Data Structures
class	UbloxUartSensor
	Class to read out Ublox Sensors. More...

struct	UbxAckAck
	Message Acknowledged. More...

struct	UbxAckNak
	Message Not-Acknowledged. More...

struct	UbxEsfIns
	Vehicle dynamics information. More...

struct	UbxEsfMeas
	External Sensor Fusion Measurements. More...

struct	UbxEsfRaw
	Raw sensor measurements. More...

struct	UbxEsfStatus
	External Sensor Fusion (ESF) status information. More...

struct	UbxNavAtt
	Attitude Solution. More...

struct	UbxNavPosecef
	Position Solution in ECEF. More...

struct	UbxNavPosllh
	Geodetic Position Solution. More...

struct	UbxNavVelned
	Velocity Solution in NED. More...

struct	UbxRxmRawx
	Multi-GNSS Raw Measurement Data. More...

struct	UbxRxmSfrbx
	Broadcast Navigation Data Subframe. More...

Enumerations
enum	ErrorDetectionMode : uint8_t { ERRORDETECTIONMODE_NONE , ERRORDETECTIONMODE_CHECKSUM }
	Error detection modes available. More...

enum	NmeaMessageClass : uint8_t { NMEA_MSG_CLASS_STANDARD , NMEA_MSG_CLASS_PUBX }
	NMEA Message Type. More...

enum	NmeaPubxMessages : uint8_t { NMEA_PUBX_MSG_CONFIG , NMEA_PUBX_MSG_POSITION , NMEA_PUBX_MSG_RATE , NMEA_PUBX_MSG_SVSTATUS , NMEA_PUBX_MSG_TIME }
	NMEA PUBX Messages. Class ID = 0xF1. More...

enum	NmeaStandardMessages : uint8_t { NMEA_STANDARD_MSG_DTM , NMEA_STANDARD_MSG_GBQ , NMEA_STANDARD_MSG_GBS , NMEA_STANDARD_MSG_GGA , NMEA_STANDARD_MSG_GLL , NMEA_STANDARD_MSG_GLQ , NMEA_STANDARD_MSG_GNQ , NMEA_STANDARD_MSG_GNS , NMEA_STANDARD_MSG_GPQ , NMEA_STANDARD_MSG_GRS , NMEA_STANDARD_MSG_GSA , NMEA_STANDARD_MSG_GST , NMEA_STANDARD_MSG_GSV , NMEA_STANDARD_MSG_RMC , NMEA_STANDARD_MSG_TXT , NMEA_STANDARD_MSG_VLW , NMEA_STANDARD_MSG_VTG , NMEA_STANDARD_MSG_ZDA }
	NMEA Standard Messages. Class ID = 0xF0. More...

enum	NmeaTalkerID : uint8_t { NMEA_TALKER_ID_OFF , NMEA_TALKER_ID_GP , NMEA_TALKER_ID_GL , NMEA_TALKER_ID_GA , NMEA_TALKER_ID_GB , NMEA_TALKER_ID_GN }
	Enumeration of the available asynchronous ASCII talker IDs. More...

enum	UbxAckMessages : uint8_t { UBX_ACK_ACK , UBX_ACK_NAK }
	The available ACK Messages. More...

enum	UbxCfgMessages : uint8_t { UBX_CFG_ANT , UBX_CFG_BATCH , UBX_CFG_CFG , UBX_CFG_DAT , UBX_CFG_DGNSS , UBX_CFG_DOSC , UBX_CFG_ESRC , UBX_CFG_GEOFENCE , UBX_CFG_GNSS , UBX_CFG_HNR , UBX_CFG_INF , UBX_CFG_ITFM , UBX_CFG_LOGFILTER , UBX_CFG_MSG , UBX_CFG_NAV5 , UBX_CFG_NAVX5 , UBX_CFG_NMEA , UBX_CFG_ODO , UBX_CFG_PM2 , UBX_CFG_PMS , UBX_CFG_PRT , UBX_CFG_PWR , UBX_CFG_RATE , UBX_CFG_RINV , UBX_CFG_RST , UBX_CFG_RXM , UBX_CFG_SBAS , UBX_CFG_SLAS , UBX_CFG_SMGR , UBX_CFG_TMODE2 , UBX_CFG_TMODE3 , UBX_CFG_TP5 , UBX_CFG_TXSLOT , UBX_CFG_USB }
	The available CFG Messages. More...

enum	UbxClass : uint8_t { UBX_CLASS_NONE , UBX_CLASS_NAV , UBX_CLASS_RXM , UBX_CLASS_INF , UBX_CLASS_ACK , UBX_CLASS_CFG , UBX_CLASS_UPD , UBX_CLASS_MON , UBX_CLASS_AID , UBX_CLASS_TIM , UBX_CLASS_ESF , UBX_CLASS_MGA , UBX_CLASS_LOG , UBX_CLASS_SEC , UBX_CLASS_HNR }
	The available UBX Class IDs. More...

enum	UbxEsfMessages : uint8_t { UBX_ESF_INS , UBX_ESF_MEAS , UBX_ESF_RAW , UBX_ESF_STATUS }
	The available ESF Messages. More...

enum	UbxHnrMessages : uint8_t { UBX_HNR_INS , UBX_HNR_PVT }
	The available HNR Messages. More...

