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LibrePilot/flight/modules/GPS/inc/UBX.h
Jan NIJS e5ca71052a LP-452 Added Galileo as a GNSS configuration option to the GCS. 
System -> Settings -> GPSSettings -> UbxGNSSMode

The options GPS+Galileo and GPS+GLONASS+Galileo have been added.

Also corrected PRN mask for EGNOS SBAS information. Active PRN: 120 & 136 , 123
Ref: https://egnos-user-support.essp-sas.eu/new_egnos_ops/index.php
2016-12-17 00:04:44 +01:00

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup GPSModule GPS Module
* @brief Process GPS information (UBX binary format)
* @{
*
* @file UBX.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief GPS module, handles GPS and UBX stream
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UBX_H
#define UBX_H
#include "openpilot.h"
#include "gpspositionsensor.h"
#include "gpsextendedstatus.h"
#ifndef PIOS_GPS_MINIMAL
#include "auxmagsensor.h"
#endif
#include "GPS.h"
#define UBX_HW_VERSION_8 80000
#define UBX_HW_VERSION_7 70000
#define UBX_HW_VERSION_6 60000
#define UBX_HW_VERSION_5 50000
#define UBX_SYNC1 0xb5 // UBX protocol synchronization characters
#define UBX_SYNC2 0x62
// From u-blox6 receiver protocol specification
// Messages classes
typedef enum {
UBX_CLASS_NAV = 0x01,
UBX_CLASS_ACK = 0x05,
UBX_CLASS_CFG = 0x06,
UBX_CLASS_MON = 0x0A,
UBX_CLASS_OP_CUST = 0x99,
UBX_CLASS_AID = 0x0B,
// unused class IDs, used for disabling them
UBX_CLASS_RXM = 0x02,
} ubx_class;
// Message IDs
typedef enum {
UBX_ID_NAV_POSLLH = 0x02,
UBX_ID_NAV_STATUS = 0x03,
UBX_ID_NAV_DOP = 0x04,
UBX_ID_NAV_SOL = 0x06,
UBX_ID_NAV_VELNED = 0x12,
UBX_ID_NAV_TIMEUTC = 0x21,
UBX_ID_NAV_SVINFO = 0x30,
UBX_ID_NAV_PVT = 0x07,
UBX_ID_NAV_AOPSTATUS = 0x60,
UBX_ID_NAV_CLOCK = 0x22,
UBX_ID_NAV_DGPS = 0x31,
UBX_ID_NAV_POSECEF = 0x01,
UBX_ID_NAV_SBAS = 0x32,
UBX_ID_NAV_TIMEGPS = 0x20,
UBX_ID_NAV_VELECEF = 0x11
} ubx_class_nav_id;
typedef enum {
UBX_ID_OP_SYS = 0x01,
UBX_ID_OP_MAG = 0x02,
} ubx_class_op_id;
typedef enum {
UBX_ID_MON_VER = 0x04,
// unused messages IDs, used for disabling them
UBX_ID_MON_HW2 = 0x0B,
UBX_ID_MON_HW = 0x09,
UBX_ID_MON_IO = 0x02,
UBX_ID_MON_MSGPP = 0x06,
UBX_ID_MON_RXBUFF = 0x07,
UBX_ID_MON_RXR = 0x21,
UBX_ID_MON_TXBUF = 0x08,
} ubx_class_mon_id;
typedef enum {
UBX_ID_CFG_NAV5 = 0x24,
UBX_ID_CFG_NAVX5 = 0x23,
UBX_ID_CFG_RATE = 0x08,
UBX_ID_CFG_MSG = 0x01,
UBX_ID_CFG_CFG = 0x09,
UBX_ID_CFG_SBAS = 0x16,
UBX_ID_CFG_GNSS = 0x3E,
UBX_ID_CFG_PRT = 0x00
} ubx_class_cfg_id;
typedef enum {
UBX_ID_ACK_ACK = 0x01,
UBX_ID_ACK_NAK = 0x00,
} ubx_class_ack_id;
typedef enum {
UBX_ID_AID_ALM = 0x0B,
UBX_ID_AID_ALPSRV = 0x32,
UBX_ID_AID_ALP = 0x50,
UBX_ID_AID_AOP = 0x33,
UBX_ID_AID_DATA = 0x10,
UBX_ID_AID_EPH = 0x31,
UBX_ID_AID_HUI = 0x02,
UBX_ID_AID_INI = 0x01,
UBX_ID_AID_REQ = 0x00,
