigation/GNSS/Core/SatelliteSystem.hpp"
20 #include "NodeData/NodeData.hpp"
21 #include "NodeData/IMU/ImuPos.hpp"
22 #include "util/Eigen.hpp"
23 #include "Navigation/GNSS/Core/SatelliteIdentifier.hpp"
24
25 #include "util/Vendor/VectorNav/BinaryOutputs/TimeOutputs.hpp"
26 #include "util/Vendor/VectorNav/BinaryOutputs/ImuOutputs.hpp"
27 #include "util/Vendor/VectorNav/BinaryOutputs/GnssOutputs.hpp"
28 #include "util/Vendor/VectorNav/BinaryOutputs/AttitudeOutputs.hpp"
29 #include "util/Vendor/VectorNav/BinaryOutputs/InsOutputs.hpp"
30 #include "util/Vendor/VectorNav/VectorNavTypes.hpp"
31 #include <fmt/core.h>
32 #include <sys/types.h>
33 #include <vn/types.h>
34
35 namespace NAV
36 {
37 /// IMU Observation storage class
38 class VectorNavBinaryOutput : public NodeData
39 {
40 public:
41 /// @brief Constructor
42 /// @param[in] imuPos Reference to the position and rotation info of the Imu
43 28725 explicit VectorNavBinaryOutput(const ImuPos& imuPos)
44 28725 : imuPos(imuPos) {}
45
46 /// @brief Returns the type of the data class
47 /// @return The data type
48 626049 [[nodiscard]] static std::string type()
49 {
50
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 1252098 return "VectorNavBinaryOutput";
51 }
52
53 /// @brief Returns the type of the data class
54 /// @return The data type
55 ✗ [[nodiscard]] std::string getType() const override { return type(); }
56
57 /// @brief Returns the parent types of the data class
58 /// @return The parent data types
59 114 [[nodiscard]] static std::vector<std::string> parentTypes()
60 {
61
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 342 return { NodeData::type() };
62 114 }
63
64 /// @brief Returns a vector of data descriptors
65 39 [[nodiscard]] static std::vector<std::string> GetStaticDataDescriptors()
66 {
67 39 return {};
68 }
69
70 /// @brief Get the amount of descriptors
71 30 [[nodiscard]] static constexpr size_t GetStaticDescriptorCount() { return 0; }
72
73 /// @brief Returns a vector of data descriptors
74 32 [[nodiscard]] std::vector<std::string> staticDataDescriptors() const override { return GetStaticDataDescriptors(); }
75
76 /// @brief Get the amount of descriptors
77 30 [[nodiscard]] size_t staticDescriptorCount() const override { return GetStaticDescriptorCount(); }
78
79 /// @brief Get the value at the index
80 /// @param idx Index corresponding to data descriptor order
81 /// @return Value if in the observation
82 ✗ [[nodiscard]] std::optional<double> getValueAt(size_t idx) const override
83 {
84 ✗ INS_ASSERT(idx < GetStaticDescriptorCount());
85 ✗ switch (idx)
86 {
87 // Group 2 (Time)
88 ✗ case 0: // Time::TimeStartup [ns]
89 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP)) { return static_cast<double>(timeOutputs->timeStartup); }
90 ✗ break;
91 ✗ case 1: // Time::TimeGps [ns]
92 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPS)) { return static_cast<double>(timeOutputs->timeGps); }
93 ✗ break;
94 ✗ case 2: // Time::GpsTow [ns]
95 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW)) { return static_cast<double>(timeOutputs->gpsTow); }
96 ✗ break;
97 ✗ case 3: // Time::GpsWeek
98 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK)) { return static_cast<double>(timeOutputs->gpsWeek); }
99 ✗ break;
100 ✗ case 4: // Time::TimeSyncIn [ns]
101 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESYNCIN)) { return static_cast<double>(timeOutputs->timeSyncIn); }
102 ✗ break;
103 ✗ case 5: // Time::TimeGpsPps [ns]
104 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPSPPS)) { return static_cast<double>(timeOutputs->timePPS); }
105 ✗ break;
106 ✗ case 6: // Time::TimeUTC::year
107 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.year); }
108 ✗ break;
109 ✗ case 7: // Time::TimeUTC::month
110 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.month); }
111 ✗ break;
112 ✗ case 8: // Time::TimeUTC::day
113 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.day); }
114 ✗ break;
115 ✗ case 9: // Time::TimeUTC::hour
116 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.hour); }
117 ✗ break;
118 ✗ case 10: // Time::TimeUTC::min
119 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.min); }
120 ✗ break;
121 ✗ case 11: // Time::TimeUTC::sec
122 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.sec); }
123 ✗ break;
124 ✗ case 12: // Time::TimeUTC::ms
125 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)) { return static_cast<double>(timeOutputs->timeUtc.ms); }
126 ✗ break;
127 ✗ case 13: // Time::SyncInCnt
128 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCINCNT)) { return static_cast<double>(timeOutputs->syncInCnt); }
129 ✗ break;
130 ✗ case 14: // Time::SyncOutCnt
131 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCOUTCNT)) { return static_cast<double>(timeOutputs->syncOutCnt); }
132 ✗ break;
133 ✗ case 15: // Time::TimeStatus::timeOk
134 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS)) { return static_cast<double>(timeOutputs->timeStatus.timeOk()); }
135 ✗ break;
136 ✗ case 16: // Time::TimeStatus::dateOk
137 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS)) { return static_cast<double>(timeOutputs->timeStatus.dateOk()); }
138 ✗ break;
139 ✗ case 17: // Time::TimeStatus::utcTimeValid
140 ✗ if (timeOutputs && (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS)) { return static_cast<double>(timeOutputs->timeStatus.utcTimeValid()); }
141 ✗ break;
142 // Group 3 (IMU)
143 ✗ case 18: // IMU::ImuStatus
144 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_IMUSTATUS)) { return static_cast<double>(imuOutputs->imuStatus); }
145 ✗ break;
146 ✗ case 19: // IMU::UncompMag::X [Gauss]
147 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG)) { return static_cast<double>(imuOutputs->uncompMag(0)); }
148 ✗ break;
149 ✗ case 20: // IMU::UncompMag::Y [Gauss]
150 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG)) { return static_cast<double>(imuOutputs->uncompMag(1)); }
151 ✗ break;
152 ✗ case 21: // IMU::UncompMag::Z [Gauss]
153 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG)) { return static_cast<double>(imuOutputs->uncompMag(2)); }
154 ✗ break;
155 ✗ case 22: // IMU::UncompAccel::X [m/s^2]
156 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL)) { return static_cast<double>(imuOutputs->uncompAccel(0)); }
157 ✗ break;
158 ✗ case 23: // IMU::UncompAccel::Y [m/s^2]
159 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL)) { return static_cast<double>(imuOutputs->uncompAccel(1)); }
160 ✗ break;
161 ✗ case 24: // IMU::UncompAccel::Z [m/s^2]
162 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL)) { return static_cast<double>(imuOutputs->uncompAccel(2)); }
163 ✗ break;
164 ✗ case 25: // IMU::UncompGyro::X [rad/s]
165 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO)) { return static_cast<double>(imuOutputs->uncompGyro(0)); }
166 ✗ break;
167 ✗ case 26: // IMU::UncompGyro::Y [rad/s]
168 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO)) { return static_cast<double>(imuOutputs->uncompGyro(1)); }
169 ✗ break;
170 ✗ case 27: // IMU::UncompGyro::Z [rad/s]
171 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO)) { return static_cast<double>(imuOutputs->uncompGyro(2)); }
172 ✗ break;
173 ✗ case 28: // IMU::Temp [Celsius]
174 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP)) { return static_cast<double>(imuOutputs->temp); }
175 ✗ break;
176 ✗ case 29: // IMU::Pres [kPa]
177 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_PRES)) { return static_cast<double>(imuOutputs->pres); }
178 ✗ break;
179 ✗ case 30: // IMU::DeltaTime [s]
180 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)) { return static_cast<double>(imuOutputs->deltaTime); }
181 ✗ break;
182 ✗ case 31: // IMU::DeltaTheta::X [deg]
183 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)) { return static_cast<double>(imuOutputs->deltaTheta(0)); }
184 ✗ break;
185 ✗ case 32: // IMU::DeltaTheta::Y [deg]
186 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)) { return static_cast<double>(imuOutputs->deltaTheta(1)); }
187 ✗ break;
188 ✗ case 33: // IMU::DeltaTheta::Z [deg]
189 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)) { return static_cast<double>(imuOutputs->deltaTheta(2)); }
190 ✗ break;
191 ✗ case 34: // IMU::DeltaVel::X [m/s]
192 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL)) { return static_cast<double>(imuOutputs->deltaV(0)); }
193 ✗ break;
194 ✗ case 35: // IMU::DeltaVel::Y [m/s]
195 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL)) { return static_cast<double>(imuOutputs->deltaV(1)); }
196 ✗ break;
197 ✗ case 36: // IMU::DeltaVel::Z [m/s]
198 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL)) { return static_cast<double>(imuOutputs->deltaV(2)); }
199 ✗ break;
200 ✗ case 37: // IMU::Mag::X [Gauss]
201 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG)) { return static_cast<double>(imuOutputs->mag(0)); }
202 ✗ break;
203 ✗ case 38: // IMU::Mag::Y [Gauss]
204 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG)) { return static_cast<double>(imuOutputs->mag(1)); }
205 ✗ break;
206 ✗ case 39: // IMU::Mag::Z [Gauss]
207 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG)) { return static_cast<double>(imuOutputs->mag(2)); }
208 ✗ break;
209 ✗ case 40: // IMU::Accel::X [m/s^2]
210 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL)) { return static_cast<double>(imuOutputs->accel(0)); }
211 ✗ break;
212 ✗ case 41: // IMU::Accel::Y [m/s^2]
213 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL)) { return static_cast<double>(imuOutputs->accel(1)); }
214 ✗ break;
215 ✗ case 42: // IMU::Accel::Z [m/s^2]
216 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL)) { return static_cast<double>(imuOutputs->accel(2)); }
217 ✗ break;
218 ✗ case 43: // IMU::AngularRate::X [rad/s]
219 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE)) { return static_cast<double>(imuOutputs->angularRate(0)); }
220 ✗ break;
221 ✗ case 44: // IMU::AngularRate::Y [rad/s]
222 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE)) { return static_cast<double>(imuOutputs->angularRate(1)); }
223 ✗ break;
224 ✗ case 45: // IMU::AngularRate::Z [rad/s]
225 ✗ if (imuOutputs && (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE)) { return static_cast<double>(imuOutputs->angularRate(2)); }
226 ✗ break;
227 // Group 4 (GNSS1)
228 ✗ case 46: // GNSS1::UTC::year
229 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.year); }
230 ✗ break;
231 ✗ case 47: // GNSS1::UTC::month
232 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.month); }
233 ✗ break;
234 ✗ case 48: // GNSS1::UTC::day
235 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.day); }
236 ✗ break;
237 ✗ case 49: // GNSS1::UTC::hour
238 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.hour); }
239 ✗ break;
240 ✗ case 50: // GNSS1::UTC::min
241 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.min); }
242 ✗ break;
243 ✗ case 51: // GNSS1::UTC::sec
244 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.sec); }
245 ✗ break;
246 ✗ case 52: // GNSS1::UTC::ms
247 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss1Outputs->timeUtc.ms); }
248 ✗ break;
249 ✗ case 53: // GNSS1::Tow [ns]
250 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW)) { return static_cast<double>(gnss1Outputs->tow); }
251 ✗ break;
252 ✗ case 54: // GNSS1::Week
253 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK)) { return static_cast<double>(gnss1Outputs->week); }
254 ✗ break;
255 ✗ case 55: // GNSS1::NumSats
256 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS)) { return static_cast<double>(gnss1Outputs->numSats); }
257 ✗ break;
258 ✗ case 56: // GNSS1::Fix
259 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX)) { return static_cast<double>(gnss1Outputs->fix); }
260 ✗ break;
261 ✗ case 57: // GNSS1::PosLla::latitude [deg]
262 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss1Outputs->posLla(0); }
263 ✗ break;
264 ✗ case 58: // GNSS1::PosLla::longitude [deg]
265 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss1Outputs->posLla(1); }
266 ✗ break;
267 ✗ case 59: // GNSS1::PosLla::altitude [m]
268 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss1Outputs->posLla(2); }
269 ✗ break;
270 ✗ case 60: // GNSS1::PosEcef::X [m]
271 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss1Outputs->posEcef(0); }
272 ✗ break;
273 ✗ case 61: // GNSS1::PosEcef::Y [m]
274 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss1Outputs->posEcef(1); }
275 ✗ break;
276 ✗ case 62: // GNSS1::PosEcef::Z [m]
277 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss1Outputs->posEcef(2); }
278 ✗ break;
279 ✗ case 63: // GNSS1::VelNed::N [m/s]
280 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss1Outputs->velNed(0)); }
281 ✗ break;
282 ✗ case 64: // GNSS1::VelNed::E [m/s]
283 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss1Outputs->velNed(1)); }
284 ✗ break;
285 ✗ case 65: // GNSS1::VelNed::D [m/s]
286 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss1Outputs->velNed(2)); }
287 ✗ break;
288 ✗ case 66: // GNSS1::VelEcef::X [m/s]
289 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss1Outputs->velEcef(0)); }
290 ✗ break;
291 ✗ case 67: // GNSS1::VelEcef::Y [m/s]
292 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss1Outputs->velEcef(1)); }
293 ✗ break;
294 ✗ case 68: // GNSS1::VelEcef::Z [m/s]
295 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss1Outputs->velEcef(2)); }
296 ✗ break;
297 ✗ case 69: // GNSS1::PosU::N [m]
298 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss1Outputs->posU(0)); }
299 ✗ break;
300 ✗ case 70: // GNSS1::PosU::E [m]
301 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss1Outputs->posU(1)); }
302 ✗ break;
303 ✗ case 71: // GNSS1::PosU::D [m]
304 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss1Outputs->posU(2)); }
305 ✗ break;
306 ✗ case 72: // GNSS1::VelU [m/s]
307 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU)) { return static_cast<double>(gnss1Outputs->velU); }
308 ✗ break;
309 ✗ case 73: // GNSS1::TimeU [s]
310 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU)) { return static_cast<double>(gnss1Outputs->timeU); }
311 ✗ break;
312 ✗ case 74: // GNSS1::TimeInfo::Status::timeOk
313 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss1Outputs->timeInfo.status.timeOk()); }
314 ✗ break;
315 ✗ case 75: // GNSS1::TimeInfo::Status::dateOk
316 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss1Outputs->timeInfo.status.dateOk()); }
317 ✗ break;
318 ✗ case 76: // GNSS1::TimeInfo::Status::utcTimeValid
319 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss1Outputs->timeInfo.status.utcTimeValid()); }
320 ✗ break;
321 ✗ case 77: // GNSS1::TimeInfo::LeapSeconds
322 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss1Outputs->timeInfo.leapSeconds); }
323 ✗ break;
324 ✗ case 78: // GNSS1::DOP::g
325 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.gDop); }
326 ✗ break;
327 ✗ case 79: // GNSS1::DOP::p
328 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.pDop); }
329 ✗ break;
330 ✗ case 80: // GNSS1::DOP::t
331 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.tDop); }
332 ✗ break;
333 ✗ case 81: // GNSS1::DOP::v
334 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.vDop); }
335 ✗ break;
336 ✗ case 82: // GNSS1::DOP::h
337 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.hDop); }
338 ✗ break;
339 ✗ case 83: // GNSS1::DOP::n
340 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.nDop); }
341 ✗ break;
342 ✗ case 84: // GNSS1::DOP::e
343 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss1Outputs->dop.eDop); }
344 ✗ break;
345 ✗ case 85: // GNSS1::SatInfo::NumSats
346 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO)) { return static_cast<double>(gnss1Outputs->satInfo.numSats); }
347 ✗ break;
348 ✗ case 86: // GNSS1::RawMeas::Tow [s]
349 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return gnss1Outputs->raw.tow; }
350 ✗ break;
351 ✗ case 87: // GNSS1::RawMeas::Week
352 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return static_cast<double>(gnss1Outputs->raw.week); }
353 ✗ break;
354 ✗ case 88: // GNSS1::RawMeas::NumSats
355 ✗ if (gnss1Outputs && (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return static_cast<double>(gnss1Outputs->raw.numSats); }
356 ✗ break;
357 // Group 5 (Attitude)
358 ✗ case 89: // Att::VpeStatus::AttitudeQuality
359 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.attitudeQuality()); }
360 ✗ break;
361 ✗ case 90: // Att::VpeStatus::GyroSaturation
362 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.gyroSaturation()); }
363 ✗ break;
364 ✗ case 91: // Att::VpeStatus::GyroSaturationRecovery
365 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.gyroSaturationRecovery()); }
366 ✗ break;
367 ✗ case 92: // Att::VpeStatus::MagDisturbance
368 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.magDisturbance()); }
369 ✗ break;
370 ✗ case 93: // Att::VpeStatus::MagSaturation
371 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.magSaturation()); }
372 ✗ break;
373 ✗ case 94: // Att::VpeStatus::AccDisturbance
374 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.accDisturbance()); }
375 ✗ break;
376 ✗ case 95: // Att::VpeStatus::AccSaturation
377 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.accSaturation()); }
378 ✗ break;
379 ✗ case 96: // Att::VpeStatus::KnownMagDisturbance
380 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.knownMagDisturbance()); }
381 ✗ break;
382 ✗ case 97: // Att::VpeStatus::KnownAccelDisturbance
383 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)) { return static_cast<double>(attitudeOutputs->vpeStatus.knownAccelDisturbance()); }
384 ✗ break;
385 ✗ case 98: // Att::YawPitchRoll::Y [deg]
386 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL)) { return static_cast<double>(attitudeOutputs->ypr(0)); }
387 ✗ break;
388 ✗ case 99: // Att::YawPitchRoll::P [deg]
389 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL)) { return static_cast<double>(attitudeOutputs->ypr(1)); }
390 ✗ break;
391 ✗ case 100: // Att::YawPitchRoll::R [deg]
392 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL)) { return static_cast<double>(attitudeOutputs->ypr(2)); }
393 ✗ break;
394 ✗ case 101: // Att::Quaternion::w
395 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION)) { return static_cast<double>(attitudeOutputs->qtn.w()); }
396 ✗ break;
397 ✗ case 102: // Att::Quaternion::x
398 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION)) { return static_cast<double>(attitudeOutputs->qtn.x()); }
399 ✗ break;
400 ✗ case 103: // Att::Quaternion::y
401 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION)) { return static_cast<double>(attitudeOutputs->qtn.y()); }
402 ✗ break;
403 ✗ case 104: // Att::Quaternion::z
404 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION)) { return static_cast<double>(attitudeOutputs->qtn.z()); }