enum	UbxInfMessages : uint8_t { UBX_INF_DEBUG , UBX_INF_ERROR , UBX_INF_NOTICE , UBX_INF_TEST , UBX_INF_WARNING }
	The available INF Messages. More...

enum	UbxLogMessages : uint8_t { UBX_LOG_BATCH , UBX_LOG_CREATE , UBX_LOG_ERASE , UBX_LOG_FINDTIME , UBX_LOG_INFO , UBX_LOG_RETRIEVEBATCH , UBX_LOG_RETRIEVEPOSEXTRA , UBX_LOG_RETRIEVEPOS , UBX_LOG_RETRIEVESTRING , UBX_LOG_RETRIEVE , UBX_LOG_STRING }
	The available LOG Messages. More...

enum	UbxMgaMessages : uint8_t { UBX_MGA_ACK_DATA0 , UBX_MGA_ANO , UBX_MGA_BDS_EPH , UBX_MGA_BDS_ALM , UBX_MGA_BDS_HEALTH , UBX_MGA_BDS_UTC , UBX_MGA_BDS_IONO , UBX_MGA_DBD , UBX_MGA_FLASH_DATA , UBX_MGA_FLASH_STOP , UBX_MGA_FLASH_ACK , UBX_MGA_GAL_EPH , UBX_MGA_GAL_ALM , UBX_MGA_GAL_TIMEOFFSET , UBX_MGA_GAL_UTC , UBX_MGA_GLO_EPH , UBX_MGA_GLO_ALM , UBX_MGA_GLO_TIMEOFFSET , UBX_MGA_GPS_EPH , UBX_MGA_GPS_ALM , UBX_MGA_GPS_HEALTH , UBX_MGA_GPS_UTC , UBX_MGA_GPS_IONO , UBX_MGA_INI_POS_XYZ , UBX_MGA_INI_POS_LLH , UBX_MGA_INI_TIME_UTC , UBX_MGA_INI_TIME_GNSS , UBX_MGA_INI_CLKD , UBX_MGA_INI_FREQ , UBX_MGA_INI_EOP , UBX_MGA_QZSS_EPH , UBX_MGA_QZSS_ALM , UBX_MGA_QZSS_HEALTH }
	The available MGA Messages. More...

enum	UbxMonMessages : uint8_t { UBX_MON_BATCH , UBX_MON_GNSS , UBX_MON_HW2 , UBX_MON_HW , UBX_MON_IO , UBX_MON_MSGPP , UBX_MON_PATCH , UBX_MON_RXBUFF , UBX_MON_RXR , UBX_MON_SMGR , UBX_MON_TXBUFF , UBX_MON_VER }
	The available MON Messages. More...

enum	UbxNavMessages : uint8_t { UBX_NAV_AOPSTATUS , UBX_NAV_ATT , UBX_NAV_CLOCK , UBX_NAV_DGPS , UBX_NAV_DOP , UBX_NAV_EOE , UBX_NAV_GEOFENCE , UBX_NAV_HPPOSECEF , UBX_NAV_HPPOSLLH , UBX_NAV_ODO , UBX_NAV_ORB , UBX_NAV_POSECEF , UBX_NAV_POSLLH , UBX_NAV_PVT , UBX_NAV_RELPOSNED , UBX_NAV_RESETODO , UBX_NAV_SAT , UBX_NAV_SBAS , UBX_NAV_SLAS , UBX_NAV_SOL , UBX_NAV_STATUS , UBX_NAV_SVINFO , UBX_NAV_SVIN , UBX_NAV_TIMEBDS , UBX_NAV_TIMEGAL , UBX_NAV_TIMEGLO , UBX_NAV_TIMEGPS , UBX_NAV_TIMELS , UBX_NAV_TIMEUTC , UBX_NAV_VELECEF , UBX_NAV_VELNED }
	The available NAV Messages. More...

enum	UbxRxmMessages : uint8_t { UBX_RXM_IMES , UBX_RXM_MEASX , UBX_RXM_PMREQ , UBX_RXM_RAWX , UBX_RXM_RLM , UBX_RXM_RTCM , UBX_RXM_SFRBX , UBX_RXM_SVSI }
	The available RXM Messages. More...

enum	UbxSecMessages : uint8_t { UBX_SEC_UNIQID }
	The available SEC Messages. More...

enum	UbxTimMessages : uint8_t { UBX_TIM_FCHG , UBX_TIM_HOC , UBX_TIM_SMEAS , UBX_TIM_SVIN , UBX_TIM_TM2 , UBX_TIM_TOS , UBX_TIM_TP , UBX_TIM_VCOCAL , UBX_TIM_VRFY }
	The available TIM Messages. More...

enum	UbxUpdMessages : uint8_t { UBX_UPD_SOS }
	The available UPD Messages. More...

Functions
uint8_t	checksumNMEA (const std::vector< uint8_t > &data)
	Calculates the NMEA checksum for the provided data vector.

std::pair< uint8_t, uint8_t >	checksumUBX (const std::vector< uint8_t > &data)
	Calculates the two UBX checksums for the provided data vector.

bool	decryptUbloxObs (const std::shared_ptr< NAV::UbloxObs > &obs, uart::protocol::Packet &packet, const std::string &nameId)
	Decrypts the provided Ublox observation.

Code	getCode (uint8_t gnssId, uint8_t sigId)
	Get the GNSS code from gnssId and sigId.