} ubx_class_aid_id;
typedef enum {
UBX_ID_RXM_ALM = 0x30,
UBX_ID_RXM_EPH = 0x31,
UBX_ID_RXM_RAW = 0x10,
UBX_ID_RXM_SFRB = 0x11,
UBX_ID_RXM_SVSI = 0x20,
} ubx_class_rxm_id;
typedef enum {
UBX_GNSS_ID_GPS = 0,
UBX_GNSS_ID_SBAS = 1,
UBX_GNSS_ID_GALILEO = 2,
UBX_GNSS_ID_BEIDOU = 3,
UBX_GNSS_ID_IMES = 4,
UBX_GNSS_ID_QZSS = 5,
UBX_GNSS_ID_GLONASS = 6,
UBX_GNSS_ID_MAX
} ubx_config_gnss_id_t;
// Enumeration options for field UBXDynamicModel
typedef enum {
UBX_DYNMODEL_PORTABLE = 0,
UBX_DYNMODEL_STATIONARY = 2,
UBX_DYNMODEL_PEDESTRIAN = 3,
UBX_DYNMODEL_AUTOMOTIVE = 4,
UBX_DYNMODEL_SEA = 5,
UBX_DYNMODEL_AIRBORNE1G = 6,
UBX_DYNMODEL_AIRBORNE2G = 7,
UBX_DYNMODEL_AIRBORNE4G = 8
} ubx_config_dynamicmodel_t;
typedef enum {
UBX_SBAS_SATS_AUTOSCAN = 0,
UBX_SBAS_SATS_WAAS = 1,
UBX_SBAS_SATS_EGNOS = 2,
UBX_SBAS_SATS_MSAS = 3,
UBX_SBAS_SATS_GAGAN = 4,
UBX_SBAS_SATS_SDCM = 5
} ubx_config_sats_t;
// private structures
// Geodetic Position Solution
struct UBX_NAV_POSLLH {
uint32_t iTOW; // GPS Millisecond Time of Week (ms)
int32_t lon; // Longitude (deg*1e-7)
int32_t lat; // Latitude (deg*1e-7)
int32_t height; // Height above Ellipsoid (mm)
int32_t hMSL; // Height above mean sea level (mm)
uint32_t hAcc; // Horizontal Accuracy Estimate (mm)
uint32_t vAcc; // Vertical Accuracy Estimate (mm)
} __attribute__((packed));
// Receiver Navigation Status
#define STATUS_GPSFIX_NOFIX 0x00
#define STATUS_GPSFIX_DRONLY 0x01
#define STATUS_GPSFIX_2DFIX 0x02
#define STATUS_GPSFIX_3DFIX 0x03
#define STATUS_GPSFIX_GPSDR 0x04
#define STATUS_GPSFIX_TIMEONLY 0x05
#define STATUS_FLAGS_GPSFIX_OK (1 << 0)
#define STATUS_FLAGS_DIFFSOLN (1 << 1)
#define STATUS_FLAGS_WKNSET (1 << 2)
#define STATUS_FLAGS_TOWSET (1 << 3)
struct UBX_NAV_STATUS {
uint32_t iTOW; // GPS Millisecond Time of Week (ms)
uint8_t gpsFix; // GPS fix type
uint8_t flags; // Navigation Status Flags
uint8_t fixStat; // Fix Status Information
uint8_t flags2; // Additional navigation output information
uint32_t ttff; // Time to first fix (ms)
uint32_t msss; // Milliseconds since startup/reset (ms)
} __attribute__((packed));
// Dilution of precision
struct UBX_NAV_DOP {
uint32_t iTOW; // GPS Millisecond Time of Week (ms)
uint16_t gDOP; // Geometric DOP
uint16_t pDOP; // Position DOP
uint16_t tDOP; // Time DOP
uint16_t vDOP; // Vertical DOP
uint16_t hDOP; // Horizontal DOP
uint16_t nDOP; // Northing DOP
uint16_t eDOP; // Easting DOP
} __attribute__((packed));
// Navigation solution
struct UBX_NAV_SOL {
uint32_t iTOW; // GPS Millisecond Time of Week (ms)
int32_t fTOW; // fractional nanoseconds (ns)
int16_t week; // GPS week
uint8_t gpsFix; // GPS fix type
uint8_t flags; // Fix status flags
int32_t ecefX; // ECEF X coordinate (cm)
int32_t ecefY; // ECEF Y coordinate (cm)
int32_t ecefZ; // ECEF Z coordinate (cm)