405 ✗ break;
406 ✗ case 105: // Att::DCM::0-0
407 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(0, 0)); }
408 ✗ break;
409 ✗ case 106: // Att::DCM::0-1
410 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(0, 1)); }
411 ✗ break;
412 ✗ case 107: // Att::DCM::0-2
413 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(0, 2)); }
414 ✗ break;
415 ✗ case 108: // Att::DCM::1-0
416 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(1, 0)); }
417 ✗ break;
418 ✗ case 109: // Att::DCM::1-1
419 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(1, 1)); }
420 ✗ break;
421 ✗ case 110: // Att::DCM::1-2
422 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(1, 2)); }
423 ✗ break;
424 ✗ case 111: // Att::DCM::2-0
425 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(2, 0)); }
426 ✗ break;
427 ✗ case 112: // Att::DCM::2-1
428 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(2, 1)); }
429 ✗ break;
430 ✗ case 113: // Att::DCM::2-2
431 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)) { return static_cast<double>(attitudeOutputs->dcm(2, 2)); }
432 ✗ break;
433 ✗ case 114: // Att::MagNed::N [Gauss]
434 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED)) { return static_cast<double>(attitudeOutputs->magNed(0)); }
435 ✗ break;
436 ✗ case 115: // Att::MagNed::E [Gauss]
437 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED)) { return static_cast<double>(attitudeOutputs->magNed(1)); }
438 ✗ break;
439 ✗ case 116: // Att::MagNed::D [Gauss]
440 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED)) { return static_cast<double>(attitudeOutputs->magNed(2)); }
441 ✗ break;
442 ✗ case 117: // Att::AccelNed::N [m/s^2]
443 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED)) { return static_cast<double>(attitudeOutputs->accelNed(0)); }
444 ✗ break;
445 ✗ case 118: // Att::AccelNed::E [m/s^2]
446 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED)) { return static_cast<double>(attitudeOutputs->accelNed(1)); }
447 ✗ break;
448 ✗ case 119: // Att::AccelNed::D [m/s^2]
449 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED)) { return static_cast<double>(attitudeOutputs->accelNed(2)); }
450 ✗ break;
451 ✗ case 120: // Att::LinearAccelBody::X [m/s^2]
452 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY)) { return static_cast<double>(attitudeOutputs->linearAccelBody(0)); }
453 ✗ break;
454 ✗ case 121: // Att::LinearAccelBody::Y [m/s^2]
455 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY)) { return static_cast<double>(attitudeOutputs->linearAccelBody(1)); }
456 ✗ break;
457 ✗ case 122: // Att::LinearAccelBody::Z [m/s^2]
458 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY)) { return static_cast<double>(attitudeOutputs->linearAccelBody(2)); }
459 ✗ break;
460 ✗ case 123: // Att::LinearAccelNed::N [m/s^2]
461 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED)) { return static_cast<double>(attitudeOutputs->linearAccelNed(0)); }
462 ✗ break;
463 ✗ case 124: // Att::LinearAccelNed::E [m/s^2]
464 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED)) { return static_cast<double>(attitudeOutputs->linearAccelNed(1)); }
465 ✗ break;
466 ✗ case 125: // Att::LinearAccelNed::D [m/s^2]
467 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED)) { return static_cast<double>(attitudeOutputs->linearAccelNed(2)); }
468 ✗ break;
469 ✗ case 126: // Att::YprU::Y [deg]
470 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU)) { return static_cast<double>(attitudeOutputs->yprU(0)); }
471 ✗ break;
472 ✗ case 127: // Att::YprU::P [deg]
473 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU)) { return static_cast<double>(attitudeOutputs->yprU(1)); }
474 ✗ break;
475 ✗ case 128: // Att::YprU::R [deg]
476 ✗ if (attitudeOutputs && (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU)) { return static_cast<double>(attitudeOutputs->yprU(2)); }
477 ✗ break;
478 // Group 6 (INS)
479 ✗ case 129: // INS::InsStatus::Mode
480 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.mode()); }
481 ✗ break;
482 ✗ case 130: // INS::InsStatus::GpsFix
483 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.gpsFix()); }
484 ✗ break;
485 ✗ case 131: // INS::InsStatus::Error::IMU
486 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.errorIMU()); }
487 ✗ break;
488 ✗ case 132: // INS::InsStatus::Error::MagPres
489 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.errorMagPres()); }
490 ✗ break;
491 ✗ case 133: // INS::InsStatus::Error::GNSS
492 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.errorGnss()); }
493 ✗ break;
494 ✗ case 134: // INS::InsStatus::GpsHeadingIns
495 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.gpsHeadingIns()); }
496 ✗ break;
497 ✗ case 135: // INS::InsStatus::GpsCompass
498 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)) { return static_cast<double>(insOutputs->insStatus.gpsCompass()); }
499 ✗ break;
500 ✗ case 136: // INS::PosLla::latitude [deg]
501 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA)) { return insOutputs->posLla(0); }
502 ✗ break;
503 ✗ case 137: // INS::PosLla::longitude [deg]
504 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA)) { return insOutputs->posLla(1); }
505 ✗ break;
506 ✗ case 138: // INS::PosLla::altitude [m]
507 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA)) { return insOutputs->posLla(2); }
508 ✗ break;
509 ✗ case 139: // INS::PosEcef::X [m]
510 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF)) { return insOutputs->posEcef(0); }
511 ✗ break;
512 ✗ case 140: // INS::PosEcef::Y [m]
513 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF)) { return insOutputs->posEcef(1); }
514 ✗ break;
515 ✗ case 141: // INS::PosEcef::Z [m]
516 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF)) { return insOutputs->posEcef(2); }
517 ✗ break;
518 ✗ case 142: // INS::VelBody::X [m/s]
519 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY)) { return static_cast<double>(insOutputs->velBody(0)); }
520 ✗ break;
521 ✗ case 143: // INS::VelBody::Y [m/s]
522 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY)) { return static_cast<double>(insOutputs->velBody(1)); }
523 ✗ break;
524 ✗ case 144: // INS::VelBody::Z [m/s]
525 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY)) { return static_cast<double>(insOutputs->velBody(2)); }
526 ✗ break;
527 ✗ case 145: // INS::VelNed::N [m/s]
528 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED)) { return static_cast<double>(insOutputs->velNed(0)); }
529 ✗ break;
530 ✗ case 146: // INS::VelNed::E [m/s]
531 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED)) { return static_cast<double>(insOutputs->velNed(1)); }
532 ✗ break;
533 ✗ case 147: // INS::VelNed::D [m/s]
534 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED)) { return static_cast<double>(insOutputs->velNed(2)); }
535 ✗ break;
536 ✗ case 148: // INS::VelEcef::X [m/s]
537 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF)) { return static_cast<double>(insOutputs->velEcef(0)); }
538 ✗ break;
539 ✗ case 149: // INS::VelEcef::Y [m/s]
540 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF)) { return static_cast<double>(insOutputs->velEcef(1)); }
541 ✗ break;
542 ✗ case 150: // INS::VelEcef::Z [m/s]
543 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF)) { return static_cast<double>(insOutputs->velEcef(2)); }
544 ✗ break;
545 ✗ case 151: // INS::MagEcef::X [Gauss}
546 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF)) { return static_cast<double>(insOutputs->magEcef(0)); }
547 ✗ break;
548 ✗ case 152: // INS::MagEcef::Y [Gauss}
549 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF)) { return static_cast<double>(insOutputs->magEcef(1)); }
550 ✗ break;
551 ✗ case 153: // INS::MagEcef::Z [Gauss}
552 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF)) { return static_cast<double>(insOutputs->magEcef(2)); }
553 ✗ break;
554 ✗ case 154: // INS::AccelEcef::X [m/s^2]
555 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF)) { return static_cast<double>(insOutputs->accelEcef(0)); }
556 ✗ break;
557 ✗ case 155: // INS::AccelEcef::Y [m/s^2]
558 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF)) { return static_cast<double>(insOutputs->accelEcef(1)); }
559 ✗ break;
560 ✗ case 156: // INS::AccelEcef::Z [m/s^2]
561 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF)) { return static_cast<double>(insOutputs->accelEcef(2)); }
562 ✗ break;
563 ✗ case 157: // INS::LinearAccelEcef::X [m/s^2]
564 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF)) { return static_cast<double>(insOutputs->linearAccelEcef(0)); }
565 ✗ break;
566 ✗ case 158: // INS::LinearAccelEcef::Y [m/s^2]
567 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF)) { return static_cast<double>(insOutputs->linearAccelEcef(1)); }
568 ✗ break;
569 ✗ case 159: // INS::LinearAccelEcef::Z [m/s^2]
570 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF)) { return static_cast<double>(insOutputs->linearAccelEcef(2)); }
571 ✗ break;
572 ✗ case 160: // INS::PosU [m]
573 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSU)) { return static_cast<double>(insOutputs->posU); }
574 ✗ break;
575 ✗ case 161: // INS::VelU [m/s]
576 ✗ if (insOutputs && (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELU)) { return static_cast<double>(insOutputs->velU); }
577 ✗ break;
578 // Group 7 (GNSS2)
579 ✗ case 162: // GNSS2::UTC::year
580 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.year); }
581 ✗ break;
582 ✗ case 163: // GNSS2::UTC::month
583 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.month); }
584 ✗ break;
585 ✗ case 164: // GNSS2::UTC::day
586 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.day); }
587 ✗ break;
588 ✗ case 165: // GNSS2::UTC::hour
589 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.hour); }
590 ✗ break;
591 ✗ case 166: // GNSS2::UTC::min
592 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.min); }
593 ✗ break;
594 ✗ case 167: // GNSS2::UTC::sec
595 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.sec); }
596 ✗ break;
597 ✗ case 168: // GNSS2::UTC::ms
598 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)) { return static_cast<double>(gnss2Outputs->timeUtc.ms); }
599 ✗ break;
600 ✗ case 169: // GNSS2::Tow [ns]
601 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW)) { return static_cast<double>(gnss2Outputs->tow); }
602 ✗ break;
603 ✗ case 170: // GNSS2::Week
604 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK)) { return static_cast<double>(gnss2Outputs->week); }
605 ✗ break;
606 ✗ case 171: // GNSS2::NumSats
607 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS)) { return static_cast<double>(gnss2Outputs->numSats); }
608 ✗ break;
609 ✗ case 172: // GNSS2::Fix
610 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX)) { return static_cast<double>(gnss2Outputs->fix); }
611 ✗ break;
612 ✗ case 173: // GNSS2::PosLla::latitude [deg]
613 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss2Outputs->posLla(0); }
614 ✗ break;
615 ✗ case 174: // GNSS2::PosLla::longitude [deg]
616 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss2Outputs->posLla(1); }
617 ✗ break;
618 ✗ case 175: // GNSS2::PosLla::altitude [m]
619 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)) { return gnss2Outputs->posLla(2); }
620 ✗ break;
621 ✗ case 176: // GNSS2::PosEcef::X [m]
622 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss2Outputs->posEcef(0); }
623 ✗ break;
624 ✗ case 177: // GNSS2::PosEcef::Y [m]
625 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss2Outputs->posEcef(1); }
626 ✗ break;
627 ✗ case 178: // GNSS2::PosEcef::Z [m]
628 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)) { return gnss2Outputs->posEcef(2); }
629 ✗ break;
630 ✗ case 179: // GNSS2::VelNed::N [m/s]
631 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss2Outputs->velNed(0)); }
632 ✗ break;
633 ✗ case 180: // GNSS2::VelNed::E [m/s]
634 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss2Outputs->velNed(1)); }
635 ✗ break;
636 ✗ case 181: // GNSS2::VelNed::D [m/s]
637 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)) { return static_cast<double>(gnss2Outputs->velNed(2)); }
638 ✗ break;
639 ✗ case 182: // GNSS2::VelEcef::X [m/s]
640 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss2Outputs->velEcef(0)); }
641 ✗ break;
642 ✗ case 183: // GNSS2::VelEcef::Y [m/s]
643 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss2Outputs->velEcef(1)); }
644 ✗ break;
645 ✗ case 184: // GNSS2::VelEcef::Z [m/s]
646 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)) { return static_cast<double>(gnss2Outputs->velEcef(2)); }
647 ✗ break;
648 ✗ case 185: // GNSS2::PosU::N [m]
649 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss2Outputs->posU(0)); }
650 ✗ break;
651 ✗ case 186: // GNSS2::PosU::E [m]
652 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss2Outputs->posU(1)); }
653 ✗ break;
654 ✗ case 187: // GNSS2::PosU::D [m]
655 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)) { return static_cast<double>(gnss2Outputs->posU(2)); }
656 ✗ break;
657 ✗ case 188: // GNSS2::VelU [m/s]
658 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU)) { return static_cast<double>(gnss2Outputs->velU); }
659 ✗ break;
660 ✗ case 189: // GNSS2::TimeU [s]
661 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU)) { return static_cast<double>(gnss2Outputs->timeU); }
662 ✗ break;
663 ✗ case 190: // GNSS2::TimeInfo::Status::timeOk
664 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss2Outputs->timeInfo.status.timeOk()); }
665 ✗ break;
666 ✗ case 191: // GNSS2::TimeInfo::Status::dateOk
667 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss2Outputs->timeInfo.status.dateOk()); }
668 ✗ break;
669 ✗ case 192: // GNSS2::TimeInfo::Status::utcTimeValid
670 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss2Outputs->timeInfo.status.utcTimeValid()); }
671 ✗ break;
672 ✗ case 193: // GNSS2::TimeInfo::LeapSeconds
673 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)) { return static_cast<double>(gnss2Outputs->timeInfo.leapSeconds); }
674 ✗ break;
675 ✗ case 194: // GNSS2::DOP::g
676 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.gDop); }
677 ✗ break;
678 ✗ case 195: // GNSS2::DOP::p
679 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.pDop); }
680 ✗ break;
681 ✗ case 196: // GNSS2::DOP::t
682 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.tDop); }
683 ✗ break;
684 ✗ case 197: // GNSS2::DOP::v
685 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.vDop); }
686 ✗ break;
687 ✗ case 198: // GNSS2::DOP::h
688 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.hDop); }
689 ✗ break;
690 ✗ case 199: // GNSS2::DOP::n
691 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.nDop); }
692 ✗ break;
693 ✗ case 200: // GNSS2::DOP::e
694 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)) { return static_cast<double>(gnss2Outputs->dop.eDop); }
695 ✗ break;
696 ✗ case 201: // GNSS2::SatInfo::NumSats
697 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO)) { return static_cast<double>(gnss2Outputs->satInfo.numSats); }
698 ✗ break;
699 ✗ case 202: // GNSS2::RawMeas::Tow [s]
700 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return gnss2Outputs->raw.tow; }
701 ✗ break;
702 ✗ case 203: // GNSS2::RawMeas::Week
703 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return static_cast<double>(gnss2Outputs->raw.week); }
704 ✗ break;
705 ✗ case 204: // GNSS2::RawMeas::NumSats
706 ✗ if (gnss2Outputs && (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)) { return static_cast<double>(gnss2Outputs->raw.numSats); }
707 ✗ break;
708 ✗ default:
709 ✗ return std::nullopt;
710 }
711 ✗ return std::nullopt;
712 }
713
714 /// @brief Get the Sat Sys object in "INSTINCT" format
715 /// @param[in, out] sys VectorNav Satellite Constellation
716 /// @return Satellite System in "INSTINCT" format
717 ✗ [[nodiscard]] static SatelliteSystem getSatSys(vendor::vectornav::SatSys& sys)
718 {
719 ✗ return vendor::vectornav::toSatelliteSystem(sys);
720 }
721
722 /// @brief Returns a vector of data descriptors for the dynamic data
723 30 [[nodiscard]] std::vector<std::string> dynamicDataDescriptors() const override
724 {
725 30 std::vector<std::string> descriptors;
726
727 // Group 2 (Time)
728
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 30 if (timeOutputs)
729 {
730
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 30 if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP)
731 {
732
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 30 descriptors.emplace_back("Time::TimeStartup [ns]");
733 }
734
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 30 if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPS)
735 {
736 ✗ descriptors.emplace_back("Time::TimeGps [ns]");
737 }
738
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 30 if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW)
739 {
740
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 30 descriptors.emplace_back("Time::GpsTow [ns]");
741 }
742
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 30 if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK)
743 {
744
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 30 descriptors.emplace_back("Time::GpsWeek");
745 }
746
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 30 if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESYNCIN)
747 {
748 ✗ descriptors.emplace_back("Time::TimeSyncIn [ns]");
749 }
750
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 30 if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPSPPS)
751 {
752 ✗ descriptors.emplace_back("Time::TimeGpsPps [ns]");
753 }
754
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 30 if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)
755 {
756
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 12 descriptors.emplace_back("Time::TimeUTC::year");
757
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 12 descriptors.emplace_back("Time::TimeUTC::month");
758
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 12 descriptors.emplace_back("Time::TimeUTC::day");
759
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 12 descriptors.emplace_back("Time::TimeUTC::hour");
760
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 12 descriptors.emplace_back("Time::TimeUTC::min");
761
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 12 descriptors.emplace_back("Time::TimeUTC::sec");
762
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 12 descriptors.emplace_back("Time::TimeUTC::ms");
763 }
764
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 30 if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCINCNT)
765 {
766 ✗ descriptors.emplace_back("Time::SyncInCnt");
767 }
768
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 30 if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCOUTCNT)
769 {
770 ✗ descriptors.emplace_back("Time::SyncOutCnt");