UbxClass	getMsgClassFromString (const std::string &className)
	Get the UBX Msg Class From String object.

uint8_t	getMsgIdFromString (const std::string &className, const std::string &idName)
	Get the UBX Msg Id From String objects.

uint8_t	getMsgIdFromString (UbxClass msgClass, const std::string &idName)
	Get the UBX Msg Id From String object.

SatelliteSystem	getSatSys (uint8_t gnssId)
	Get the GNSS Satellite System from gnssId.

std::string	getStringFromMsgClass (UbxClass msgClass)
	Get the a string from a UBX Msg Class.

std::string	getStringFromMsgId (UbxClass msgClass, uint8_t msgId)
	Get the a string from a UBX Msg Id.

Enumeration Type Documentation

◆ ErrorDetectionMode

enum NAV::vendor::ublox::ErrorDetectionMode : uint8_t

Error detection modes available.

Enumerator
ERRORDETECTIONMODE_NONE	No error detection is used.
ERRORDETECTIONMODE_CHECKSUM	16-bit checksum is used

Definition at line 29 of file UbloxTypes.hpp.

◆ NmeaMessageClass

enum NAV::vendor::ublox::NmeaMessageClass : uint8_t

NMEA Message Type.

Enumerator
NMEA_MSG_CLASS_STANDARD	Standard Messages.
NMEA_MSG_CLASS_PUBX	PUBX Messages.

Definition at line 47 of file UbloxTypes.hpp.

◆ NmeaPubxMessages

enum NAV::vendor::ublox::NmeaPubxMessages : uint8_t

NMEA PUBX Messages. Class ID = 0xF1.

Enumerator
NMEA_PUBX_MSG_CONFIG	Set Protocols and Baudrate.
NMEA_PUBX_MSG_POSITION	Lat/Long Position Data.
NMEA_PUBX_MSG_RATE	Set NMEA message output rate.
NMEA_PUBX_MSG_SVSTATUS	Satellite Status.
NMEA_PUBX_MSG_TIME	Time of Day and Clock Information.

Definition at line 79 of file UbloxTypes.hpp.

◆ NmeaStandardMessages

enum NAV::vendor::ublox::NmeaStandardMessages : uint8_t

NMEA Standard Messages. Class ID = 0xF0.

Enumerator
NMEA_STANDARD_MSG_DTM	Datum Reference.
NMEA_STANDARD_MSG_GBQ	Poll a standard message (if the current Talker ID is GB)
NMEA_STANDARD_MSG_GBS	GNSS Satellite Fault Detection.
NMEA_STANDARD_MSG_GGA	Global positioning system fix data.
NMEA_STANDARD_MSG_GLL	Latitude and longitude, with time of position fix and status.
NMEA_STANDARD_MSG_GLQ	Poll a standard message (if the current Talker ID is GL)
NMEA_STANDARD_MSG_GNQ	Poll a standard message (if the current Talker ID is GN)
NMEA_STANDARD_MSG_GNS	GNSS fix data.
NMEA_STANDARD_MSG_GPQ	Poll a standard message (if the current Talker ID is GP)
NMEA_STANDARD_MSG_GRS	GNSS Range Residuals.
NMEA_STANDARD_MSG_GSA	GNSS DOP and Active Satellites.
NMEA_STANDARD_MSG_GST	GNSS Pseudo Range Error Statistics.
NMEA_STANDARD_MSG_GSV	GNSS Satellites in View.
NMEA_STANDARD_MSG_RMC	Recommended Minimum data.
NMEA_STANDARD_MSG_TXT	Text Transmission.
NMEA_STANDARD_MSG_VLW	Dual ground/water distance.
NMEA_STANDARD_MSG_VTG	Course over ground and Ground speed.
NMEA_STANDARD_MSG_ZDA	Time and Date.

Definition at line 55 of file UbloxTypes.hpp.

◆ NmeaTalkerID

enum NAV::vendor::ublox::NmeaTalkerID : uint8_t

Enumeration of the available asynchronous ASCII talker IDs.

Enumerator
NMEA_TALKER_ID_OFF	Asynchronous output is turned off.
NMEA_TALKER_ID_GP	GPS, SBAS, QZSS.
NMEA_TALKER_ID_GL	GLONASS.
NMEA_TALKER_ID_GA	Galileo.
NMEA_TALKER_ID_GB	BeiDou.
NMEA_TALKER_ID_GN	Any combination of GNSS.

Definition at line 36 of file UbloxTypes.hpp.

◆ UbxAckMessages

enum NAV::vendor::ublox::UbxAckMessages : uint8_t

The available ACK Messages.

Enumerator
UBX_ACK_ACK	Message Acknowledged (Length = 2; Type = Output)
UBX_ACK_NAK	Message Not-Acknowledged (Length = 2; Type = Output)

Definition at line 109 of file UbloxTypes.hpp.

◆ UbxCfgMessages

enum NAV::vendor::ublox::UbxCfgMessages : uint8_t

The available CFG Messages.