uint32_t pAcc; // 3D Position Accuracy Estimate (cm)
int32_t ecefVX; // ECEF X coordinate (cm/s)
int32_t ecefVY; // ECEF Y coordinate (cm/s)
int32_t ecefVZ; // ECEF Z coordinate (cm/s)
uint32_t sAcc; // Speed Accuracy Estimate
uint16_t pDOP; // Position DOP
uint8_t reserved1; // Reserved
uint8_t numSV; // Number of SVs used in Nav Solution
uint32_t reserved2; // Reserved
} __attribute__((packed));
// PVT Navigation Position Velocity Time Solution
#define PVT_VALID_VALIDDATE 0x01
#define PVT_VALID_VALIDTIME 0x02
#define PVT_VALID_FULLYRESOLVED 0x04
#define PVT_FIX_TYPE_NO_FIX 0
#define PVT_FIX_TYPE_DEAD_RECKON 0x01 // Dead Reckoning only
#define PVT_FIX_TYPE_2D 0x02 // 2D-Fix
#define PVT_FIX_TYPE_3D 0x03 // 3D-Fix
#define PVT_FIX_TYPE_GNSS_DEAD_RECKON 0x04 // GNSS + dead reckoning combined
#define PVT_FIX_TYPE_TIME_ONLY 0x05 // Time only fix
#define PVT_FLAGS_GNSSFIX_OK (1 << 0)
#define PVT_FLAGS_DIFFSOLN (1 << 1)
#define PVT_FLAGS_PSMSTATE_ENABLED (1 << 2)
#define PVT_FLAGS_PSMSTATE_ACQUISITION (2 << 2)
#define PVT_FLAGS_PSMSTATE_TRACKING (3 << 2)
#define PVT_FLAGS_PSMSTATE_PO_TRACKING (4 << 2)
#define PVT_FLAGS_PSMSTATE_INACTIVE (5 << 2)
struct UBX_NAV_PVT {
uint32_t iTOW;
uint16_t year;
uint8_t month;
uint8_t day;
uint8_t hour;
uint8_t min;
uint8_t sec;
uint8_t valid;
uint32_t tAcc;
int32_t nano;
uint8_t fixType;
uint8_t flags;
uint8_t reserved1;
uint8_t numSV;
int32_t lon;
int32_t lat;
int32_t height;
int32_t hMSL;
uint32_t hAcc;
uint32_t vAcc;
int32_t velN;
int32_t velE;
int32_t velD;
int32_t gSpeed;
int32_t heading;
uint32_t sAcc;
uint32_t headingAcc;
uint16_t pDOP;
uint16_t reserved2;
uint32_t reserved3;
} __attribute__((packed));
// North/East/Down velocity
struct UBX_NAV_VELNED {
uint32_t iTOW; // ms GPS Millisecond Time of Week
int32_t velN; // cm/s NED north velocity
int32_t velE; // cm/s NED east velocity
int32_t velD; // cm/s NED down velocity
uint32_t speed; // cm/s Speed (3-D)
uint32_t gSpeed; // cm/s Ground Speed (2-D)
int32_t heading; // 1e-5 *deg Heading of motion 2-D
uint32_t sAcc; // cm/s Speed Accuracy Estimate
uint32_t cAcc; // 1e-5 *deg Course / Heading Accuracy Estimate
} __attribute__((packed));
// UTC Time Solution
#define TIMEUTC_VALIDTOW (1 << 0)
#define TIMEUTC_VALIDWKN (1 << 1)
#define TIMEUTC_VALIDUTC (1 << 2)
struct UBX_NAV_TIMEUTC {
uint32_t iTOW; // GPS Millisecond Time of Week (ms)
uint32_t tAcc; // Time Accuracy Estimate (ns)
int32_t nano; // Nanoseconds of second
uint16_t year;
uint8_t month;
uint8_t day;
uint8_t hour;
uint8_t min;
uint8_t sec;
uint8_t valid; // Validity Flags
} __attribute__((packed));
// Space Vehicle (SV) Information
// Single SV information block
#define SVUSED (1 << 0) // This SV is used for navigation
#define DIFFCORR (1 << 1) // Differential correction available