771 }
772
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 30 if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS)
773 {
774
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 30 descriptors.emplace_back("Time::TimeStatus::timeOk");
775
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 30 descriptors.emplace_back("Time::TimeStatus::dateOk");
776
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 30 descriptors.emplace_back("Time::TimeStatus::utcTimeValid");
777 }
778 }
779 // Group 3 (IMU)
780
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 30 if (imuOutputs)
781 {
782
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 18 if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_IMUSTATUS)
783 {
784 ✗ descriptors.emplace_back("IMU::ImuStatus");
785 }
786
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 18 if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG)
787 {
788
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 18 descriptors.emplace_back("IMU::UncompMag::X [Gauss]");
789
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 18 descriptors.emplace_back("IMU::UncompMag::Y [Gauss]");
790
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 18 descriptors.emplace_back("IMU::UncompMag::Z [Gauss]");
791 }
792
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 18 if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL)
793 {
794
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 18 descriptors.emplace_back("IMU::UncompAccel::X [m/s^2]");
795
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 18 descriptors.emplace_back("IMU::UncompAccel::Y [m/s^2]");
796
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 18 descriptors.emplace_back("IMU::UncompAccel::Z [m/s^2]");
797 }
798
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 18 if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO)
799 {
800
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 18 descriptors.emplace_back("IMU::UncompGyro::X [rad/s]");
801
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 18 descriptors.emplace_back("IMU::UncompGyro::Y [rad/s]");
802
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 18 descriptors.emplace_back("IMU::UncompGyro::Z [rad/s]");
803 }
804
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 18 if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP)
805 {
806
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 18 descriptors.emplace_back("IMU::Temp [Celsius]");
807 }
808
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 18 if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_PRES)
809 {
810
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 18 descriptors.emplace_back("IMU::Pres [kPa]");
811 }
812
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 18 if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)
813 {
814
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 18 descriptors.emplace_back("IMU::DeltaTime [s]");
815
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 18 descriptors.emplace_back("IMU::DeltaTheta::X [deg]");
816
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 18 descriptors.emplace_back("IMU::DeltaTheta::Y [deg]");
817
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 18 descriptors.emplace_back("IMU::DeltaTheta::Z [deg]");
818 }
819
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 18 if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL)
820 {
821
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 18 descriptors.emplace_back("IMU::DeltaVel::X [m/s]");
822
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 18 descriptors.emplace_back("IMU::DeltaVel::Y [m/s]");
823
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 18 descriptors.emplace_back("IMU::DeltaVel::Z [m/s]");
824 }
825
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 18 if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG)
826 {
827
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 18 descriptors.emplace_back("IMU::Mag::X [Gauss]");
828
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 18 descriptors.emplace_back("IMU::Mag::Y [Gauss]");
829
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 18 descriptors.emplace_back("IMU::Mag::Z [Gauss]");
830 }
831
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 18 if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL)
832 {
833
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 18 descriptors.emplace_back("IMU::Accel::X [m/s^2]");
834
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 18 descriptors.emplace_back("IMU::Accel::Y [m/s^2]");
835
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 18 descriptors.emplace_back("IMU::Accel::Z [m/s^2]");
836 }
837
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 18 if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE)
838 {
839
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 18 descriptors.emplace_back("IMU::AngularRate::X [rad/s]");
840
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 18 descriptors.emplace_back("IMU::AngularRate::Y [rad/s]");
841
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 18 descriptors.emplace_back("IMU::AngularRate::Z [rad/s]");
842 }
843 }
844 // Group 4 (GNSS1)
845
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 30 if (gnss1Outputs)
846 {
847
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)
848 {
849
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 12 descriptors.emplace_back("GNSS1::UTC::year");
850
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 12 descriptors.emplace_back("GNSS1::UTC::month");
851
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 12 descriptors.emplace_back("GNSS1::UTC::day");
852
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 12 descriptors.emplace_back("GNSS1::UTC::hour");
853
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 12 descriptors.emplace_back("GNSS1::UTC::min");
854
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 12 descriptors.emplace_back("GNSS1::UTC::sec");
855
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 12 descriptors.emplace_back("GNSS1::UTC::ms");
856 }
857
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW)
858 {
859
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 30 descriptors.emplace_back("GNSS1::Tow [ns]");
860 }
861
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK)
862 {
863
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 30 descriptors.emplace_back("GNSS1::Week");
864 }
865
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS)
866 {
867
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 12 descriptors.emplace_back("GNSS1::NumSats");
868 }
869
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX)
870 {
871
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 12 descriptors.emplace_back("GNSS1::Fix");
872 }
873
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)
874 {
875
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 12 descriptors.emplace_back("GNSS1::PosLla::latitude [deg]");
876
1/2
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 12 descriptors.emplace_back("GNSS1::PosLla::longitude [deg]");
877
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 12 descriptors.emplace_back("GNSS1::PosLla::altitude [m]");
878 }
879
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)
880 {
881
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 12 descriptors.emplace_back("GNSS1::PosEcef::X [m]");
882
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 12 descriptors.emplace_back("GNSS1::PosEcef::Y [m]");
883
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 12 descriptors.emplace_back("GNSS1::PosEcef::Z [m]");
884 }
885
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)
886 {
887
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 12 descriptors.emplace_back("GNSS1::VelNed::N [m/s]");
888
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 12 descriptors.emplace_back("GNSS1::VelNed::E [m/s]");
889
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 12 descriptors.emplace_back("GNSS1::VelNed::D [m/s]");
890 }
891
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)
892 {
893
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 12 descriptors.emplace_back("GNSS1::VelEcef::X [m/s]");
894
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 12 descriptors.emplace_back("GNSS1::VelEcef::Y [m/s]");
895
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 12 descriptors.emplace_back("GNSS1::VelEcef::Z [m/s]");
896 }
897
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)
898 {
899
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 12 descriptors.emplace_back("GNSS1::PosU::N [m]");
900
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 12 descriptors.emplace_back("GNSS1::PosU::E [m]");
901
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 12 descriptors.emplace_back("GNSS1::PosU::D [m]");
902 }
903
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU)
904 {
905
1/2
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 12 descriptors.emplace_back("GNSS1::VelU [m/s]");
906 }
907
3/4
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU)
908 {
909
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 12 descriptors.emplace_back("GNSS1::TimeU [s]");
910 }
911
2/4
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)
912 {
913
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 30 descriptors.emplace_back("GNSS1::TimeInfo::Status::timeOk");
914
1/2
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 30 descriptors.emplace_back("GNSS1::TimeInfo::Status::dateOk");
915
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 30 descriptors.emplace_back("GNSS1::TimeInfo::Status::utcTimeValid");
916
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 30 descriptors.emplace_back("GNSS1::TimeInfo::LeapSeconds");
917 }
918
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)
919 {
920
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 12 descriptors.emplace_back("GNSS1::DOP::g");
921
1/2
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 12 descriptors.emplace_back("GNSS1::DOP::p");
922
1/2
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 12 descriptors.emplace_back("GNSS1::DOP::t");
923
1/2
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 12 descriptors.emplace_back("GNSS1::DOP::v");
924
1/2
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 12 descriptors.emplace_back("GNSS1::DOP::h");
925
1/2
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 12 descriptors.emplace_back("GNSS1::DOP::n");
926
1/2
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 12 descriptors.emplace_back("GNSS1::DOP::e");
927 }
928
2/4
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO)
929 {
930 ✗ descriptors.emplace_back("GNSS1::SatInfo::NumSats");
931 ✗ for (auto& satellite : gnss1Outputs->satInfo.satellites)
932 {
933 ✗ SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId));
934 ✗ descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - flag Healthy", satId));
935 ✗ descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - flag Almanac", satId));
936 ✗ descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - flag Ephemeris", satId));
937 ✗ descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - flag DifferentialCorrection", satId));
938 ✗ descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - flag UsedForNavigation", satId));
939 ✗ descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - flag AzimuthElevationValid", satId));
940 ✗ descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - flag UsedForRTK", satId));
941 ✗ descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - cno", satId));
942 ✗ descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - qi", satId));
943 ✗ descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - el", satId));
944 ✗ descriptors.push_back(fmt::format("GNSS1::SatInfo::{} - az", satId));
945 }
946 }
947
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 30 if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)
948 {
949 ✗ descriptors.emplace_back("GNSS1::RawMeas::Tow [s]");
950 ✗ descriptors.emplace_back("GNSS1::RawMeas::Week");
951 ✗ descriptors.emplace_back("GNSS1::RawMeas::NumSats");
952 ✗ for (auto& satellite : gnss1Outputs->raw.satellites)
953 {
954 ✗ SatSigId satSigId = satellite.toSatSigId();
955 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - freq", satSigId));
956 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - chan", satSigId));
957 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - slot", satSigId));
958 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - cno", satSigId));
959 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag Searching", satSigId));
960 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag Tracking", satSigId));
961 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag TimeValid", satSigId));
962 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag CodeLock", satSigId));
963 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseLock", satSigId));
964 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseHalfAmbiguity", satSigId));
965 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseHalfSub", satSigId));
966 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseSlip", satSigId));
967 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - flag PseudorangeSmoothed", satSigId));
968 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - pr", satSigId));
969 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - cp", satSigId));
970 ✗ descriptors.push_back(fmt::format("GNSS1::RawMeas::{} - dp", satSigId));
971 }
972 }
973 }
974 // Group 5 (Attitude)
975
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 30 if (attitudeOutputs)
976 {
977
2/4
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 30 if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)
978 {
979 ✗ descriptors.emplace_back("Att::VpeStatus::AttitudeQuality");
980 ✗ descriptors.emplace_back("Att::VpeStatus::GyroSaturation");
981 ✗ descriptors.emplace_back("Att::VpeStatus::GyroSaturationRecovery");
982 ✗ descriptors.emplace_back("Att::VpeStatus::MagDisturbance");
983 ✗ descriptors.emplace_back("Att::VpeStatus::MagSaturation");
984 ✗ descriptors.emplace_back("Att::VpeStatus::AccDisturbance");
985 ✗ descriptors.emplace_back("Att::VpeStatus::AccSaturation");
986 ✗ descriptors.emplace_back("Att::VpeStatus::KnownMagDisturbance");
987 ✗ descriptors.emplace_back("Att::VpeStatus::KnownAccelDisturbance");
988 }
989
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 30 if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL)
990 {
991
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 30 descriptors.emplace_back("Att::YawPitchRoll::Y [deg]");
992
1/2
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 30 descriptors.emplace_back("Att::YawPitchRoll::P [deg]");
993
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 30 descriptors.emplace_back("Att::YawPitchRoll::R [deg]");
994 }
995
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 30 if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION)
996 {
997
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 30 descriptors.emplace_back("Att::Quaternion::w");
998
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 30 descriptors.emplace_back("Att::Quaternion::x");
999
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 30 descriptors.emplace_back("Att::Quaternion::y");
1000
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 30 descriptors.emplace_back("Att::Quaternion::z");
1001 }
1002
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 30 if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)
1003 {
1004 ✗ descriptors.emplace_back("Att::DCM::0-0,");
1005 ✗ descriptors.emplace_back("Att::DCM::0-1");
1006 ✗ descriptors.emplace_back("Att::DCM::0-2");
1007 ✗ descriptors.emplace_back("Att::DCM::1-0");
1008 ✗ descriptors.emplace_back("Att::DCM::1-1");
1009 ✗ descriptors.emplace_back("Att::DCM::1-2");
1010 ✗ descriptors.emplace_back("Att::DCM::2-0");
1011 ✗ descriptors.emplace_back("Att::DCM::2-1");
1012 ✗ descriptors.emplace_back("Att::DCM::2-2");
1013 }
1014
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 30 if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED)
1015 {
1016 ✗ descriptors.emplace_back("Att::MagNed::N [Gauss]");
1017 ✗ descriptors.emplace_back("Att::MagNed::E [Gauss]");
1018 ✗ descriptors.emplace_back("Att::MagNed::D [Gauss]");
1019 }
1020
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 30 if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED)
1021 {
1022 ✗ descriptors.emplace_back("Att::AccelNed::N [m/s^2]");
1023 ✗ descriptors.emplace_back("Att::AccelNed::E [m/s^2]");
1024 ✗ descriptors.emplace_back("Att::AccelNed::D [m/s^2]");
1025 }
1026
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 30 if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY)
1027 {
1028 ✗ descriptors.emplace_back("Att::LinearAccelBody::X [m/s^2]");
1029 ✗ descriptors.emplace_back("Att::LinearAccelBody::Y [m/s^2]");
1030 ✗ descriptors.emplace_back("Att::LinearAccelBody::Z [m/s^2]");
1031 }
1032
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 30 if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED)
1033 {
1034 ✗ descriptors.emplace_back("Att::LinearAccelNed::N [m/s^2]");
1035 ✗ descriptors.emplace_back("Att::LinearAccelNed::E [m/s^2]");
1036 ✗ descriptors.emplace_back("Att::LinearAccelNed::D [m/s^2]");
1037 }
1038
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 30 if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU)
1039 {
1040
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 30 descriptors.emplace_back("Att::YprU::Y [deg]");
1041
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 30 descriptors.emplace_back("Att::YprU::P [deg]");
1042
1/2
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 30 descriptors.emplace_back("Att::YprU::R [deg]");
1043 }
1044 }
1045 // Group 6 (INS)
1046
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 30 if (insOutputs)
1047 {
1048
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 12 if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)
1049 {
1050
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 12 descriptors.emplace_back("INS::InsStatus::Mode");
1051
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 12 descriptors.emplace_back("INS::InsStatus::GpsFix");
1052
1/2
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 12 descriptors.emplace_back("INS::InsStatus::Error::IMU");
1053
1/2
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 12 descriptors.emplace_back("INS::InsStatus::Error::MagPres");
1054
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 12 descriptors.emplace_back("INS::InsStatus::Error::GNSS");
1055
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 12 descriptors.emplace_back("INS::InsStatus::GpsHeadingIns");