Enumerator
UBX_CFG_ANT	Antenna Control Settings (Length = 4; Type = Get/Set)
UBX_CFG_BATCH	Get/Set data batching configuration (Length = 8; Type = Get/Set)
UBX_CFG_CFG	Clear, Save and Load configurations (Length = (12) or (13); Type = Command)
UBX_CFG_DAT	Set User-defined Datum. (Length = 44; Type = Set) The currently defined Datum (Length = 52; Type = Get)
UBX_CFG_DGNSS	DGNSS configuration (Length = 4; Type = Get/Set)
UBX_CFG_DOSC	Disciplined oscillator configuration (Length = 4 + 32*numOsc; Type = Get/Set)
UBX_CFG_ESRC	External synchronization source configuration (Length = 4 + 36*numSources; Type = Get/Set)
UBX_CFG_GEOFENCE	Geofencing configuration (Length = 8 + 12*numFences; Type = Get/Set)
UBX_CFG_GNSS	GNSS system configuration (Length = 4 + 8*numConfigBlocks; Type = Get/Set)
UBX_CFG_HNR	High Navigation Rate Settings (Length = 4; Type = Get/Set)
UBX_CFG_INF	Poll configuration for one protocol (Length = 1; Type = Poll Request) Information message configuration (Length = 0 + 10*N; Type = Get/Set)
UBX_CFG_ITFM	Jamming/Interference Monitor configuration (Length = 8; Type = Get/Set)
UBX_CFG_LOGFILTER	Data Logger Configuration (Length = 12; Type = Get/Set)
UBX_CFG_MSG	Poll a message configuration (Length = 2; Type = Poll Request) Set Message Rate(s) (Length = 8; Type = Get/Set) Set Message Rate (Length = 3; Type = Get/Set)
UBX_CFG_NAV5	Navigation Engine Settings (Length = 36; Type = Get/Set)
UBX_CFG_NAVX5	Navigation Engine Expert Settings (Length = 40; Type = Get/Set) Navigation Engine Expert Settings (Length = 40; Type = Get/Set) Navigation Engine Expert Settings (Length = 44; Type = Get/Set)
UBX_CFG_NMEA	NMEA protocol configuration (deprecated) (Length = 4; Type = Get/Set) NMEA protocol configuration V0 (deprecated) (Length = 12; Type = Get/Set) Extended NMEA protocol configuration V1 (Length = 20; Type = Get/Set)
UBX_CFG_ODO	Odometer, Low-speed COG Engine Settings (Length = 20; Type = Get/Set)
UBX_CFG_PM2	Extended Power Management configuration (Length = 44; Type = Get/Set) Extended Power Management configuration (Length = 48; Type = Get/Set) Extended Power Management configuration (Length = 48; Type = Get/Set)
UBX_CFG_PMS	Power Mode Setup (Length = 8; Type = Get/Set)
UBX_CFG_PRT	Polls the configuration for one I/O Port (Length = 1; Type = Poll Request) Port Configuration for UART (Length = 20; Type = Get/Set) Port Configuration for USB Port (Length = 20; Type = Get/Set) Port Configuration for SPI Port (Length = 20; Type = Get/Set) Port Configuration for DDC Port (Length = 20; Type = Get/Set)
UBX_CFG_PWR	Put receiver in a defined power state (Length = 8; Type = Set)
UBX_CFG_RATE	Navigation/Measurement Rate Settings (Length = 6; Type = Get/Set)
UBX_CFG_RINV	Contents of Remote Inventory (Length = 1 + 1*N; Type = Get/Set)
UBX_CFG_RST	Reset Receiver / Clear Backup Data Structures (Length = 4; Type = Command)
UBX_CFG_RXM	RXM configuration (Length = 2; Type = Get/Set) RXM configuration (Length = 2; Type = Get/Set)
UBX_CFG_SBAS	SBAS Configuration (Length = 8; Type = Get/Set)
UBX_CFG_SLAS	SLAS Configuration (Length = 4; Type = Get/Set)
UBX_CFG_SMGR	Synchronization manager configuration (Length = 20; Type = Get/Set)
UBX_CFG_TMODE2	Time Mode Settings 2 (Length = 28; Type = Get/Set)
UBX_CFG_TMODE3	Time Mode Settings 3 (Length = 40; Type = Get/Set)
UBX_CFG_TP5	Poll Time Pulse Parameters for Time Pulse 0 (Length = 0; Type = Poll Request) Poll Time Pulse Parameters (Length = 1; Type = Poll Request) Time Pulse Parameters (Length = 32; Type = Get/Set) Time Pulse Parameters (Length = 32; Type = Get/Se
UBX_CFG_TXSLOT	TX buffer time slots configuration (Length = 16; Type = Set)
UBX_CFG_USB	USB Configuration (Length = 108; Type = Get/Set)

Definition at line 136 of file UbloxTypes.hpp.

◆ UbxClass

enum NAV::vendor::ublox::UbxClass : uint8_t

The available UBX Class IDs.

Enumerator
UBX_CLASS_NONE	No Message Class specified.
UBX_CLASS_NAV	Navigation Results Messages: Position, Speed, Time, Acceleration, Heading, DOP, SVs used.
UBX_CLASS_RXM	Receiver Manager Messages: Satellite Status, RTC Status.
UBX_CLASS_INF	Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice.
UBX_CLASS_ACK	Ack/Nak Messages: Acknowledge or Reject messages to UBX-CFG input messages.
UBX_CLASS_CFG	Configuration Input Messages: Configure the receiver.
UBX_CLASS_UPD	Firmware Update Messages: Memory/Flash erase/write, Reboot, Flash identification, etc.
UBX_CLASS_MON	Monitoring Messages: Communication Status, CPU Load, Stack Usage, Task Status.
UBX_CLASS_AID	AssistNow Aiding Messages: Ephemeris, Almanac, other A-GPS data input.
UBX_CLASS_TIM	Timing Messages: Time Pulse Output, Time Mark Results.
UBX_CLASS_ESF	External Sensor Fusion Messages: External Sensor Measurements and Status Information.
UBX_CLASS_MGA	Multiple GNSS Assistance Messages: Assistance data for various GNSS.
UBX_CLASS_LOG	Logging Messages: Log creation, deletion, info and retrieval.
UBX_CLASS_SEC	Security Feature Messages.
UBX_CLASS_HNR	High Rate Navigation Results Messages: High rate time, position, speed, heading.