#define ORBITAVAIL (1 << 2) // Orbit information available
#define ORBITEPH (1 << 3) // Orbit information is Ephemeris
#define UNHEALTHY (1 << 4) // SV is unhealthy
#define ORBITALM (1 << 5) // Orbit information is Almanac Plus
#define ORBITAOP (1 << 6) // Orbit information is AssistNow Autonomous
#define SMOOTHED (1 << 7) // Carrier smoothed pseudoranges used
struct UBX_NAV_SVINFO_SV {
uint8_t chn; // Channel number
uint8_t svid; // Satellite ID
uint8_t flags; // Misc SV information
uint8_t quality; // Misc quality indicators
uint8_t cno; // Carrier to Noise Ratio (dbHz)
int8_t elev; // Elevation (integer degrees)
int16_t azim; // Azimuth (integer degrees)
int32_t prRes; // Pseudo range residual (cm)
} __attribute__((packed));
// SV information message
#define MAX_SVS 32
struct UBX_NAV_SVINFO {
uint32_t iTOW; // GPS Millisecond Time of Week (ms)
uint8_t numCh; // Number of channels
uint8_t globalFlags; //
uint16_t reserved2; // Reserved
struct UBX_NAV_SVINFO_SV sv[MAX_SVS]; // Repeated 'numCh' times
} __attribute__((packed));
// ACK message class
struct UBX_ACK_ACK {
uint8_t clsID; // ClassID
uint8_t msgID; // MessageID
} __attribute__((packed));
struct UBX_ACK_NAK {
uint8_t clsID; // ClassID
uint8_t msgID; // MessageID
} __attribute__((packed));
// Communication port information
// default cfg_prt packet at 9600,N,8,1 (from u-center)
// 0000 B5 62 06 00 14 00-01 00
// 0008 00 00 D0 08 00 00 80 25
// 0010 00 00 07 00 03 00 00 00
// 0018 00 00-A2 B5
#define UBX_CFG_PRT_PORTID_DDC 0
#define UBX_CFG_PRT_PORTID_UART1 1
#define UBX_CFG_PRT_PORTID_UART2 2
#define UBX_CFG_PRT_PORTID_USB 3
#define UBX_CFG_PRT_PORTID_SPI 4
#define UBX_CFG_PRT_MODE_DATABITS5 0x00
#define UBX_CFG_PRT_MODE_DATABITS6 0x40
#define UBX_CFG_PRT_MODE_DATABITS7 0x80
#define UBX_CFG_PRT_MODE_DATABITS8 0xC0
#define UBX_CFG_PRT_MODE_EVENPARITY 0x000
#define UBX_CFG_PRT_MODE_ODDPARITY 0x200
#define UBX_CFG_PRT_MODE_NOPARITY 0x800
#define UBX_CFG_PRT_MODE_STOPBITS1_0 0x0000
#define UBX_CFG_PRT_MODE_STOPBITS1_5 0x1000
#define UBX_CFG_PRT_MODE_STOPBITS2_0 0x2000
#define UBX_CFG_PRT_MODE_STOPBITS0_5 0x3000
#define UBX_CFG_PRT_MODE_RESERVED 0x10
#define UBX_CFG_PRT_MODE_DEFAULT (UBX_CFG_PRT_MODE_DATABITS8 | UBX_CFG_PRT_MODE_NOPARITY | UBX_CFG_PRT_MODE_STOPBITS1_0 | UBX_CFG_PRT_MODE_RESERVED)
struct UBX_CFG_PRT {
uint8_t portID; // 1 or 2 for UART ports
uint8_t res0; // reserved
uint16_t res1; // reserved
uint32_t mode; // bit masks for databits, stopbits, parity, and non-zero reserved
uint32_t baudRate; // bits per second, 9600 means 9600
uint16_t inProtoMask; // bit 0 on = UBX, bit 1 on = NEMA
uint16_t outProtoMask; // bit 0 on = UBX, bit 1 on = NEMA
uint16_t flags; // reserved
uint16_t pad; // reserved
} __attribute__((packed));