1056
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 12 descriptors.emplace_back("INS::InsStatus::GpsCompass");
1057 }
1058
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 12 if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA)
1059 {
1060
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 12 descriptors.emplace_back("INS::PosLla::latitude [deg]");
1061
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 12 descriptors.emplace_back("INS::PosLla::longitude [deg]");
1062
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 12 descriptors.emplace_back("INS::PosLla::altitude [m]");
1063 }
1064
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 12 if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF)
1065 {
1066
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 12 descriptors.emplace_back("INS::PosEcef::X [m]");
1067
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 12 descriptors.emplace_back("INS::PosEcef::Y [m]");
1068
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 12 descriptors.emplace_back("INS::PosEcef::Z [m]");
1069 }
1070
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 12 if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY)
1071 {
1072
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 12 descriptors.emplace_back("INS::VelBody::X [m/s]");
1073
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 12 descriptors.emplace_back("INS::VelBody::Y [m/s]");
1074
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 12 descriptors.emplace_back("INS::VelBody::Z [m/s]");
1075 }
1076
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 12 if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED)
1077 {
1078
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 12 descriptors.emplace_back("INS::VelNed::N [m/s]");
1079
1/2
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 12 descriptors.emplace_back("INS::VelNed::E [m/s]");
1080
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 12 descriptors.emplace_back("INS::VelNed::D [m/s]");
1081 }
1082
2/4
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 12 if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF)
1083 {
1084
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 12 descriptors.emplace_back("INS::VelEcef::X [m/s]");
1085
1/2
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 12 descriptors.emplace_back("INS::VelEcef::Y [m/s]");
1086
1/2
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 12 descriptors.emplace_back("INS::VelEcef::Z [m/s]");
1087 }
1088
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 12 if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF)
1089 {
1090
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 12 descriptors.emplace_back("INS::MagEcef::X [Gauss]");
1091
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 12 descriptors.emplace_back("INS::MagEcef::Y [Gauss]");
1092
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 12 descriptors.emplace_back("INS::MagEcef::Z [Gauss]");
1093 }
1094
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 12 if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF)
1095 {
1096
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 12 descriptors.emplace_back("INS::AccelEcef::X [m/s^2]");
1097
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 12 descriptors.emplace_back("INS::AccelEcef::Y [m/s^2]");
1098
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 12 descriptors.emplace_back("INS::AccelEcef::Z [m/s^2]");
1099 }
1100
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 12 if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF)
1101 {
1102
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 12 descriptors.emplace_back("INS::LinearAccelEcef::X [m/s^2]");
1103
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 12 descriptors.emplace_back("INS::LinearAccelEcef::Y [m/s^2]");
1104
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 12 descriptors.emplace_back("INS::LinearAccelEcef::Z [m/s^2]");
1105 }
1106
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 12 if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSU)
1107 {
1108
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 12 descriptors.emplace_back("INS::PosU [m]");
1109 }
1110
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 12 if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELU)
1111 {
1112
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 12 descriptors.emplace_back("INS::VelU [m/s]");
1113 }
1114 }
1115 // Group 7 (GNSS2)
1116
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 30 if (gnss2Outputs)
1117 {
1118
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)
1119 {
1120
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 12 descriptors.emplace_back("GNSS2::UTC::year");
1121
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 12 descriptors.emplace_back("GNSS2::UTC::month");
1122
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 12 descriptors.emplace_back("GNSS2::UTC::day");
1123
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 12 descriptors.emplace_back("GNSS2::UTC::hour");
1124
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 12 descriptors.emplace_back("GNSS2::UTC::min");
1125
1/2
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 12 descriptors.emplace_back("GNSS2::UTC::sec");
1126
1/2
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 12 descriptors.emplace_back("GNSS2::UTC::ms");
1127 }
1128
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW)
1129 {
1130
1/2
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 12 descriptors.emplace_back("GNSS2::Tow [ns]");
1131 }
1132
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK)
1133 {
1134
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 12 descriptors.emplace_back("GNSS2::Week");
1135 }
1136
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS)
1137 {
1138
1/2
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 12 descriptors.emplace_back("GNSS2::NumSats");
1139 }
1140
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX)
1141 {
1142
1/2
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 12 descriptors.emplace_back("GNSS2::Fix");
1143 }
1144
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)
1145 {
1146
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 12 descriptors.emplace_back("GNSS2::PosLla::latitude [deg]");
1147
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 12 descriptors.emplace_back("GNSS2::PosLla::longitude [deg]");
1148
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 12 descriptors.emplace_back("GNSS2::PosLla::altitude [m]");
1149 }
1150
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)
1151 {
1152
1/2
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 12 descriptors.emplace_back("GNSS2::PosEcef::X [m]");
1153
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 12 descriptors.emplace_back("GNSS2::PosEcef::Y [m]");
1154
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 12 descriptors.emplace_back("GNSS2::PosEcef::Z [m]");
1155 }
1156
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)
1157 {
1158
1/2
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 12 descriptors.emplace_back("GNSS2::VelNed::N [m/s]");
1159
1/2
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 12 descriptors.emplace_back("GNSS2::VelNed::E [m/s]");
1160
1/2
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 12 descriptors.emplace_back("GNSS2::VelNed::D [m/s]");
1161 }
1162
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)
1163 {
1164
1/2
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 12 descriptors.emplace_back("GNSS2::VelEcef::X [m/s]");
1165
1/2
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 12 descriptors.emplace_back("GNSS2::VelEcef::Y [m/s]");
1166
1/2
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 12 descriptors.emplace_back("GNSS2::VelEcef::Z [m/s]");
1167 }
1168
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)
1169 {
1170
1/2
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 12 descriptors.emplace_back("GNSS2::PosU::N [m]");
1171
1/2
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 12 descriptors.emplace_back("GNSS2::PosU::E [m]");
1172
1/2
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 12 descriptors.emplace_back("GNSS2::PosU::D [m]");
1173 }
1174
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU)
1175 {
1176
1/2
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 12 descriptors.emplace_back("GNSS2::VelU [m/s]");
1177 }
1178
2/4
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU)
1179 {
1180
1/2
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 12 descriptors.emplace_back("GNSS2::TimeU [s]");
1181 }
1182
2/4
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)
1183 {
1184
1/2
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 12 descriptors.emplace_back("GNSS2::TimeInfo::Status::timeOk");
1185
1/2
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 12 descriptors.emplace_back("GNSS2::TimeInfo::Status::dateOk");
1186
1/2
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 12 descriptors.emplace_back("GNSS2::TimeInfo::Status::utcTimeValid");
1187
1/2
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 12 descriptors.emplace_back("GNSS2::TimeInfo::LeapSeconds");
1188 }
1189
2/4
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)
1190 {
1191
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 12 descriptors.emplace_back("GNSS2::DOP::g");
1192
1/2
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 12 descriptors.emplace_back("GNSS2::DOP::p");
1193
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 12 descriptors.emplace_back("GNSS2::DOP::t");
1194
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 12 descriptors.emplace_back("GNSS2::DOP::v");
1195
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 12 descriptors.emplace_back("GNSS2::DOP::h");
1196
1/2
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 12 descriptors.emplace_back("GNSS2::DOP::n");
1197
1/2
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 12 descriptors.emplace_back("GNSS2::DOP::e");
1198 }
1199
2/4
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO)
1200 {
1201 ✗ descriptors.emplace_back("GNSS2::SatInfo::NumSats");
1202 ✗ for (auto& satellite : gnss2Outputs->satInfo.satellites)
1203 {
1204 ✗ SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId));
1205 ✗ descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - flag Healthy", satId));
1206 ✗ descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - flag Almanac", satId));
1207 ✗ descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - flag Ephemeris", satId));
1208 ✗ descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - flag DifferentialCorrection", satId));
1209 ✗ descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - flag UsedForNavigation", satId));
1210 ✗ descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - flag AzimuthElevationValid", satId));
1211 ✗ descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - flag UsedForRTK", satId));
1212 ✗ descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - cno", satId));
1213 ✗ descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - qi", satId));
1214 ✗ descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - el", satId));
1215 ✗ descriptors.push_back(fmt::format("GNSS2::SatInfo::{} - az", satId));
1216 }
1217 }
1218
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 12 if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)
1219 {
1220 ✗ descriptors.emplace_back("GNSS2::RawMeas::Tow [s]");
1221 ✗ descriptors.emplace_back("GNSS2::RawMeas::Week");
1222 ✗ descriptors.emplace_back("GNSS2::RawMeas::NumSats");
1223 ✗ for (auto& satellite : gnss2Outputs->raw.satellites)
1224 {
1225 ✗ SatSigId satSigId = satellite.toSatSigId();
1226 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - freq", satSigId));
1227 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - chan", satSigId));
1228 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - slot", satSigId));
1229 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - cno", satSigId));
1230 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag Searching", satSigId));
1231 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag Tracking", satSigId));
1232 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag TimeValid", satSigId));
1233 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag CodeLock", satSigId));
1234 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseLock", satSigId));
1235 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseHalfAmbiguity", satSigId));
1236 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseHalfSub", satSigId));
1237 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseSlip", satSigId));
1238 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - flag PseudorangeSmoothed", satSigId));
1239 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - pr", satSigId));
1240 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - cp", satSigId));
1241 ✗ descriptors.push_back(fmt::format("GNSS2::RawMeas::{} - dp", satSigId));
1242 }
1243 }
1244 }
1245
1246 30 return descriptors;
1247 ✗ }
1248
1249 /// @brief Get the value for the descriptor
1250 /// @return Value if in the observation
1251 2489 [[nodiscard]] std::optional<double> getDynamicDataAt(const std::string& descriptor) const override
1252 {
1253 // Group 2 (Time)
1254
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 2489 if (timeOutputs)
1255 {
1256
2/2
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 2489 if (descriptor == "Time::TimeStartup [ns]") { return static_cast<double>(timeOutputs->timeStartup); }
1257
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 2459 if (descriptor == "Time::TimeGps [ns]") { return static_cast<double>(timeOutputs->timeGps); }
1258
2/2
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 2459 if (descriptor == "Time::GpsTow [ns]") { return static_cast<double>(timeOutputs->gpsTow); }
1259
2/2
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 2429 if (descriptor == "Time::GpsWeek") { return static_cast<double>(timeOutputs->gpsWeek); }
1260
1/2
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 2399 if (descriptor == "Time::TimeSyncIn [ns]") { return static_cast<double>(timeOutputs->timeSyncIn); }
1261
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 2400 if (descriptor == "Time::TimeGpsPps [ns]") { return static_cast<double>(timeOutputs->timePPS); }
1262
2/2
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 2398 if (descriptor == "Time::TimeUTC::year") { return static_cast<double>(timeOutputs->timeUtc.year); }
1263
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 2385 if (descriptor == "Time::TimeUTC::month") { return static_cast<double>(timeOutputs->timeUtc.month); }
1264
2/2
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 2375 if (descriptor == "Time::TimeUTC::day") { return static_cast<double>(timeOutputs->timeUtc.day); }
1265
2/2
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 2361 if (descriptor == "Time::TimeUTC::hour") { return static_cast<double>(timeOutputs->timeUtc.hour); }
1266
2/2
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 2349 if (descriptor == "Time::TimeUTC::min") { return static_cast<double>(timeOutputs->timeUtc.min); }
1267
2/2
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 2336 if (descriptor == "Time::TimeUTC::sec") { return static_cast<double>(timeOutputs->timeUtc.sec); }
1268
2/2
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 2327 if (descriptor == "Time::TimeUTC::ms") { return static_cast<double>(timeOutputs->timeUtc.ms); }
1269
1/2
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 2314 if (descriptor == "Time::SyncInCnt") { return static_cast<double>(timeOutputs->syncInCnt); }
1270
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 2316 if (descriptor == "Time::SyncOutCnt") { return static_cast<double>(timeOutputs->syncOutCnt); }
1271
2/2
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 2314 if (descriptor == "Time::TimeStatus::timeOk") { return static_cast<double>(timeOutputs->timeStatus.timeOk()); }
1272
2/2
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 2284 if (descriptor == "Time::TimeStatus::dateOk") { return static_cast<double>(timeOutputs->timeStatus.dateOk()); }
1273
2/2
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 2254 if (descriptor == "Time::TimeStatus::utcTimeValid") { return static_cast<double>(timeOutputs->timeStatus.utcTimeValid()); }
1274 }
1275 // Group 3 (IMU)
1276
2/2
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 2226 if (imuOutputs)
1277 {
1278
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 774 if (descriptor == "IMU::ImuStatus") { return static_cast<double>(imuOutputs->imuStatus); }
1279
3/4
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 774 if (descriptor == "IMU::UncompMag::X [Gauss]") { return static_cast<double>(imuOutputs->uncompMag(0)); }
1280
3/4
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 756 if (descriptor == "IMU::UncompMag::Y [Gauss]") { return static_cast<double>(imuOutputs->uncompMag(1)); }
1281
3/4
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 738 if (descriptor == "IMU::UncompMag::Z [Gauss]") { return static_cast<double>(imuOutputs->uncompMag(2)); }
1282
3/4
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 720 if (descriptor == "IMU::UncompAccel::X [m/s^2]") { return static_cast<double>(imuOutputs->uncompAccel(0)); }
1283
3/4
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 702 if (descriptor == "IMU::UncompAccel::Y [m/s^2]") { return static_cast<double>(imuOutputs->uncompAccel(1)); }
1284
3/4
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 684 if (descriptor == "IMU::UncompAccel::Z [m/s^2]") { return static_cast<double>(imuOutputs->uncompAccel(2)); }
1285
3/4
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 666 if (descriptor == "IMU::UncompGyro::X [rad/s]") { return static_cast<double>(imuOutputs->uncompGyro(0)); }
1286
3/4
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 648 if (descriptor == "IMU::UncompGyro::Y [rad/s]") { return static_cast<double>(imuOutputs->uncompGyro(1)); }
1287
3/4
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 630 if (descriptor == "IMU::UncompGyro::Z [rad/s]") { return static_cast<double>(imuOutputs->uncompGyro(2)); }
1288
2/2
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✓ Branch 2 taken 594 times.
 612 if (descriptor == "IMU::Temp [Celsius]") { return static_cast<double>(imuOutputs->temp); }
1289
2/2
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✓ Branch 2 taken 576 times.
 594 if (descriptor == "IMU::Pres [kPa]") { return static_cast<double>(imuOutputs->pres); }
1290
2/2
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✓ Branch 2 taken 558 times.