Definition at line 89 of file UbloxTypes.hpp.

◆ UbxEsfMessages

enum NAV::vendor::ublox::UbxEsfMessages : uint8_t

The available ESF Messages.

Enumerator
UBX_ESF_INS	Vehicle dynamics information (Length = 36; Type = Periodic/Polled)
UBX_ESF_MEAS	External Sensor Fusion Measurements (Length = (8 + 4numMeas) or (12 + 4numMeas); Type = Input/Output)
UBX_ESF_RAW	Raw sensor measurements (Length = 4 + 8*N; Type = Output)
UBX_ESF_STATUS	External Sensor Fusion (ESF) status information (Length = 16 + 4*numSens; Type = Periodic/Polled)

Definition at line 227 of file UbloxTypes.hpp.

◆ UbxHnrMessages

enum NAV::vendor::ublox::UbxHnrMessages : uint8_t

The available HNR Messages.

Enumerator
UBX_HNR_INS	Vehicle dynamics information (Length = 36; Type = Periodic/Polled)
UBX_HNR_PVT	High Rate Output of PVT Solution (Length = 72; Type = Periodic/Polled)

Definition at line 325 of file UbloxTypes.hpp.

◆ UbxInfMessages

enum NAV::vendor::ublox::UbxInfMessages : uint8_t

The available INF Messages.

Enumerator
UBX_INF_DEBUG	ASCII output with debug contents (Length = 0 + 1*N; Type = Output)
UBX_INF_ERROR	ASCII output with error contents (Length = 0 + 1*N; Type = Output)
UBX_INF_NOTICE	ASCII output with informational contents (Length = 0 + 1*N; Type = Output)
UBX_INF_TEST	ASCII output with test contents (Length = 0 + 1*N; Type = Output)
UBX_INF_WARNING	ASCII output with warning contents (Length = 0 + 1*N; Type = Output)

Definition at line 334 of file UbloxTypes.hpp.

◆ UbxLogMessages

enum NAV::vendor::ublox::UbxLogMessages : uint8_t

The available LOG Messages.

Enumerator
UBX_LOG_BATCH	Batched data (Length = 100; Type = Polled)
UBX_LOG_CREATE	Create Log File (Length = 8; Type = Command)
UBX_LOG_ERASE	Erase Logged Data (Length = 0; Type = Command)
UBX_LOG_FINDTIME	Find index of a log entry based on a given time (Length = 12; Type = Input) Response to FINDTIME request (Length = 8; Type = Output)
UBX_LOG_INFO	Poll for log information (Length = 0; Type = Poll Request) Log information (Length = 48; Type = Output)
UBX_LOG_RETRIEVEBATCH	Request batch data (Length = 4; Type = Command)
UBX_LOG_RETRIEVEPOSEXTRA	Odometer log entry (Length = 32; Type = Output)
UBX_LOG_RETRIEVEPOS	Position fix log entry (Length = 40; Type = Output)
UBX_LOG_RETRIEVESTRING	Byte string log entry (Length = 16 + 1*byteCount; Type = )
UBX_LOG_RETRIEVE	Request log data (Length = 12; Type = Command)
UBX_LOG_STRING	Store arbitrary string in on-board flash (Length = 0 + 1*N; Type = Command)

Definition at line 349 of file UbloxTypes.hpp.

◆ UbxMgaMessages

enum NAV::vendor::ublox::UbxMgaMessages : uint8_t

The available MGA Messages.

Enumerator
UBX_MGA_ACK_DATA0	Multiple GNSS Acknowledge message (Length = 8; Type = Output)
UBX_MGA_ANO	Multiple GNSS AssistNow Offline Assistance (Length = 76; Type = Input)
UBX_MGA_BDS_EPH	BDS Ephemeris Assistance (Length = 88; Type = Input)
UBX_MGA_BDS_ALM	BDS Almanac Assistance (Length = 40; Type = Input)
UBX_MGA_BDS_HEALTH	BDS Health Assistance (Length = 68; Type = Input)
UBX_MGA_BDS_UTC	BDS UTC Assistance (Length = 20; Type = Input)
UBX_MGA_BDS_IONO	BDS Ionospheric Assistance (Length = 16; Type = Input)
UBX_MGA_DBD	Poll the Navigation Database (Length = 0; Type = Poll Request) Navigation Database Dump Entry (Length = 12 + 1*N; Type = Input/Output)
UBX_MGA_FLASH_DATA	Transfer MGA-ANO data block to flash (Length = 6 + 1*size; Type = Input)
UBX_MGA_FLASH_STOP	Finish flashing MGA-ANO data (Length = 2; Type = Input)
UBX_MGA_FLASH_ACK	Acknowledge last FLASH-DATA or -STOP (Length = 6; Type = Output)
UBX_MGA_GAL_EPH	Galileo Ephemeris Assistance (Length = 76; Type = Input)
UBX_MGA_GAL_ALM	Galileo Almanac Assistance (Length = 32; Type = Input)
UBX_MGA_GAL_TIMEOFFSET	Galileo GPS time offset assistance (Length = 12; Type = Input)
UBX_MGA_GAL_UTC	Galileo UTC Assistance (Length = 20; Type = Input)
UBX_MGA_GLO_EPH	GLONASS Ephemeris Assistance (Length = 48; Type = Input)
UBX_MGA_GLO_ALM	GLONASS Almanac Assistance (Length = 36; Type = Input)
UBX_MGA_GLO_TIMEOFFSET	GLONASS Auxiliary Time Offset Assistance (Length = 20; Type = Input)
UBX_MGA_GPS_EPH	GPS Ephemeris Assistance (Length = 68; Type = Input)
UBX_MGA_GPS_ALM	GPS Almanac Assistance (Length = 36; Type = Input)
UBX_MGA_GPS_HEALTH	GPS Health Assistance (Length = 40; Type = Input)
UBX_MGA_GPS_UTC	GPS UTC Assistance (Length = 20; Type = Input)
UBX_MGA_GPS_IONO	GPS Ionosphere Assistance (Length = 16; Type = Input)
UBX_MGA_INI_POS_XYZ	Initial Position Assistance (Length = 20; Type = Input)
UBX_MGA_INI_POS_LLH	Initial Position Assistance (Length = 20; Type = Input)
UBX_MGA_INI_TIME_UTC	Initial Time Assistance (Length = 24; Type = Input)
UBX_MGA_INI_TIME_GNSS	Initial Time Assistance (Length = 24; Type = Input)
UBX_MGA_INI_CLKD	Initial Clock Drift Assistance (Length = 12; Type = Input)
UBX_MGA_INI_FREQ	Initial Frequency Assistance (Length = 12; Type = Input)
UBX_MGA_INI_EOP	Earth Orientation Parameters Assistance (Length = 72; Type = Input)
UBX_MGA_QZSS_EPH	QZSS Ephemeris Assistance (Length = 68; Type = Input)
UBX_MGA_QZSS_ALM	QZSS Almanac Assistance (Length = 36; Type = Input)
UBX_MGA_QZSS_HEALTH	QZSS Health Assistance (Length = 12; Type = Input)

Definition at line 378 of file UbloxTypes.hpp.

◆ UbxMonMessages

enum NAV::vendor::ublox::UbxMonMessages : uint8_t

The available MON Messages.

Enumerator
UBX_MON_BATCH	Data batching buffer status (Length = 12; Type = Polled)
UBX_MON_GNSS	Information message major GNSS selection (Length = 8; Type = Polled)
UBX_MON_HW2	Extended Hardware Status (Length = 28; Type = Periodic/Polled)
UBX_MON_HW	Hardware Status (Length = 60; Type = Periodic/Polled)
UBX_MON_IO	I/O Subsystem Status (Length = 0 + 20*N; Type = Periodic/Polled)
UBX_MON_MSGPP	Message Parse and Process Status (Length = 120; Type = Periodic/Polled)
UBX_MON_PATCH	Poll Request for installed patches (Length = 0; Type = Poll Request) Output information about installed patches (Length = 4 + 16*nEntries; Type = Polled)
UBX_MON_RXBUFF	Receiver Buffer Status (Length = 24; Type = Periodic/Polled)
UBX_MON_RXR	Receiver Status Information (Length = 1; Type = Output)
UBX_MON_SMGR	Synchronization Manager Status (Length = 16; Type = Periodic/Polled)
UBX_MON_TXBUFF	Transmitter Buffer Status (Length = 28; Type = Periodic/Polled)
UBX_MON_VER	Poll Receiver/Software Version (Length = 0; Type = Poll Request) Receiver/Software Version (Length = 40 + 30*N; Type = Polled)

Definition at line 450 of file UbloxTypes.hpp.

◆ UbxNavMessages

enum NAV::vendor::ublox::UbxNavMessages : uint8_t

The available NAV Messages.