 576 if (descriptor == "IMU::DeltaTime [s]") { return static_cast<double>(imuOutputs->deltaTime); }
1291
3/4
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 558 if (descriptor == "IMU::DeltaTheta::X [deg]") { return static_cast<double>(imuOutputs->deltaTheta(0)); }
1292
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 540 if (descriptor == "IMU::DeltaTheta::Y [deg]") { return static_cast<double>(imuOutputs->deltaTheta(1)); }
1293
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 522 if (descriptor == "IMU::DeltaTheta::Z [deg]") { return static_cast<double>(imuOutputs->deltaTheta(2)); }
1294
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 504 if (descriptor == "IMU::DeltaVel::X [m/s]") { return static_cast<double>(imuOutputs->deltaV(0)); }
1295
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 486 if (descriptor == "IMU::DeltaVel::Y [m/s]") { return static_cast<double>(imuOutputs->deltaV(1)); }
1296
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 468 if (descriptor == "IMU::DeltaVel::Z [m/s]") { return static_cast<double>(imuOutputs->deltaV(2)); }
1297
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 450 if (descriptor == "IMU::Mag::X [Gauss]") { return static_cast<double>(imuOutputs->mag(0)); }
1298
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 432 if (descriptor == "IMU::Mag::Y [Gauss]") { return static_cast<double>(imuOutputs->mag(1)); }
1299
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 414 if (descriptor == "IMU::Mag::Z [Gauss]") { return static_cast<double>(imuOutputs->mag(2)); }
1300
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 396 if (descriptor == "IMU::Accel::X [m/s^2]") { return static_cast<double>(imuOutputs->accel(0)); }
1301
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 378 if (descriptor == "IMU::Accel::Y [m/s^2]") { return static_cast<double>(imuOutputs->accel(1)); }
1302
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 360 if (descriptor == "IMU::Accel::Z [m/s^2]") { return static_cast<double>(imuOutputs->accel(2)); }
1303
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 342 if (descriptor == "IMU::AngularRate::X [rad/s]") { return static_cast<double>(imuOutputs->angularRate(0)); }
1304
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 324 if (descriptor == "IMU::AngularRate::Y [rad/s]") { return static_cast<double>(imuOutputs->angularRate(1)); }
1305
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 306 if (descriptor == "IMU::AngularRate::Z [rad/s]") { return static_cast<double>(imuOutputs->angularRate(2)); }
1306 }
1307 // Group 4 (GNSS1)
1308
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 1740 if (gnss1Outputs)
1309 {
1310
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 1740 if (descriptor == "GNSS1::UTC::year") { return static_cast<double>(gnss1Outputs->timeUtc.year); }
1311
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 1727 if (descriptor == "GNSS1::UTC::month") { return static_cast<double>(gnss1Outputs->timeUtc.month); }
1312
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 1715 if (descriptor == "GNSS1::UTC::day") { return static_cast<double>(gnss1Outputs->timeUtc.day); }
1313
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 1704 if (descriptor == "GNSS1::UTC::hour") { return static_cast<double>(gnss1Outputs->timeUtc.hour); }
1314
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 1692 if (descriptor == "GNSS1::UTC::min") { return static_cast<double>(gnss1Outputs->timeUtc.min); }
1315
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 1680 if (descriptor == "GNSS1::UTC::sec") { return static_cast<double>(gnss1Outputs->timeUtc.sec); }
1316
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 1668 if (descriptor == "GNSS1::UTC::ms") { return static_cast<double>(gnss1Outputs->timeUtc.ms); }
1317
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 1656 if (descriptor == "GNSS1::Tow [ns]") { return static_cast<double>(gnss1Outputs->tow); }
1318
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 1626 if (descriptor == "GNSS1::Week") { return static_cast<double>(gnss1Outputs->week); }
1319
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 1596 if (descriptor == "GNSS1::NumSats") { return static_cast<double>(gnss1Outputs->numSats); }
1320
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 1584 if (descriptor == "GNSS1::Fix") { return static_cast<double>(gnss1Outputs->fix); }
1321
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 1571 if (descriptor == "GNSS1::PosLla::latitude [deg]") { return static_cast<double>(gnss1Outputs->posLla(0)); }
1322
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 1559 if (descriptor == "GNSS1::PosLla::longitude [deg]") { return static_cast<double>(gnss1Outputs->posLla(1)); }
1323
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 1547 if (descriptor == "GNSS1::PosLla::altitude [m]") { return static_cast<double>(gnss1Outputs->posLla(2)); }
1324
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 1536 if (descriptor == "GNSS1::PosEcef::X [m]") { return static_cast<double>(gnss1Outputs->posEcef(0)); }
1325
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 1524 if (descriptor == "GNSS1::PosEcef::Y [m]") { return static_cast<double>(gnss1Outputs->posEcef(1)); }
1326
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 1511 if (descriptor == "GNSS1::PosEcef::Z [m]") { return static_cast<double>(gnss1Outputs->posEcef(2)); }
1327
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 1500 if (descriptor == "GNSS1::VelNed::N [m/s]") { return static_cast<double>(gnss1Outputs->velNed(0)); }
1328
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 1487 if (descriptor == "GNSS1::VelNed::E [m/s]") { return static_cast<double>(gnss1Outputs->velNed(1)); }
1329
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 1475 if (descriptor == "GNSS1::VelNed::D [m/s]") { return static_cast<double>(gnss1Outputs->velNed(2)); }
1330
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 1464 if (descriptor == "GNSS1::VelEcef::X [m/s]") { return static_cast<double>(gnss1Outputs->velEcef(0)); }
1331
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 1452 if (descriptor == "GNSS1::VelEcef::Y [m/s]") { return static_cast<double>(gnss1Outputs->velEcef(1)); }
1332
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 1440 if (descriptor == "GNSS1::VelEcef::Z [m/s]") { return static_cast<double>(gnss1Outputs->velEcef(2)); }
1333
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 1428 if (descriptor == "GNSS1::PosU::N [m]") { return static_cast<double>(gnss1Outputs->posU(0)); }
1334
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 1416 if (descriptor == "GNSS1::PosU::E [m]") { return static_cast<double>(gnss1Outputs->posU(1)); }
1335
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 1404 if (descriptor == "GNSS1::PosU::D [m]") { return static_cast<double>(gnss1Outputs->posU(2)); }
1336
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 1392 if (descriptor == "GNSS1::VelU [m/s]") { return static_cast<double>(gnss1Outputs->velU); }
1337
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 1380 if (descriptor == "GNSS1::TimeU [s]") { return static_cast<double>(gnss1Outputs->timeU); }
1338
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 1368 if (descriptor == "GNSS1::TimeInfo::Status::timeOk") { return static_cast<double>(gnss1Outputs->timeInfo.status.timeOk()); }
1339
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 1338 if (descriptor == "GNSS1::TimeInfo::Status::dateOk") { return static_cast<double>(gnss1Outputs->timeInfo.status.dateOk()); }
1340
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 1308 if (descriptor == "GNSS1::TimeInfo::Status::utcTimeValid") { return static_cast<double>(gnss1Outputs->timeInfo.status.utcTimeValid()); }
1341
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 1278 if (descriptor == "GNSS1::TimeInfo::LeapSeconds") { return static_cast<double>(gnss1Outputs->timeInfo.leapSeconds); }
1342
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 1248 if (descriptor == "GNSS1::DOP::g") { return static_cast<double>(gnss1Outputs->dop.gDop); }
1343
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 1235 if (descriptor == "GNSS1::DOP::p") { return static_cast<double>(gnss1Outputs->dop.pDop); }
1344
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 1223 if (descriptor == "GNSS1::DOP::t") { return static_cast<double>(gnss1Outputs->dop.tDop); }
1345
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 1212 if (descriptor == "GNSS1::DOP::v") { return static_cast<double>(gnss1Outputs->dop.vDop); }
1346
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 1200 if (descriptor == "GNSS1::DOP::h") { return static_cast<double>(gnss1Outputs->dop.hDop); }
1347
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 1188 if (descriptor == "GNSS1::DOP::n") { return static_cast<double>(gnss1Outputs->dop.nDop); }
1348
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 1175 if (descriptor == "GNSS1::DOP::e") { return static_cast<double>(gnss1Outputs->dop.eDop); }
1349
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 1163 if (descriptor == "GNSS1::SatInfo::NumSats") { return static_cast<double>(gnss1Outputs->satInfo.numSats); }
1350
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 1163 for (auto& satellite : gnss1Outputs->satInfo.satellites)
1351 {
1352 ✗ SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId));
1353 ✗ if (descriptor == fmt::format("GNSS1::SatInfo::{} - flag Healthy", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Healthy) ? 1 : 0); }
1354 ✗ if (descriptor == fmt::format("GNSS1::SatInfo::{} - flag Almanac", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Almanac) ? 1 : 0); }
1355 ✗ if (descriptor == fmt::format("GNSS1::SatInfo::{} - flag Ephemeris", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Ephemeris) ? 1 : 0); }
1356 ✗ if (descriptor == fmt::format("GNSS1::SatInfo::{} - flag DifferentialCorrection", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::DifferentialCorrection) ? 1 : 0); }
1357 ✗ if (descriptor == fmt::format("GNSS1::SatInfo::{} - flag UsedForNavigation", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForNavigation) ? 1 : 0); }
1358 ✗ if (descriptor == fmt::format("GNSS1::SatInfo::{} - flag AzimuthElevationValid", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::AzimuthElevationValid) ? 1 : 0); }
1359 ✗ if (descriptor == fmt::format("GNSS1::SatInfo::{} - flag UsedForRTK", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForRTK) ? 1 : 0); }
1360 ✗ if (descriptor == fmt::format("GNSS1::SatInfo::{} - cno", satId)) { return static_cast<double>(satellite.cno); }
1361 ✗ if (descriptor == fmt::format("GNSS1::SatInfo::{} - qi", satId)) { return static_cast<double>(satellite.qi); }
1362 ✗ if (descriptor == fmt::format("GNSS1::SatInfo::{} - el", satId)) { return static_cast<double>(satellite.el); }
1363 ✗ if (descriptor == fmt::format("GNSS1::SatInfo::{} - az", satId)) { return static_cast<double>(satellite.az); }
1364 }
1365
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 1163 if (descriptor == "GNSS1::RawMeas::Tow [s]") { return gnss1Outputs->raw.tow; }
1366
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 1162 if (descriptor == "GNSS1::RawMeas::Week") { return static_cast<double>(gnss1Outputs->raw.week); }
1367
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 1162 if (descriptor == "GNSS1::RawMeas::NumSats") { return static_cast<double>(gnss1Outputs->raw.numSats); }
1368
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 1162 for (auto& satellite : gnss1Outputs->raw.satellites)
1369 {
1370 ✗ SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId));
1371 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - freq", satId)) { return static_cast<double>(satellite.freq); }
1372 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - chan", satId)) { return static_cast<double>(satellite.chan); }
1373 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - slot", satId)) { return static_cast<double>(satellite.slot); }
1374 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - cno", satId)) { return static_cast<double>(satellite.cno); }
1375 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag Searching", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Searching) ? 1 : 0); }
1376 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag Tracking", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Tracking) ? 1 : 0); }
1377 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag TimeValid", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::TimeValid) ? 1 : 0); }
1378 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag CodeLock", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::CodeLock) ? 1 : 0); }
1379 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag PhaseLock", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseLock) ? 1 : 0); }
1380 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag PhaseHalfAmbiguity", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfAmbiguity) ? 1 : 0); }
1381 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag PhaseHalfSub", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfSub) ? 1 : 0); }
1382 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag PhaseSlip", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseSlip) ? 1 : 0); }
1383 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - flag PseudorangeSmoothed", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PseudorangeSmoothed) ? 1 : 0); }
1384 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - pr", satId)) { return satellite.pr; }
1385 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - cp", satId)) { return satellite.cp; }
1386 ✗ if (descriptor == fmt::format("GNSS1::RawMeas::{} - dp", satId)) { return static_cast<double>(satellite.dp); }
1387 }
1388 }
1389 // Group 5 (Attitude)
1390
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 1163 if (attitudeOutputs)
1391 {
1392
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 1162 if (descriptor == "Att::VpeStatus::AttitudeQuality") { return static_cast<double>(attitudeOutputs->vpeStatus.attitudeQuality()); }
1393
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 1162 if (descriptor == "Att::VpeStatus::GyroSaturation") { return static_cast<double>(attitudeOutputs->vpeStatus.gyroSaturation()); }
1394
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 1162 if (descriptor == "Att::VpeStatus::GyroSaturationRecovery") { return static_cast<double>(attitudeOutputs->vpeStatus.gyroSaturationRecovery()); }
1395
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 1163 if (descriptor == "Att::VpeStatus::MagDisturbance") { return static_cast<double>(attitudeOutputs->vpeStatus.magDisturbance()); }
1396
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 1163 if (descriptor == "Att::VpeStatus::MagSaturation") { return static_cast<double>(attitudeOutputs->vpeStatus.magSaturation()); }
1397
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 1163 if (descriptor == "Att::VpeStatus::AccDisturbance") { return static_cast<double>(attitudeOutputs->vpeStatus.accDisturbance()); }
1398
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 1163 if (descriptor == "Att::VpeStatus::AccSaturation") { return static_cast<double>(attitudeOutputs->vpeStatus.accSaturation()); }
1399
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 1163 if (descriptor == "Att::VpeStatus::KnownMagDisturbance") { return static_cast<double>(attitudeOutputs->vpeStatus.knownMagDisturbance()); }
1400
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 1163 if (descriptor == "Att::VpeStatus::KnownAccelDisturbance") { return static_cast<double>(attitudeOutputs->vpeStatus.knownAccelDisturbance()); }
1401
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 1163 if (descriptor == "Att::YawPitchRoll::Y [deg]") { return static_cast<double>(attitudeOutputs->ypr(0)); }
1402
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 1133 if (descriptor == "Att::YawPitchRoll::P [deg]") { return static_cast<double>(attitudeOutputs->ypr(1)); }
1403
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 1103 if (descriptor == "Att::YawPitchRoll::R [deg]") { return static_cast<double>(attitudeOutputs->ypr(2)); }
1404
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 1072 if (descriptor == "Att::Quaternion::w") { return static_cast<double>(attitudeOutputs->qtn.w()); }
1405
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 1043 if (descriptor == "Att::Quaternion::x") { return static_cast<double>(attitudeOutputs->qtn.x()); }
1406
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 1014 if (descriptor == "Att::Quaternion::y") { return static_cast<double>(attitudeOutputs->qtn.y()); }
1407
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 984 if (descriptor == "Att::Quaternion::z") { return static_cast<double>(attitudeOutputs->qtn.z()); }
1408
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 953 if (descriptor == "Att::DCM::0-0") { return static_cast<double>(attitudeOutputs->dcm(0, 0)); }
1409
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 954 if (descriptor == "Att::DCM::0-1") { return static_cast<double>(attitudeOutputs->dcm(0, 1)); }
1410
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 954 if (descriptor == "Att::DCM::0-2") { return static_cast<double>(attitudeOutputs->dcm(0, 2)); }
1411
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 954 if (descriptor == "Att::DCM::1-0") { return static_cast<double>(attitudeOutputs->dcm(1, 0)); }
1412
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 954 if (descriptor == "Att::DCM::1-1") { return static_cast<double>(attitudeOutputs->dcm(1, 1)); }
1413
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 954 if (descriptor == "Att::DCM::1-2") { return static_cast<double>(attitudeOutputs->dcm(1, 2)); }
1414
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 954 if (descriptor == "Att::DCM::2-0") { return static_cast<double>(attitudeOutputs->dcm(2, 0)); }
1415
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 954 if (descriptor == "Att::DCM::2-1") { return static_cast<double>(attitudeOutputs->dcm(2, 1)); }
1416
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 954 if (descriptor == "Att::DCM::2-2") { return static_cast<double>(attitudeOutputs->dcm(2, 2)); }
1417
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 954 if (descriptor == "Att::MagNed::N [Gauss]") { return static_cast<double>(attitudeOutputs->magNed(0)); }
1418
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 954 if (descriptor == "Att::MagNed::E [Gauss]") { return static_cast<double>(attitudeOutputs->magNed(1)); }
1419
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 954 if (descriptor == "Att::MagNed::D [Gauss]") { return static_cast<double>(attitudeOutputs->magNed(2)); }
1420
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 954 if (descriptor == "Att::AccelNed::N [m/s^2]") { return static_cast<double>(attitudeOutputs->accelNed(0)); }
1421
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 954 if (descriptor == "Att::AccelNed::E [m/s^2]") { return static_cast<double>(attitudeOutputs->accelNed(1)); }
1422
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 954 if (descriptor == "Att::AccelNed::D [m/s^2]") { return static_cast<double>(attitudeOutputs->accelNed(2)); }
1423
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 954 if (descriptor == "Att::LinearAccelBody::X [m/s^2]") { return static_cast<double>(attitudeOutputs->linearAccelBody(0)); }
1424
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 954 if (descriptor == "Att::LinearAccelBody::Y [m/s^2]") { return static_cast<double>(attitudeOutputs->linearAccelBody(1)); }
1425
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 954 if (descriptor == "Att::LinearAccelBody::Z [m/s^2]") { return static_cast<double>(attitudeOutputs->linearAccelBody(2)); }
1426
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 954 if (descriptor == "Att::LinearAccelNed::N [m/s^2]") { return static_cast<double>(attitudeOutputs->linearAccelNed(0)); }
1427
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 954 if (descriptor == "Att::LinearAccelNed::E [m/s^2]") { return static_cast<double>(attitudeOutputs->linearAccelNed(1)); }
1428
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 954 if (descriptor == "Att::LinearAccelNed::D [m/s^2]") { return static_cast<double>(attitudeOutputs->linearAccelNed(2)); }
1429
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 954 if (descriptor == "Att::YprU::Y [deg]") { return static_cast<double>(attitudeOutputs->yprU(0)); }
1430
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 924 if (descriptor == "Att::YprU::P [deg]") { return static_cast<double>(attitudeOutputs->yprU(1)); }
1431
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 894 if (descriptor == "Att::YprU::R [deg]") { return static_cast<double>(attitudeOutputs->yprU(2)); }
1432 }
1433 // Group 6 (INS)
1434
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 864 if (insOutputs)
1435 {
1436
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 864 if (descriptor == "INS::InsStatus::Mode") { return static_cast<double>(insOutputs->insStatus.mode()); }
1437
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 852 if (descriptor == "INS::InsStatus::GpsFix") { return static_cast<double>(insOutputs->insStatus.gpsFix()); }
1438
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 840 if (descriptor == "INS::InsStatus::Error::IMU") { return static_cast<double>(insOutputs->insStatus.errorIMU()); }
1439
2/2
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 828 if (descriptor == "INS::InsStatus::Error::MagPres") { return static_cast<double>(insOutputs->insStatus.errorMagPres()); }
1440
2/2
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✓ Branch 2 taken 804 times.
 816 if (descriptor == "INS::InsStatus::Error::GNSS") { return static_cast<double>(insOutputs->insStatus.errorGnss()); }
1441
2/2
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 804 if (descriptor == "INS::InsStatus::GpsHeadingIns") { return static_cast<double>(insOutputs->insStatus.gpsHeadingIns()); }
1442
2/2
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 792 if (descriptor == "INS::InsStatus::GpsCompass") { return static_cast<double>(insOutputs->insStatus.gpsCompass()); }
1443
3/4
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 780 if (descriptor == "INS::PosLla::latitude [deg]") { return static_cast<double>(insOutputs->posLla(0)); }
1444
3/4
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 768 if (descriptor == "INS::PosLla::longitude [deg]") { return static_cast<double>(insOutputs->posLla(1)); }
1445
3/4
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 756 if (descriptor == "INS::PosLla::altitude [m]") { return static_cast<double>(insOutputs->posLla(2)); }
1446
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 744 if (descriptor == "INS::PosEcef::X [m]") { return static_cast<double>(insOutputs->posEcef(0)); }
1447
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 732 if (descriptor == "INS::PosEcef::Y [m]") { return static_cast<double>(insOutputs->posEcef(1)); }
1448
3/4
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 720 if (descriptor == "INS::PosEcef::Z [m]") { return static_cast<double>(insOutputs->posEcef(2)); }
1449
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 708 if (descriptor == "INS::VelBody::X [m/s]") { return static_cast<double>(insOutputs->velBody(0)); }
1450
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 696 if (descriptor == "INS::VelBody::Y [m/s]") { return static_cast<double>(insOutputs->velBody(1)); }
1451
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 684 if (descriptor == "INS::VelBody::Z [m/s]") { return static_cast<double>(insOutputs->velBody(2)); }
1452
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 672 if (descriptor == "INS::VelNed::N [m/s]") { return static_cast<double>(insOutputs->velNed(0)); }
1453
3/4
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 660 if (descriptor == "INS::VelNed::E [m/s]") { return static_cast<double>(insOutputs->velNed(1)); }
1454
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 648 if (descriptor == "INS::VelNed::D [m/s]") { return static_cast<double>(insOutputs->velNed(2)); }
1455
3/4
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 636 if (descriptor == "INS::VelEcef::X [m/s]") { return static_cast<double>(insOutputs->velEcef(0)); }
1456
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 624 if (descriptor == "INS::VelEcef::Y [m/s]") { return static_cast<double>(insOutputs->velEcef(1)); }
1457
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 612 if (descriptor == "INS::VelEcef::Z [m/s]") { return static_cast<double>(insOutputs->velEcef(2)); }
1458
3/4
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 600 if (descriptor == "INS::MagEcef::X [Gauss]") { return static_cast<double>(insOutputs->magEcef(0)); }
1459
3/4
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 588 if (descriptor == "INS::MagEcef::Y [Gauss]") { return static_cast<double>(insOutputs->magEcef(1)); }
1460
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 576 if (descriptor == "INS::MagEcef::Z [Gauss]") { return static_cast<double>(insOutputs->magEcef(2)); }
1461
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 564 if (descriptor == "INS::AccelEcef::X [m/s^2]") { return static_cast<double>(insOutputs->accelEcef(0)); }
1462
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 552 if (descriptor == "INS::AccelEcef::Y [m/s^2]") { return static_cast<double>(insOutputs->accelEcef(1)); }
1463
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 540 if (descriptor == "INS::AccelEcef::Z [m/s^2]") { return static_cast<double>(insOutputs->accelEcef(2)); }
1464
3/4
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 528 if (descriptor == "INS::LinearAccelEcef::X [m/s^2]") { return static_cast<double>(insOutputs->linearAccelEcef(0)); }
1465
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 516 if (descriptor == "INS::LinearAccelEcef::Y [m/s^2]") { return static_cast<double>(insOutputs->linearAccelEcef(1)); }
1466
3/4
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 504 if (descriptor == "INS::LinearAccelEcef::Z [m/s^2]") { return static_cast<double>(insOutputs->linearAccelEcef(2)); }
1467
2/2
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 492 if (descriptor == "INS::PosU [m]") { return static_cast<double>(insOutputs->posU); }
1468
2/2
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 480 if (descriptor == "INS::VelU [m/s]") { return static_cast<double>(insOutputs->velU); }
1469 }
1470 // Group 7 (GNSS2)
1471
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 468 if (gnss2Outputs)
1472 {
1473
2/2
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 468 if (descriptor == "GNSS2::UTC::year") { return static_cast<double>(gnss2Outputs->timeUtc.year); }
1474
2/2
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 456 if (descriptor == "GNSS2::UTC::month") { return static_cast<double>(gnss2Outputs->timeUtc.month); }
1475
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 444 if (descriptor == "GNSS2::UTC::day") { return static_cast<double>(gnss2Outputs->timeUtc.day); }
1476
2/2
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 432 if (descriptor == "GNSS2::UTC::hour") { return static_cast<double>(gnss2Outputs->timeUtc.hour); }
1477
2/2
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✓ Branch 2 taken 408 times.