Enumerator
UBX_NAV_AOPSTATUS	AssistNow Autonomous Status (Length = 16; Type = Periodic/Polled)
UBX_NAV_ATT	Attitude Solution (Length = 32; Type = Periodic/Polled)
UBX_NAV_CLOCK	Clock Solution (Length = 20; Type = Periodic/Polled)
UBX_NAV_DGPS	DGPS Data Used for NAV (Length = 16 + 12*numCh; Type = Periodic/Polled)
UBX_NAV_DOP	Dilution of precision (Length = 18; Type = Periodic/Polled)
UBX_NAV_EOE	End Of Epoch (Length = 4; Type = Periodic)
UBX_NAV_GEOFENCE	Geofencing status (Length = 8 + 2*numFences; Type = Periodic/Polled)
UBX_NAV_HPPOSECEF	High Precision Position Solution in ECEF (Length = 28; Type = Periodic/Polled)
UBX_NAV_HPPOSLLH	High Precision Geodetic Position Solution (Length = 36; Type = Periodic/Polled)
UBX_NAV_ODO	Odometer Solution (Length = 20; Type = Periodic/Polled)
UBX_NAV_ORB	GNSS Orbit Database Info (Length = 8 + 6*numSv; Type = Periodic/Polled)
UBX_NAV_POSECEF	Position Solution in ECEF (Length = 20; Type = Periodic/Polled)
UBX_NAV_POSLLH	Geodetic Position Solution (Length = 28; Type = Periodic/Polled)
UBX_NAV_PVT	Navigation Position Velocity Time Solution (Length = 92; Type = Periodic/Polled)
UBX_NAV_RELPOSNED	Relative Positioning Information in NED frame (Length = 40; Type = Periodic/Polled)
UBX_NAV_RESETODO	Reset odometer (Length = 0; Type = Command)
UBX_NAV_SAT	Satellite Information (Length = 8 + 12*numSvs; Type = Periodic/Polled)
UBX_NAV_SBAS	SBAS Status Data (Length = 12 + 12*cnt; Type = Periodic/Polled)
UBX_NAV_SLAS	QZSS L1S SLAS Status Data (Length = 20 + 8*cnt; Type = Periodic/Polled)
UBX_NAV_SOL	Navigation Solution Information (Length = 52; Type = Periodic/Polled)
UBX_NAV_STATUS	Receiver Navigation Status (Length = 16; Type = Periodic/Polled)
UBX_NAV_SVINFO	Space Vehicle Information (Length = 8 + 12*numCh; Type = Periodic/Polled)
UBX_NAV_SVIN	Survey-in data (Length = 40; Type = Periodic/Polled)
UBX_NAV_TIMEBDS	BDS Time Solution (Length = 20; Type = Periodic/Polled)
UBX_NAV_TIMEGAL	Galileo Time Solution (Length = 20; Type = Periodic/Polled)
UBX_NAV_TIMEGLO	GLO Time Solution (Length = 20; Type = Periodic/Polled)
UBX_NAV_TIMEGPS	GPS Time Solution (Length = 16; Type = Periodic/Polled)
UBX_NAV_TIMELS	Leap second event information (Length = 24; Type = Periodic/Polled)
UBX_NAV_TIMEUTC	UTC Time Solution (Length = 20; Type = Periodic/Polled)
UBX_NAV_VELECEF	Velocity Solution in ECEF (Length = 20; Type = Periodic/Polled)
UBX_NAV_VELNED	Velocity Solution in NED (Length = 36; Type = Periodic/Polled)

Definition at line 481 of file UbloxTypes.hpp.

◆ UbxRxmMessages

enum NAV::vendor::ublox::UbxRxmMessages : uint8_t

The available RXM Messages.

Enumerator
UBX_RXM_IMES	Indoor Messaging System Information (Length = 4 + 44*numTx; Type = Periodic/Polled)
UBX_RXM_MEASX	Satellite Measurements for RRLP (Length = 44 + 24*numSV; Type = Periodic/Polled)
UBX_RXM_PMREQ	Requests a Power Management task (Length = 8; Type = Command) Requests a Power Management task (Length = 16; Type = Command)
UBX_RXM_RAWX	Multi-GNSS Raw Measurement Data (Length = 16 + 32numMeas; Type = Periodic/Polled) Multi-GNSS Raw Measurement Data (Length = 16 + 32numMeas; Type = Periodic/Polled)
UBX_RXM_RLM	Galileo SAR Short-RLM report (Length = 16; Type = Output) Galileo SAR Long-RLM report (Length = 28; Type = Output)
UBX_RXM_RTCM	RTCM input status (Length = 8; Type = Output)
UBX_RXM_SFRBX	Broadcast Navigation Data Subframe (Length = 8 + 4numWords; Type = Output) Broadcast Navigation Data Subframe (Length = 8 + 4numWords; Type = Output)
UBX_RXM_SVSI	SV Status Info (Length = 8 + 6*numSV; Type = Periodic/Polled)

Definition at line 614 of file UbloxTypes.hpp.

◆ UbxSecMessages

enum NAV::vendor::ublox::UbxSecMessages : uint8_t

The available SEC Messages.

Enumerator
UBX_SEC_UNIQID	Unique Chip ID (Length = 9; Type = Output)

Definition at line 724 of file UbloxTypes.hpp.

◆ UbxTimMessages

enum NAV::vendor::ublox::UbxTimMessages : uint8_t

The available TIM Messages.

Enumerator
UBX_TIM_FCHG	Oscillator frequency changed notification (Length = 32; Type = Periodic/Polled)
UBX_TIM_HOC	Host oscillator control (Length = 8; Type = Input)
UBX_TIM_SMEAS	Source measurement (Length = 12 + 24*numMeas; Type = Input/Output)
UBX_TIM_SVIN	Survey-in data (Length = 28; Type = Periodic/Polled)
UBX_TIM_TM2	Time mark data (Length = 28; Type = Periodic/Polled)
UBX_TIM_TOS	Time Pulse Time and Frequency Data (Length = 56; Type = Periodic)
UBX_TIM_TP	Time Pulse Timedata (Length = 16; Type = Periodic/Polled)
UBX_TIM_VCOCAL	Stop calibration (Length = 1; Type = Command) VCO calibration extended command (Length = 12; Type = Command) Results of the calibration (Length = 12; Type = Periodic/Polled)
UBX_TIM_VRFY	Sourced Time Verification (Length = 20; Type = Periodic/Polled)

Definition at line 731 of file UbloxTypes.hpp.

◆ UbxUpdMessages

enum NAV::vendor::ublox::UbxUpdMessages : uint8_t

The available UPD Messages.

Enumerator
UBX_UPD_SOS	Poll Backup File Restore Status (Length = 0; Type = Poll Request) Create Backup File in Flash (Length = 4; Type = Command) Clear Backup in Flash (Length = 4; Type = command) Backup File Creation Acknowledge (Length = 8; Type = Output) System Restored from Backup (Length = 8; Type = Output)

Definition at line 756 of file UbloxTypes.hpp.

Function Documentation

◆ checksumNMEA()

uint8_t NAV::vendor::ublox::checksumNMEA ( const std::vector< uint8_t > & data )

Calculates the NMEA checksum for the provided data vector.

Parameters

[in] data Data Vector for which the checksum should be calculated

Returns: The calculated checksum

Definition at line 392 of file UbloxUtilities.cpp.

◆ checksumUBX()

std::pair< uint8_t, uint8_t > NAV::vendor::ublox::checksumUBX ( const std::vector< uint8_t > & data )

Calculates the two UBX checksums for the provided data vector.

Parameters

[in] data Data Vector for which the checksum should be calculated

Returns: The checksums CK_A and CK_B

Definition at line 379 of file UbloxUtilities.cpp.

◆ decryptUbloxObs()

bool NAV::vendor::ublox::decryptUbloxObs	(	const std::shared_ptr< NAV::UbloxObs > &	obs,
		uart::protocol::Packet &	packet,
		const std::string &	nameId )

nodiscard

Decrypts the provided Ublox observation.

Parameters

[in]	obs	Ublox Observation to decrypt
[in,out]	packet	Uart packet with the data (content gets changed because data gets extracted)
[in]	nameId	NameId for printing log messages

Returns: False if the message should be discarded

Definition at line 18 of file UbloxUtilities.cpp.

◆ getCode()

NAV::Code NAV::vendor::ublox::getCode	(	uint8_t	gnssId,
		uint8_t	sigId )

nodiscard

Get the GNSS code from gnssId and sigId.

Parameters

gnssId	Ublox gnssId
sigId	Ublox sigId

Returns: The Code object

Definition at line 491 of file UbloxTypes.cpp.

◆ getMsgClassFromString()

NAV::vendor::ublox::UbxClass NAV::vendor::ublox::getMsgClassFromString ( const std::string & className )

nodiscard

Get the UBX Msg Class From String object.

Parameters

[in] className String of the UBX Class

Returns: The UBX class

Definition at line 11 of file UbloxTypes.cpp.

◆ getMsgIdFromString() [1/2]

uint8_t NAV::vendor::ublox::getMsgIdFromString	(	const std::string &	className,
		const std::string &	idName )

nodiscard

Get the UBX Msg Id From String objects.

Parameters

[in]	className	String of the UBX class
[in]	idName	String of the Msg Id

Returns: The Msg Id integer

Definition at line 463 of file UbloxTypes.cpp.

◆ getMsgIdFromString() [2/2]

uint8_t NAV::vendor::ublox::getMsgIdFromString	(	UbxClass	msgClass,
		const std::string &	idName )

nodiscard

Get the UBX Msg Id From String object.

Parameters

[in]	msgClass	The Ubx Msg Class to search in
[in]	idName	String of the Msg Id

Returns: The Msg Id integer

Definition at line 30 of file UbloxTypes.cpp.

◆ getSatSys()

NAV::SatelliteSystem NAV::vendor::ublox::getSatSys ( uint8_t gnssId )

nodiscard

Get the GNSS Satellite System from gnssId.

Parameters

gnssId Ublox gnssId

Definition at line 468 of file UbloxTypes.cpp.

◆ getStringFromMsgClass()

std::string NAV::vendor::ublox::getStringFromMsgClass ( UbxClass msgClass )

nodiscard

Get the a string from a UBX Msg Class.

Parameters

[in] msgClass The Ubx Msg Class

Returns: The Msg Class string

Definition at line 228 of file UbloxTypes.cpp.

◆ getStringFromMsgId()

std::string NAV::vendor::ublox::getStringFromMsgId	(	UbxClass	msgClass,
		uint8_t	msgId )

nodiscard

Get the a string from a UBX Msg Id.

Parameters

[in]	msgClass	The Ubx Msg Class to search in
[in]	msgId	Msg Id

Returns: The Msg Id string

Definition at line 265 of file UbloxTypes.cpp.

Data Structures

Enumerations

Functions

Enumeration Type Documentation

◆ ErrorDetectionMode

◆ NmeaMessageClass

◆ NmeaPubxMessages

◆ NmeaStandardMessages

◆ NmeaTalkerID

◆ UbxAckMessages

◆ UbxCfgMessages

◆ UbxClass

◆ UbxEsfMessages

◆ UbxHnrMessages

◆ UbxInfMessages

◆ UbxLogMessages

◆ UbxMgaMessages

◆ UbxMonMessages

◆ UbxNavMessages

◆ UbxRxmMessages

◆ UbxSecMessages

◆ UbxTimMessages

◆ UbxUpdMessages

Function Documentation

◆ checksumNMEA()

◆ checksumUBX()

◆ decryptUbloxObs()

◆ getCode()

◆ getMsgClassFromString()

◆ getMsgIdFromString() [1/2]

◆ getMsgIdFromString() [2/2]

◆ getSatSys()

◆ getStringFromMsgClass()

◆ getStringFromMsgId()