 420 if (descriptor == "GNSS2::UTC::min") { return static_cast<double>(gnss2Outputs->timeUtc.min); }
1478
2/2
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✓ Branch 2 taken 396 times.
 408 if (descriptor == "GNSS2::UTC::sec") { return static_cast<double>(gnss2Outputs->timeUtc.sec); }
1479
2/2
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✓ Branch 2 taken 384 times.
 396 if (descriptor == "GNSS2::UTC::ms") { return static_cast<double>(gnss2Outputs->timeUtc.ms); }
1480
2/2
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✓ Branch 2 taken 372 times.
 384 if (descriptor == "GNSS2::Tow [ns]") { return static_cast<double>(gnss2Outputs->tow); }
1481
2/2
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✓ Branch 2 taken 360 times.
 372 if (descriptor == "GNSS2::Week") { return static_cast<double>(gnss2Outputs->week); }
1482
2/2
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✓ Branch 2 taken 348 times.
 360 if (descriptor == "GNSS2::NumSats") { return static_cast<double>(gnss2Outputs->numSats); }
1483
2/2
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✓ Branch 2 taken 336 times.
 348 if (descriptor == "GNSS2::Fix") { return static_cast<double>(gnss2Outputs->fix); }
1484
3/4
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✓ Branch 2 taken 324 times.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
 336 if (descriptor == "GNSS2::PosLla::latitude [deg]") { return static_cast<double>(gnss2Outputs->posLla(0)); }
1485
3/4
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✓ Branch 5 taken 12 times.
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 324 if (descriptor == "GNSS2::PosLla::longitude [deg]") { return static_cast<double>(gnss2Outputs->posLla(1)); }
1486
3/4
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✓ Branch 2 taken 300 times.
✓ Branch 5 taken 12 times.
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 312 if (descriptor == "GNSS2::PosLla::altitude [m]") { return static_cast<double>(gnss2Outputs->posLla(2)); }
1487
3/4
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✓ Branch 5 taken 12 times.
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 300 if (descriptor == "GNSS2::PosEcef::X [m]") { return static_cast<double>(gnss2Outputs->posEcef(0)); }
1488
3/4
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✓ Branch 5 taken 12 times.
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 288 if (descriptor == "GNSS2::PosEcef::Y [m]") { return static_cast<double>(gnss2Outputs->posEcef(1)); }
1489
3/4
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✓ Branch 5 taken 12 times.
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 276 if (descriptor == "GNSS2::PosEcef::Z [m]") { return static_cast<double>(gnss2Outputs->posEcef(2)); }
1490
3/4
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✓ Branch 5 taken 12 times.
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 264 if (descriptor == "GNSS2::VelNed::N [m/s]") { return static_cast<double>(gnss2Outputs->velNed(0)); }
1491
3/4
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 252 if (descriptor == "GNSS2::VelNed::E [m/s]") { return static_cast<double>(gnss2Outputs->velNed(1)); }
1492
3/4
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 240 if (descriptor == "GNSS2::VelNed::D [m/s]") { return static_cast<double>(gnss2Outputs->velNed(2)); }
1493
3/4
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✓ Branch 5 taken 12 times.
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 228 if (descriptor == "GNSS2::VelEcef::X [m/s]") { return static_cast<double>(gnss2Outputs->velEcef(0)); }
1494
3/4
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 216 if (descriptor == "GNSS2::VelEcef::Y [m/s]") { return static_cast<double>(gnss2Outputs->velEcef(1)); }
1495
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 204 if (descriptor == "GNSS2::VelEcef::Z [m/s]") { return static_cast<double>(gnss2Outputs->velEcef(2)); }
1496
3/4
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 192 if (descriptor == "GNSS2::PosU::N [m]") { return static_cast<double>(gnss2Outputs->posU(0)); }
1497
3/4
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✓ Branch 5 taken 12 times.
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 180 if (descriptor == "GNSS2::PosU::E [m]") { return static_cast<double>(gnss2Outputs->posU(1)); }
1498
3/4
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✓ Branch 5 taken 12 times.
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 168 if (descriptor == "GNSS2::PosU::D [m]") { return static_cast<double>(gnss2Outputs->posU(2)); }
1499
2/2
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✓ Branch 2 taken 144 times.
 156 if (descriptor == "GNSS2::VelU [m/s]") { return static_cast<double>(gnss2Outputs->velU); }
1500
2/2
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✓ Branch 2 taken 132 times.
 144 if (descriptor == "GNSS2::TimeU [s]") { return static_cast<double>(gnss2Outputs->timeU); }
1501
2/2
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✓ Branch 2 taken 120 times.
 132 if (descriptor == "GNSS2::TimeInfo::Status::timeOk") { return static_cast<double>(gnss2Outputs->timeInfo.status.timeOk()); }
1502
2/2
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✓ Branch 2 taken 108 times.
 120 if (descriptor == "GNSS2::TimeInfo::Status::dateOk") { return static_cast<double>(gnss2Outputs->timeInfo.status.dateOk()); }
1503
2/2
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✓ Branch 2 taken 96 times.
 108 if (descriptor == "GNSS2::TimeInfo::Status::utcTimeValid") { return static_cast<double>(gnss2Outputs->timeInfo.status.utcTimeValid()); }
1504
2/2
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 96 if (descriptor == "GNSS2::TimeInfo::LeapSeconds") { return static_cast<double>(gnss2Outputs->timeInfo.leapSeconds); }
1505
2/2
✓ Branch 1 taken 12 times.
✓ Branch 2 taken 72 times.
 84 if (descriptor == "GNSS2::DOP::g") { return static_cast<double>(gnss2Outputs->dop.gDop); }
1506
2/2
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✓ Branch 2 taken 60 times.
 72 if (descriptor == "GNSS2::DOP::p") { return static_cast<double>(gnss2Outputs->dop.pDop); }
1507
2/2
✓ Branch 1 taken 12 times.
✓ Branch 2 taken 48 times.
 60 if (descriptor == "GNSS2::DOP::t") { return static_cast<double>(gnss2Outputs->dop.tDop); }
1508
2/2
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✓ Branch 2 taken 36 times.
 48 if (descriptor == "GNSS2::DOP::v") { return static_cast<double>(gnss2Outputs->dop.vDop); }
1509
2/2
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✓ Branch 2 taken 24 times.
 36 if (descriptor == "GNSS2::DOP::h") { return static_cast<double>(gnss2Outputs->dop.hDop); }
1510
2/2
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✓ Branch 2 taken 12 times.
 24 if (descriptor == "GNSS2::DOP::n") { return static_cast<double>(gnss2Outputs->dop.nDop); }
1511
1/2
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✗ Branch 2 not taken.
 12 if (descriptor == "GNSS2::DOP::e") { return static_cast<double>(gnss2Outputs->dop.eDop); }
1512 ✗ if (descriptor == "GNSS2::SatInfo::NumSats") { return static_cast<double>(gnss2Outputs->satInfo.numSats); }
1513 ✗ for (auto& satellite : gnss2Outputs->satInfo.satellites)
1514 {
1515 ✗ SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId));
1516 ✗ if (descriptor == fmt::format("GNSS2::SatInfo::{} - flag Healthy", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Healthy) ? 1 : 0); }
1517 ✗ if (descriptor == fmt::format("GNSS2::SatInfo::{} - flag Almanac", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Almanac) ? 1 : 0); }
1518 ✗ if (descriptor == fmt::format("GNSS2::SatInfo::{} - flag Ephemeris", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Ephemeris) ? 1 : 0); }
1519 ✗ if (descriptor == fmt::format("GNSS2::SatInfo::{} - flag DifferentialCorrection", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::DifferentialCorrection) ? 1 : 0); }
1520 ✗ if (descriptor == fmt::format("GNSS2::SatInfo::{} - flag UsedForNavigation", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForNavigation) ? 1 : 0); }
1521 ✗ if (descriptor == fmt::format("GNSS2::SatInfo::{} - flag AzimuthElevationValid", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::AzimuthElevationValid) ? 1 : 0); }
1522 ✗ if (descriptor == fmt::format("GNSS2::SatInfo::{} - flag UsedForRTK", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForRTK) ? 1 : 0); }
1523 ✗ if (descriptor == fmt::format("GNSS2::SatInfo::{} - cno", satId)) { return static_cast<double>(satellite.cno); }
1524 ✗ if (descriptor == fmt::format("GNSS2::SatInfo::{} - qi", satId)) { return static_cast<double>(satellite.qi); }
1525 ✗ if (descriptor == fmt::format("GNSS2::SatInfo::{} - el", satId)) { return static_cast<double>(satellite.el); }
1526 ✗ if (descriptor == fmt::format("GNSS2::SatInfo::{} - az", satId)) { return static_cast<double>(satellite.az); }
1527 }
1528 ✗ if (descriptor == "GNSS2::RawMeas::Tow [s]") { return gnss2Outputs->raw.tow; }
1529 ✗ if (descriptor == "GNSS2::RawMeas::Week") { return static_cast<double>(gnss2Outputs->raw.week); }
1530 ✗ if (descriptor == "GNSS2::RawMeas::NumSats") { return static_cast<double>(gnss2Outputs->raw.numSats); }
1531 ✗ for (auto& satellite : gnss2Outputs->raw.satellites)
1532 {
1533 ✗ SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId));
1534 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - freq", satId)) { return static_cast<double>(satellite.freq); }
1535 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - chan", satId)) { return static_cast<double>(satellite.chan); }
1536 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - slot", satId)) { return static_cast<double>(satellite.slot); }
1537 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - cno", satId)) { return static_cast<double>(satellite.cno); }
1538 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag Searching", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Searching) ? 1 : 0); }
1539 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag Tracking", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Tracking) ? 1 : 0); }
1540 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag TimeValid", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::TimeValid) ? 1 : 0); }
1541 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag CodeLock", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::CodeLock) ? 1 : 0); }
1542 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag PhaseLock", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseLock) ? 1 : 0); }
1543 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag PhaseHalfAmbiguity", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfAmbiguity) ? 1 : 0); }
1544 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag PhaseHalfSub", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfSub) ? 1 : 0); }
1545 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag PhaseSlip", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseSlip) ? 1 : 0); }
1546 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - flag PseudorangeSmoothed", satId)) { return static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PseudorangeSmoothed) ? 1 : 0); }
1547 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - pr", satId)) { return satellite.pr; }
1548 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - cp", satId)) { return satellite.cp; }
1549 ✗ if (descriptor == fmt::format("GNSS2::RawMeas::{} - dp", satId)) { return static_cast<double>(satellite.dp); }
1550 }
1551 }
1552
1553 ✗ return std::nullopt;
1554 }
1555
1556 /// @brief Returns a vector of data descriptors and values for the dynamic data
1557 ✗ [[nodiscard]] std::vector<std::pair<std::string, double>> getDynamicData() const override
1558 {
1559 ✗ std::vector<std::pair<std::string, double>> dynData;
1560
1561 // Group 2 (Time)
1562 ✗ if (timeOutputs)
1563 {
1564 ✗ if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP)
1565 {
1566 ✗ dynData.emplace_back("Time::TimeStartup [ns]", static_cast<double>(timeOutputs->timeStartup));
1567 }
1568 ✗ if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPS)
1569 {
1570 ✗ dynData.emplace_back("Time::TimeGps [ns]", static_cast<double>(timeOutputs->timeGps));
1571 }
1572 ✗ if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW)
1573 {
1574 ✗ dynData.emplace_back("Time::GpsTow [ns]", static_cast<double>(timeOutputs->gpsTow));
1575 }
1576 ✗ if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK)
1577 {
1578 ✗ dynData.emplace_back("Time::GpsWeek", static_cast<double>(timeOutputs->gpsWeek));
1579 }
1580 ✗ if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESYNCIN)
1581 {
1582 ✗ dynData.emplace_back("Time::TimeSyncIn [ns]", static_cast<double>(timeOutputs->timeSyncIn));
1583 }
1584 ✗ if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPSPPS)
1585 {
1586 ✗ dynData.emplace_back("Time::TimeGpsPps [ns]", static_cast<double>(timeOutputs->timePPS));
1587 }
1588 ✗ if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)
1589 {
1590 ✗ dynData.emplace_back("Time::TimeUTC::year", static_cast<double>(timeOutputs->timeUtc.year));
1591 ✗ dynData.emplace_back("Time::TimeUTC::month", static_cast<double>(timeOutputs->timeUtc.month));
1592 ✗ dynData.emplace_back("Time::TimeUTC::day", static_cast<double>(timeOutputs->timeUtc.day));
1593 ✗ dynData.emplace_back("Time::TimeUTC::hour", static_cast<double>(timeOutputs->timeUtc.hour));
1594 ✗ dynData.emplace_back("Time::TimeUTC::min", static_cast<double>(timeOutputs->timeUtc.min));
1595 ✗ dynData.emplace_back("Time::TimeUTC::sec", static_cast<double>(timeOutputs->timeUtc.sec));
1596 ✗ dynData.emplace_back("Time::TimeUTC::ms", static_cast<double>(timeOutputs->timeUtc.ms));
1597 }
1598 ✗ if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCINCNT)
1599 {
1600 ✗ dynData.emplace_back("Time::SyncInCnt", static_cast<double>(timeOutputs->syncInCnt));
1601 }
1602 ✗ if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCOUTCNT)
1603 {
1604 ✗ dynData.emplace_back("Time::SyncOutCnt", static_cast<double>(timeOutputs->syncOutCnt));
1605 }
1606 ✗ if (timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS)
1607 {
1608 ✗ dynData.emplace_back("Time::TimeStatus::timeOk", static_cast<double>(timeOutputs->timeStatus.timeOk()));
1609 ✗ dynData.emplace_back("Time::TimeStatus::dateOk", static_cast<double>(timeOutputs->timeStatus.dateOk()));
1610 ✗ dynData.emplace_back("Time::TimeStatus::utcTimeValid", static_cast<double>(timeOutputs->timeStatus.utcTimeValid()));
1611 }
1612 }
1613 // Group 3 (IMU)
1614 ✗ if (imuOutputs)
1615 {
1616 ✗ if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_IMUSTATUS)
1617 {
1618 ✗ dynData.emplace_back("IMU::ImuStatus", static_cast<double>(imuOutputs->imuStatus));
1619 }
1620 ✗ if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG)
1621 {
1622 ✗ dynData.emplace_back("IMU::UncompMag::X [Gauss]", static_cast<double>(imuOutputs->uncompMag(0)));
1623 ✗ dynData.emplace_back("IMU::UncompMag::Y [Gauss]", static_cast<double>(imuOutputs->uncompMag(1)));
1624 ✗ dynData.emplace_back("IMU::UncompMag::Z [Gauss]", static_cast<double>(imuOutputs->uncompMag(2)));
1625 }
1626 ✗ if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL)
1627 {
1628 ✗ dynData.emplace_back("IMU::UncompAccel::X [m/s^2]", static_cast<double>(imuOutputs->uncompAccel(0)));
1629 ✗ dynData.emplace_back("IMU::UncompAccel::Y [m/s^2]", static_cast<double>(imuOutputs->uncompAccel(1)));
1630 ✗ dynData.emplace_back("IMU::UncompAccel::Z [m/s^2]", static_cast<double>(imuOutputs->uncompAccel(2)));
1631 }
1632 ✗ if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO)
1633 {
1634 ✗ dynData.emplace_back("IMU::UncompGyro::X [rad/s]", static_cast<double>(imuOutputs->uncompGyro(0)));
1635 ✗ dynData.emplace_back("IMU::UncompGyro::Y [rad/s]", static_cast<double>(imuOutputs->uncompGyro(1)));
1636 ✗ dynData.emplace_back("IMU::UncompGyro::Z [rad/s]", static_cast<double>(imuOutputs->uncompGyro(2)));
1637 }
1638 ✗ if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP)
1639 {
1640 ✗ dynData.emplace_back("IMU::Temp [Celsius]", static_cast<double>(imuOutputs->temp));
1641 }
1642 ✗ if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_PRES)
1643 {
1644 ✗ dynData.emplace_back("IMU::Pres [kPa]", static_cast<double>(imuOutputs->pres));
1645 }
1646 ✗ if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)
1647 {
1648 ✗ dynData.emplace_back("IMU::DeltaTime [s]", static_cast<double>(imuOutputs->deltaTime));
1649 ✗ dynData.emplace_back("IMU::DeltaTheta::X [deg]", static_cast<double>(imuOutputs->deltaTheta(0)));
1650 ✗ dynData.emplace_back("IMU::DeltaTheta::Y [deg]", static_cast<double>(imuOutputs->deltaTheta(1)));
1651 ✗ dynData.emplace_back("IMU::DeltaTheta::Z [deg]", static_cast<double>(imuOutputs->deltaTheta(2)));
1652 }
1653 ✗ if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL)
1654 {
1655 ✗ dynData.emplace_back("IMU::DeltaVel::X [m/s]", static_cast<double>(imuOutputs->deltaV(0)));
1656 ✗ dynData.emplace_back("IMU::DeltaVel::Y [m/s]", static_cast<double>(imuOutputs->deltaV(1)));
1657 ✗ dynData.emplace_back("IMU::DeltaVel::Z [m/s]", static_cast<double>(imuOutputs->deltaV(2)));
1658 }
1659 ✗ if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG)
1660 {
1661 ✗ dynData.emplace_back("IMU::Mag::X [Gauss]", static_cast<double>(imuOutputs->mag(0)));
1662 ✗ dynData.emplace_back("IMU::Mag::Y [Gauss]", static_cast<double>(imuOutputs->mag(1)));
1663 ✗ dynData.emplace_back("IMU::Mag::Z [Gauss]", static_cast<double>(imuOutputs->mag(2)));
1664 }
1665 ✗ if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL)
1666 {
1667 ✗ dynData.emplace_back("IMU::Accel::X [m/s^2]", static_cast<double>(imuOutputs->accel(0)));
1668 ✗ dynData.emplace_back("IMU::Accel::Y [m/s^2]", static_cast<double>(imuOutputs->accel(1)));
1669 ✗ dynData.emplace_back("IMU::Accel::Z [m/s^2]", static_cast<double>(imuOutputs->accel(2)));
1670 }
1671 ✗ if (imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE)
1672 {
1673 ✗ dynData.emplace_back("IMU::AngularRate::X [rad/s]", static_cast<double>(imuOutputs->angularRate(0)));
1674 ✗ dynData.emplace_back("IMU::AngularRate::Y [rad/s]", static_cast<double>(imuOutputs->angularRate(1)));
1675 ✗ dynData.emplace_back("IMU::AngularRate::Z [rad/s]", static_cast<double>(imuOutputs->angularRate(2)));
1676 }
1677 }
1678
1679 // Group 4 (GNSS1)
1680 ✗ if (gnss1Outputs)
1681 {
1682 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)
1683 {
1684 ✗ dynData.emplace_back("GNSS1::UTC::year", static_cast<double>(gnss1Outputs->timeUtc.year));
1685 ✗ dynData.emplace_back("GNSS1::UTC::month", static_cast<double>(gnss1Outputs->timeUtc.month));
1686 ✗ dynData.emplace_back("GNSS1::UTC::day", static_cast<double>(gnss1Outputs->timeUtc.day));
1687 ✗ dynData.emplace_back("GNSS1::UTC::hour", static_cast<double>(gnss1Outputs->timeUtc.hour));
1688 ✗ dynData.emplace_back("GNSS1::UTC::min", static_cast<double>(gnss1Outputs->timeUtc.min));
1689 ✗ dynData.emplace_back("GNSS1::UTC::sec", static_cast<double>(gnss1Outputs->timeUtc.sec));
1690 ✗ dynData.emplace_back("GNSS1::UTC::ms", static_cast<double>(gnss1Outputs->timeUtc.ms));
1691 }
1692 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW)
1693 {
1694 ✗ dynData.emplace_back("GNSS1::Tow [ns]", static_cast<double>(gnss1Outputs->tow));
1695 }
1696 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK)
1697 {
1698 ✗ dynData.emplace_back("GNSS1::Week", static_cast<double>(gnss1Outputs->week));
1699 }
1700 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS)
1701 {
1702 ✗ dynData.emplace_back("GNSS1::NumSats", static_cast<double>(gnss1Outputs->numSats));
1703 }
1704 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX)
1705 {
1706 ✗ dynData.emplace_back("GNSS1::Fix", static_cast<double>(gnss1Outputs->fix));
1707 }
1708 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)
1709 {
1710 ✗ dynData.emplace_back("GNSS1::PosLla::latitude [deg]", static_cast<double>(gnss1Outputs->posLla(0)));
1711 ✗ dynData.emplace_back("GNSS1::PosLla::longitude [deg]", static_cast<double>(gnss1Outputs->posLla(1)));
1712 ✗ dynData.emplace_back("GNSS1::PosLla::altitude [m]", static_cast<double>(gnss1Outputs->posLla(2)));
1713 }
1714 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)
1715 {
1716 ✗ dynData.emplace_back("GNSS1::PosEcef::X [m]", static_cast<double>(gnss1Outputs->posEcef(0)));
1717 ✗ dynData.emplace_back("GNSS1::PosEcef::Y [m]", static_cast<double>(gnss1Outputs->posEcef(1)));
1718 ✗ dynData.emplace_back("GNSS1::PosEcef::Z [m]", static_cast<double>(gnss1Outputs->posEcef(2)));
1719 }
1720 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)
1721 {
1722 ✗ dynData.emplace_back("GNSS1::VelNed::N [m/s]", static_cast<double>(gnss1Outputs->velNed(0)));
1723 ✗ dynData.emplace_back("GNSS1::VelNed::E [m/s]", static_cast<double>(gnss1Outputs->velNed(1)));
1724 ✗ dynData.emplace_back("GNSS1::VelNed::D [m/s]", static_cast<double>(gnss1Outputs->velNed(2)));
1725 }
1726 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)
1727 {
1728 ✗ dynData.emplace_back("GNSS1::VelEcef::X [m/s]", static_cast<double>(gnss1Outputs->velEcef(0)));
1729 ✗ dynData.emplace_back("GNSS1::VelEcef::Y [m/s]", static_cast<double>(gnss1Outputs->velEcef(1)));
1730 ✗ dynData.emplace_back("GNSS1::VelEcef::Z [m/s]", static_cast<double>(gnss1Outputs->velEcef(2)));
1731 }
1732 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)
1733 {
1734 ✗ dynData.emplace_back("GNSS1::PosU::N [m]", static_cast<double>(gnss1Outputs->posU(0)));
1735 ✗ dynData.emplace_back("GNSS1::PosU::E [m]", static_cast<double>(gnss1Outputs->posU(1)));
1736 ✗ dynData.emplace_back("GNSS1::PosU::D [m]", static_cast<double>(gnss1Outputs->posU(2)));
1737 }
1738 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU)
1739 {
1740 ✗ dynData.emplace_back("GNSS1::VelU [m/s]", static_cast<double>(gnss1Outputs->velU));
1741 }
1742 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU)
1743 {
1744 ✗ dynData.emplace_back("GNSS1::TimeU [s]", static_cast<double>(gnss1Outputs->timeU));
1745 }
1746 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)
1747 {
1748 ✗ dynData.emplace_back("GNSS1::TimeInfo::Status::timeOk", static_cast<double>(gnss1Outputs->timeInfo.status.timeOk()));
1749 ✗ dynData.emplace_back("GNSS1::TimeInfo::Status::dateOk", static_cast<double>(gnss1Outputs->timeInfo.status.dateOk()));
1750 ✗ dynData.emplace_back("GNSS1::TimeInfo::Status::utcTimeValid", static_cast<double>(gnss1Outputs->timeInfo.status.utcTimeValid()));
1751 ✗ dynData.emplace_back("GNSS1::TimeInfo::LeapSeconds", static_cast<double>(gnss1Outputs->timeInfo.leapSeconds));
1752 }
1753 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)
1754 {
1755 ✗ dynData.emplace_back("GNSS1::DOP::g", static_cast<double>(gnss1Outputs->dop.gDop));
1756 ✗ dynData.emplace_back("GNSS1::DOP::p", static_cast<double>(gnss1Outputs->dop.pDop));
1757 ✗ dynData.emplace_back("GNSS1::DOP::t", static_cast<double>(gnss1Outputs->dop.tDop));
1758 ✗ dynData.emplace_back("GNSS1::DOP::v", static_cast<double>(gnss1Outputs->dop.vDop));
1759 ✗ dynData.emplace_back("GNSS1::DOP::h", static_cast<double>(gnss1Outputs->dop.hDop));
1760 ✗ dynData.emplace_back("GNSS1::DOP::n", static_cast<double>(gnss1Outputs->dop.nDop));
1761 ✗ dynData.emplace_back("GNSS1::DOP::e", static_cast<double>(gnss1Outputs->dop.eDop));
1762 }
1763 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO)
1764 {
1765 ✗ dynData.emplace_back("GNSS1::SatInfo::NumSats", static_cast<double>(gnss1Outputs->satInfo.numSats));
1766 ✗ for (auto& satellite : gnss1Outputs->satInfo.satellites)
1767 {
1768 ✗ SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId));
1769 ✗ dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - flag Healthy", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Healthy) ? 1 : 0));
1770 ✗ dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - flag Almanac", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Almanac) ? 1 : 0));
1771 ✗ dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - flag Ephemeris", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Ephemeris) ? 1 : 0));
1772 ✗ dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - flag DifferentialCorrection", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::DifferentialCorrection) ? 1 : 0));
1773 ✗ dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - flag UsedForNavigation", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForNavigation) ? 1 : 0));
1774 ✗ dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - flag AzimuthElevationValid", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::AzimuthElevationValid) ? 1 : 0));
1775 ✗ dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - flag UsedForRTK", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForRTK) ? 1 : 0));
1776 ✗ dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - cno", satId), static_cast<double>(satellite.cno));
1777 ✗ dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - qi", satId), static_cast<double>(satellite.qi));
1778 ✗ dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - el", satId), static_cast<double>(satellite.el));
1779 ✗ dynData.emplace_back(fmt::format("GNSS1::SatInfo::{} - az", satId), static_cast<double>(satellite.az));
1780 }
1781 }
1782 ✗ if (gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)
1783 {
1784 ✗ dynData.emplace_back("GNSS1::RawMeas::Tow [s]", gnss1Outputs->raw.tow);
1785 ✗ dynData.emplace_back("GNSS1::RawMeas::Week", static_cast<double>(gnss1Outputs->raw.week));
1786 ✗ dynData.emplace_back("GNSS1::RawMeas::NumSats", static_cast<double>(gnss1Outputs->raw.numSats));
1787 ✗ for (auto& satellite : gnss1Outputs->raw.satellites)
1788 {
1789 ✗ SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId));
1790 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - freq", satId), static_cast<double>(satellite.freq));
1791 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - chan", satId), static_cast<double>(satellite.chan));
1792 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - slot", satId), static_cast<double>(satellite.slot));
1793 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - cno", satId), static_cast<double>(satellite.cno));
1794 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag Searching", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Searching) ? 1 : 0));
1795 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag Tracking", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Tracking) ? 1 : 0));
1796 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag TimeValid", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::TimeValid) ? 1 : 0));
1797 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag CodeLock", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::CodeLock) ? 1 : 0));
1798 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseLock", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseLock) ? 1 : 0));
1799 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseHalfAmbiguity", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfAmbiguity) ? 1 : 0));
1800 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseHalfSub", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfSub) ? 1 : 0));
1801 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag PhaseSlip", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseSlip) ? 1 : 0));
1802 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - flag PseudorangeSmoothed", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PseudorangeSmoothed) ? 1 : 0));
1803 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - pr", satId), satellite.pr);
1804 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - cp", satId), satellite.cp);
1805 ✗ dynData.emplace_back(fmt::format("GNSS1::RawMeas::{} - dp", satId), static_cast<double>(satellite.dp));
1806 }
1807 }
1808 }
1809
1810 // Group 5 (Attitude)
1811 ✗ if (attitudeOutputs)
1812 {
1813 ✗ if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)
1814 {
1815 ✗ dynData.emplace_back("Att::VpeStatus::AttitudeQuality", static_cast<double>(attitudeOutputs->vpeStatus.attitudeQuality()));
1816 ✗ dynData.emplace_back("Att::VpeStatus::GyroSaturation", static_cast<double>(attitudeOutputs->vpeStatus.gyroSaturation()));
1817 ✗ dynData.emplace_back("Att::VpeStatus::GyroSaturationRecovery", static_cast<double>(attitudeOutputs->vpeStatus.gyroSaturationRecovery()));
1818 ✗ dynData.emplace_back("Att::VpeStatus::MagDisturbance", static_cast<double>(attitudeOutputs->vpeStatus.magDisturbance()));
1819 ✗ dynData.emplace_back("Att::VpeStatus::MagSaturation", static_cast<double>(attitudeOutputs->vpeStatus.magSaturation()));
1820 ✗ dynData.emplace_back("Att::VpeStatus::AccDisturbance", static_cast<double>(attitudeOutputs->vpeStatus.accDisturbance()));
1821 ✗ dynData.emplace_back("Att::VpeStatus::AccSaturation", static_cast<double>(attitudeOutputs->vpeStatus.accSaturation()));
1822 ✗ dynData.emplace_back("Att::VpeStatus::KnownMagDisturbance", static_cast<double>(attitudeOutputs->vpeStatus.knownMagDisturbance()));
1823 ✗ dynData.emplace_back("Att::VpeStatus::KnownAccelDisturbance", static_cast<double>(attitudeOutputs->vpeStatus.knownAccelDisturbance()));
1824 }
1825 ✗ if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL)
1826 {
1827 ✗ dynData.emplace_back("Att::YawPitchRoll::Y [deg]", static_cast<double>(attitudeOutputs->ypr(0)));
1828 ✗ dynData.emplace_back("Att::YawPitchRoll::P [deg]", static_cast<double>(attitudeOutputs->ypr(1)));
1829 ✗ dynData.emplace_back("Att::YawPitchRoll::R [deg]", static_cast<double>(attitudeOutputs->ypr(2)));
1830 }
1831 ✗ if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION)
1832 {
1833 ✗ dynData.emplace_back("Att::Quaternion::w", static_cast<double>(attitudeOutputs->qtn.w()));
1834 ✗ dynData.emplace_back("Att::Quaternion::x", static_cast<double>(attitudeOutputs->qtn.x()));
1835 ✗ dynData.emplace_back("Att::Quaternion::y", static_cast<double>(attitudeOutputs->qtn.y()));
1836 ✗ dynData.emplace_back("Att::Quaternion::z", static_cast<double>(attitudeOutputs->qtn.z()));
1837 }
1838 ✗ if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)
1839 {
1840 ✗ dynData.emplace_back("Att::DCM::0-0", static_cast<double>(attitudeOutputs->dcm(0, 0)));
1841 ✗ dynData.emplace_back("Att::DCM::0-1", static_cast<double>(attitudeOutputs->dcm(0, 1)));
1842 ✗ dynData.emplace_back("Att::DCM::0-2", static_cast<double>(attitudeOutputs->dcm(0, 2)));
1843 ✗ dynData.emplace_back("Att::DCM::1-0", static_cast<double>(attitudeOutputs->dcm(1, 0)));
1844 ✗ dynData.emplace_back("Att::DCM::1-1", static_cast<double>(attitudeOutputs->dcm(1, 1)));
1845 ✗ dynData.emplace_back("Att::DCM::1-2", static_cast<double>(attitudeOutputs->dcm(1, 2)));
1846 ✗ dynData.emplace_back("Att::DCM::2-0", static_cast<double>(attitudeOutputs->dcm(2, 0)));
1847 ✗ dynData.emplace_back("Att::DCM::2-1", static_cast<double>(attitudeOutputs->dcm(2, 1)));
1848 ✗ dynData.emplace_back("Att::DCM::2-2", static_cast<double>(attitudeOutputs->dcm(2, 2)));
1849 }
1850 ✗ if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED)
1851 {
1852 ✗ dynData.emplace_back("Att::MagNed::N [Gauss]", static_cast<double>(attitudeOutputs->magNed(0)));
1853 ✗ dynData.emplace_back("Att::MagNed::E [Gauss]", static_cast<double>(attitudeOutputs->magNed(1)));
1854 ✗ dynData.emplace_back("Att::MagNed::D [Gauss]", static_cast<double>(attitudeOutputs->magNed(2)));
1855 }
1856 ✗ if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED)
1857 {
1858 ✗ dynData.emplace_back("Att::AccelNed::N [m/s^2]", static_cast<double>(attitudeOutputs->accelNed(0)));
1859 ✗ dynData.emplace_back("Att::AccelNed::E [m/s^2]", static_cast<double>(attitudeOutputs->accelNed(1)));
1860 ✗ dynData.emplace_back("Att::AccelNed::D [m/s^2]", static_cast<double>(attitudeOutputs->accelNed(2)));
1861 }
1862 ✗ if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY)
1863 {
1864 ✗ dynData.emplace_back("Att::LinearAccelBody::X [m/s^2]", static_cast<double>(attitudeOutputs->linearAccelBody(0)));
1865 ✗ dynData.emplace_back("Att::LinearAccelBody::Y [m/s^2]", static_cast<double>(attitudeOutputs->linearAccelBody(1)));
1866 ✗ dynData.emplace_back("Att::LinearAccelBody::Z [m/s^2]", static_cast<double>(attitudeOutputs->linearAccelBody(2)));
1867 }
1868 ✗ if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED)
1869 {
1870 ✗ dynData.emplace_back("Att::LinearAccelNed::N [m/s^2]", static_cast<double>(attitudeOutputs->linearAccelNed(0)));
1871 ✗ dynData.emplace_back("Att::LinearAccelNed::E [m/s^2]", static_cast<double>(attitudeOutputs->linearAccelNed(1)));
1872 ✗ dynData.emplace_back("Att::LinearAccelNed::D [m/s^2]", static_cast<double>(attitudeOutputs->linearAccelNed(2)));
1873 }
1874 ✗ if (attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU)
1875 {
1876 ✗ dynData.emplace_back("Att::YprU::Y [deg]", static_cast<double>(attitudeOutputs->yprU(0)));
1877 ✗ dynData.emplace_back("Att::YprU::P [deg]", static_cast<double>(attitudeOutputs->yprU(1)));
1878 ✗ dynData.emplace_back("Att::YprU::R [deg]", static_cast<double>(attitudeOutputs->yprU(2)));
1879 }
1880 }
1881
1882 // Group 6 (INS)
1883 ✗ if (insOutputs)
1884 {
1885 ✗ if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)
1886 {
1887 ✗ dynData.emplace_back("INS::InsStatus::Mode", static_cast<double>(insOutputs->insStatus.mode()));
1888 ✗ dynData.emplace_back("INS::InsStatus::GpsFix", static_cast<double>(insOutputs->insStatus.gpsFix()));
1889 ✗ dynData.emplace_back("INS::InsStatus::Error::IMU", static_cast<double>(insOutputs->insStatus.errorIMU()));
1890 ✗ dynData.emplace_back("INS::InsStatus::Error::MagPres", static_cast<double>(insOutputs->insStatus.errorMagPres()));
1891 ✗ dynData.emplace_back("INS::InsStatus::Error::GNSS", static_cast<double>(insOutputs->insStatus.errorGnss()));
1892 ✗ dynData.emplace_back("INS::InsStatus::GpsHeadingIns", static_cast<double>(insOutputs->insStatus.gpsHeadingIns()));
1893 ✗ dynData.emplace_back("INS::InsStatus::GpsCompass", static_cast<double>(insOutputs->insStatus.gpsCompass()));
1894 }
1895 ✗ if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA)
1896 {
1897 ✗ dynData.emplace_back("INS::PosLla::latitude [deg]", static_cast<double>(insOutputs->posLla(0)));
1898 ✗ dynData.emplace_back("INS::PosLla::longitude [deg]", static_cast<double>(insOutputs->posLla(1)));
1899 ✗ dynData.emplace_back("INS::PosLla::altitude [m]", static_cast<double>(insOutputs->posLla(2)));
1900 }
1901 ✗ if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF)
1902 {
1903 ✗ dynData.emplace_back("INS::PosEcef::X [m]", static_cast<double>(insOutputs->posEcef(0)));
1904 ✗ dynData.emplace_back("INS::PosEcef::Y [m]", static_cast<double>(insOutputs->posEcef(1)));
1905 ✗ dynData.emplace_back("INS::PosEcef::Z [m]", static_cast<double>(insOutputs->posEcef(2)));
1906 }
1907 ✗ if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY)
1908 {
1909 ✗ dynData.emplace_back("INS::VelBody::X [m/s]", static_cast<double>(insOutputs->velBody(0)));
1910 ✗ dynData.emplace_back("INS::VelBody::Y [m/s]", static_cast<double>(insOutputs->velBody(1)));
1911 ✗ dynData.emplace_back("INS::VelBody::Z [m/s]", static_cast<double>(insOutputs->velBody(2)));
1912 }
1913 ✗ if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED)
1914 {
1915 ✗ dynData.emplace_back("INS::VelNed::N [m/s]", static_cast<double>(insOutputs->velNed(0)));
1916 ✗ dynData.emplace_back("INS::VelNed::E [m/s]", static_cast<double>(insOutputs->velNed(1)));
1917 ✗ dynData.emplace_back("INS::VelNed::D [m/s]", static_cast<double>(insOutputs->velNed(2)));
1918 }
1919 ✗ if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF)
1920 {
1921 ✗ dynData.emplace_back("INS::VelEcef::X [m/s]", static_cast<double>(insOutputs->velEcef(0)));
1922 ✗ dynData.emplace_back("INS::VelEcef::Y [m/s]", static_cast<double>(insOutputs->velEcef(1)));
1923 ✗ dynData.emplace_back("INS::VelEcef::Z [m/s]", static_cast<double>(insOutputs->velEcef(2)));
1924 }
1925 ✗ if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF)
1926 {
1927 ✗ dynData.emplace_back("INS::MagEcef::X [Gauss]", static_cast<double>(insOutputs->magEcef(0)));
1928 ✗ dynData.emplace_back("INS::MagEcef::Y [Gauss]", static_cast<double>(insOutputs->magEcef(1)));
1929 ✗ dynData.emplace_back("INS::MagEcef::Z [Gauss]", static_cast<double>(insOutputs->magEcef(2)));
1930 }
1931 ✗ if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF)
1932 {
1933 ✗ dynData.emplace_back("INS::AccelEcef::X [m/s^2]", static_cast<double>(insOutputs->accelEcef(0)));
1934 ✗ dynData.emplace_back("INS::AccelEcef::Y [m/s^2]", static_cast<double>(insOutputs->accelEcef(1)));
1935 ✗ dynData.emplace_back("INS::AccelEcef::Z [m/s^2]", static_cast<double>(insOutputs->accelEcef(2)));
1936 }
1937 ✗ if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF)
1938 {
1939 ✗ dynData.emplace_back("INS::LinearAccelEcef::X [m/s^2]", static_cast<double>(insOutputs->linearAccelEcef(0)));
1940 ✗ dynData.emplace_back("INS::LinearAccelEcef::Y [m/s^2]", static_cast<double>(insOutputs->linearAccelEcef(1)));
1941 ✗ dynData.emplace_back("INS::LinearAccelEcef::Z [m/s^2]", static_cast<double>(insOutputs->linearAccelEcef(2)));
1942 }
1943 ✗ if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSU)
1944 {
1945 ✗ dynData.emplace_back("INS::PosU [m]", static_cast<double>(insOutputs->posU));
1946 }
1947 ✗ if (insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELU)
1948 {
1949 ✗ dynData.emplace_back("INS::VelU [m/s]", static_cast<double>(insOutputs->velU));
1950 }
1951 }
1952
1953 // Group 7 (GNSS2)
1954 ✗ if (gnss2Outputs)
1955 {
1956 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)
1957 {
1958 ✗ dynData.emplace_back("GNSS2::UTC::year", static_cast<double>(gnss2Outputs->timeUtc.year));
1959 ✗ dynData.emplace_back("GNSS2::UTC::month", static_cast<double>(gnss2Outputs->timeUtc.month));
1960 ✗ dynData.emplace_back("GNSS2::UTC::day", static_cast<double>(gnss2Outputs->timeUtc.day));
1961 ✗ dynData.emplace_back("GNSS2::UTC::hour", static_cast<double>(gnss2Outputs->timeUtc.hour));
1962 ✗ dynData.emplace_back("GNSS2::UTC::min", static_cast<double>(gnss2Outputs->timeUtc.min));
1963 ✗ dynData.emplace_back("GNSS2::UTC::sec", static_cast<double>(gnss2Outputs->timeUtc.sec));
1964 ✗ dynData.emplace_back("GNSS2::UTC::ms", static_cast<double>(gnss2Outputs->timeUtc.ms));
1965 }
1966 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW)
1967 {
1968 ✗ dynData.emplace_back("GNSS2::Tow [ns]", static_cast<double>(gnss2Outputs->tow));
1969 }
1970 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK)
1971 {
1972 ✗ dynData.emplace_back("GNSS2::Week", static_cast<double>(gnss2Outputs->week));
1973 }
1974 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS)
1975 {
1976 ✗ dynData.emplace_back("GNSS2::NumSats", static_cast<double>(gnss2Outputs->numSats));
1977 }
1978 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX)
1979 {
1980 ✗ dynData.emplace_back("GNSS2::Fix", static_cast<double>(gnss2Outputs->fix));
1981 }
1982 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)
1983 {
1984 ✗ dynData.emplace_back("GNSS2::PosLla::latitude [deg]", static_cast<double>(gnss2Outputs->posLla(0)));
1985 ✗ dynData.emplace_back("GNSS2::PosLla::longitude [deg]", static_cast<double>(gnss2Outputs->posLla(1)));
1986 ✗ dynData.emplace_back("GNSS2::PosLla::altitude [m]", static_cast<double>(gnss2Outputs->posLla(2)));
1987 }
1988 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)
1989 {
1990 ✗ dynData.emplace_back("GNSS2::PosEcef::X [m]", static_cast<double>(gnss2Outputs->posEcef(0)));
1991 ✗ dynData.emplace_back("GNSS2::PosEcef::Y [m]", static_cast<double>(gnss2Outputs->posEcef(1)));
1992 ✗ dynData.emplace_back("GNSS2::PosEcef::Z [m]", static_cast<double>(gnss2Outputs->posEcef(2)));
1993 }
1994 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)
1995 {
1996 ✗ dynData.emplace_back("GNSS2::VelNed::N [m/s]", static_cast<double>(gnss2Outputs->velNed(0)));
1997 ✗ dynData.emplace_back("GNSS2::VelNed::E [m/s]", static_cast<double>(gnss2Outputs->velNed(1)));
1998 ✗ dynData.emplace_back("GNSS2::VelNed::D [m/s]", static_cast<double>(gnss2Outputs->velNed(2)));
1999 }
2000 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)
2001 {
2002 ✗ dynData.emplace_back("GNSS2::VelEcef::X [m/s]", static_cast<double>(gnss2Outputs->velEcef(0)));
2003 ✗ dynData.emplace_back("GNSS2::VelEcef::Y [m/s]", static_cast<double>(gnss2Outputs->velEcef(1)));
2004 ✗ dynData.emplace_back("GNSS2::VelEcef::Z [m/s]", static_cast<double>(gnss2Outputs->velEcef(2)));
2005 }
2006 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)
2007 {
2008 ✗ dynData.emplace_back("GNSS2::PosU::N [m]", static_cast<double>(gnss2Outputs->posU(0)));
2009 ✗ dynData.emplace_back("GNSS2::PosU::E [m]", static_cast<double>(gnss2Outputs->posU(1)));
2010 ✗ dynData.emplace_back("GNSS2::PosU::D [m]", static_cast<double>(gnss2Outputs->posU(2)));
2011 }
2012 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU)
2013 {
2014 ✗ dynData.emplace_back("GNSS2::VelU [m/s]", static_cast<double>(gnss2Outputs->velU));
2015 }
2016 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU)
2017 {
2018 ✗ dynData.emplace_back("GNSS2::TimeU [s]", static_cast<double>(gnss2Outputs->timeU));
2019 }
2020 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)
2021 {
2022 ✗ dynData.emplace_back("GNSS2::TimeInfo::Status::timeOk", static_cast<double>(gnss2Outputs->timeInfo.status.timeOk()));
2023 ✗ dynData.emplace_back("GNSS2::TimeInfo::Status::dateOk", static_cast<double>(gnss2Outputs->timeInfo.status.dateOk()));
2024 ✗ dynData.emplace_back("GNSS2::TimeInfo::Status::utcTimeValid", static_cast<double>(gnss2Outputs->timeInfo.status.utcTimeValid()));
2025 ✗ dynData.emplace_back("GNSS2::TimeInfo::LeapSeconds", static_cast<double>(gnss2Outputs->timeInfo.leapSeconds));
2026 }
2027 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)
2028 {
2029 ✗ dynData.emplace_back("GNSS2::DOP::g", static_cast<double>(gnss2Outputs->dop.gDop));
2030 ✗ dynData.emplace_back("GNSS2::DOP::p", static_cast<double>(gnss2Outputs->dop.pDop));
2031 ✗ dynData.emplace_back("GNSS2::DOP::t", static_cast<double>(gnss2Outputs->dop.tDop));
2032 ✗ dynData.emplace_back("GNSS2::DOP::v", static_cast<double>(gnss2Outputs->dop.vDop));
2033 ✗ dynData.emplace_back("GNSS2::DOP::h", static_cast<double>(gnss2Outputs->dop.hDop));
2034 ✗ dynData.emplace_back("GNSS2::DOP::n", static_cast<double>(gnss2Outputs->dop.nDop));
2035 ✗ dynData.emplace_back("GNSS2::DOP::e", static_cast<double>(gnss2Outputs->dop.eDop));
2036 }
2037 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO)
2038 {
2039 ✗ dynData.emplace_back("GNSS2::SatInfo::NumSats", static_cast<double>(gnss2Outputs->satInfo.numSats));
2040 ✗ for (auto& satellite : gnss2Outputs->satInfo.satellites)
2041 {
2042 ✗ SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId));
2043 ✗ dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - flag Healthy", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Healthy) ? 1 : 0));
2044 ✗ dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - flag Almanac", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Almanac) ? 1 : 0));
2045 ✗ dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - flag Ephemeris", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::Ephemeris) ? 1 : 0));
2046 ✗ dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - flag DifferentialCorrection", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::DifferentialCorrection) ? 1 : 0));
2047 ✗ dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - flag UsedForNavigation", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForNavigation) ? 1 : 0));
2048 ✗ dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - flag AzimuthElevationValid", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::AzimuthElevationValid) ? 1 : 0));
2049 ✗ dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - flag UsedForRTK", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::SatInfo::SatInfoElement::Flags::UsedForRTK) ? 1 : 0));
2050 ✗ dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - cno", satId), static_cast<double>(satellite.cno));
2051 ✗ dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - qi", satId), static_cast<double>(satellite.qi));
2052 ✗ dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - el", satId), static_cast<double>(satellite.el));
2053 ✗ dynData.emplace_back(fmt::format("GNSS2::SatInfo::{} - az", satId), static_cast<double>(satellite.az));
2054 }
2055 }
2056 ✗ if (gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)
2057 {
2058 ✗ dynData.emplace_back("GNSS2::RawMeas::Tow [s]", gnss2Outputs->raw.tow);
2059 ✗ dynData.emplace_back("GNSS2::RawMeas::Week", static_cast<double>(gnss2Outputs->raw.week));
2060 ✗ dynData.emplace_back("GNSS2::RawMeas::NumSats", static_cast<double>(gnss2Outputs->raw.numSats));
2061 ✗ for (auto& satellite : gnss2Outputs->raw.satellites)
2062 {
2063 ✗ SatId satId(getSatSys(satellite.sys), static_cast<uint16_t>(satellite.svId));
2064 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - freq", satId), static_cast<double>(satellite.freq));
2065 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - chan", satId), static_cast<double>(satellite.chan));
2066 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - slot", satId), static_cast<double>(satellite.slot));
2067 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - cno", satId), static_cast<double>(satellite.cno));
2068 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag Searching", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Searching) ? 1 : 0));
2069 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag Tracking", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::Tracking) ? 1 : 0));
2070 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag TimeValid", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::TimeValid) ? 1 : 0));
2071 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag CodeLock", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::CodeLock) ? 1 : 0));
2072 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseLock", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseLock) ? 1 : 0));
2073 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseHalfAmbiguity", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfAmbiguity) ? 1 : 0));
2074 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseHalfSub", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseHalfSub) ? 1 : 0));
2075 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag PhaseSlip", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PhaseSlip) ? 1 : 0));
2076 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - flag PseudorangeSmoothed", satId), static_cast<double>(static_cast<unsigned int>(satellite.flags & NAV::vendor::vectornav::RawMeas::SatRawElement::Flags::PseudorangeSmoothed) ? 1 : 0));
2077 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - pr", satId), satellite.pr);
2078 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - cp", satId), satellite.cp);
2079 ✗ dynData.emplace_back(fmt::format("GNSS2::RawMeas::{} - dp", satId), static_cast<double>(satellite.dp));
2080 }
2081 }
2082 }
2083
2084 ✗ return dynData;
2085 ✗ }
2086
2087 // ------------------------------------------ Public members ---------------------------------------------
2088
2089 /// @brief Binary Group 2 - Time Outputs
2090 std::shared_ptr<vendor::vectornav::TimeOutputs> timeOutputs = nullptr;
2091
2092 /// @brief Binary Group 3 - IMU Outputs
2093 std::shared_ptr<vendor::vectornav::ImuOutputs> imuOutputs = nullptr;
2094
2095 /// @brief Binary Group 4 - GNSS1 Outputs
2096 std::shared_ptr<vendor::vectornav::GnssOutputs> gnss1Outputs = nullptr;
2097
2098 /// @brief Binary Group 5 - Attitude Outputs
2099 std::shared_ptr<vendor::vectornav::AttitudeOutputs> attitudeOutputs = nullptr;
2100
2101 /// @brief Binary Group 6 - INS Outputs
2102 std::shared_ptr<vendor::vectornav::InsOutputs> insOutputs = nullptr;
2103
2104 /// @brief Binary Group 7 - GNSS2 Outputs
2105 std::shared_ptr<vendor::vectornav::GnssOutputs> gnss2Outputs = nullptr;
2106
2107 /// Position and rotation information for conversion from platform to body frame
2108 const ImuPos& imuPos;
2109 };
2110
2111 } // namespace NAV
2112