struct UBX_CFG_MSG {
uint8_t msgClass;
uint8_t msgID;
uint8_t rate;
} __attribute__((packed));
struct UBX_CFG_RATE {
uint16_t measRate;
uint16_t navRate;
uint16_t timeRef;
} __attribute__((packed));
// Mask for "all supported devices": battery backed RAM, Flash, EEPROM, SPI Flash
#define UBX_CFG_CFG_DEVICE_BBR 0x01
#define UBX_CFG_CFG_DEVICE_FLASH 0x02
#define UBX_CFG_CFG_DEVICE_EEPROM 0x04
#define UBX_CFG_CFG_DEVICE_SPIFLASH 0x10
#define UBX_CFG_CFG_DEVICE_ALL (UBX_CFG_CFG_DEVICE_BBR | UBX_CFG_CFG_DEVICE_FLASH | UBX_CFG_CFG_DEVICE_EEPROM | UBX_CFG_CFG_DEVICE_SPIFLASH)
#define UBX_CFG_CFG_SETTINGS_NONE 0x000
#define UBX_CFG_CFG_SETTINGS_IOPORT 0x001
#define UBX_CFG_CFG_SETTINGS_MSGCONF 0x002
#define UBX_CFG_CFG_SETTINGS_INFMSG 0x004
#define UBX_CFG_CFG_SETTINGS_NAVCONF 0x008
#define UBX_CFG_CFG_SETTINGS_TPCONF 0x010
#define UBX_CFG_CFG_SETTINGS_SFDRCONF 0x100
#define UBX_CFG_CFG_SETTINGS_RINVCONF 0x200
#define UBX_CFG_CFG_SETTINGS_ANTCONF 0x400
#define UBX_CFG_CFG_SETTINGS_ALL \
(UBX_CFG_CFG_SETTINGS_IOPORT | \
UBX_CFG_CFG_SETTINGS_MSGCONF | \
UBX_CFG_CFG_SETTINGS_INFMSG | \
UBX_CFG_CFG_SETTINGS_NAVCONF | \
UBX_CFG_CFG_SETTINGS_TPCONF | \
UBX_CFG_CFG_SETTINGS_SFDRCONF | \
UBX_CFG_CFG_SETTINGS_RINVCONF | \
UBX_CFG_CFG_SETTINGS_ANTCONF)
// Sent messages for configuration support
struct UBX_CFG_CFG {
uint32_t clearMask;
uint32_t saveMask;
uint32_t loadMask;
uint8_t deviceMask;
} __attribute__((packed));
#define UBX_CFG_SBAS_MODE_ENABLED 0x01
#define UBX_CFG_SBAS_MODE_TEST 0x02
#define UBX_CFG_SBAS_USAGE_RANGE 0x01
#define UBX_CFG_SBAS_USAGE_DIFFCORR 0x02
#define UBX_CFG_SBAS_USAGE_INTEGRITY 0x04
// SBAS used satellite PNR bitmask (120-151)
// -------------------------------------1---------1---------1---------1
// -------------------------------------5---------4---------3---------2
// ------------------------------------10987654321098765432109876543210
// WAAS 122, 133, 134, 135, 138---------|---------|---------|---------|
#define UBX_CFG_SBAS_SCANMODE1_WAAS 0b00000000000001001110000000000100
// EGNOS 120, 123, 136------------------|---------|---------|---------|
#define UBX_CFG_SBAS_SCANMODE1_EGNOS 0b00000000000000010000000000001001
// MSAS 129, 137------------------------|---------|---------|---------|
#define UBX_CFG_SBAS_SCANMODE1_MSAS 0b00000000000000100000001000000000
// GAGAN 127, 128-----------------------|---------|---------|---------|
#define UBX_CFG_SBAS_SCANMODE1_GAGAN 0b00000000000000000000000110000000
// SDCM 125, 140, 141-------------------|---------|---------|---------|
#define UBX_CFG_SBAS_SCANMODE1_SDCM 0b00000000001100000000000000100000
#define UBX_CFG_SBAS_SCANMODE2 0x00
struct UBX_CFG_SBAS {
uint8_t mode;
uint8_t usage;
uint8_t maxSBAS;
uint8_t scanmode2;
uint32_t scanmode1;
} __attribute__((packed));
#define UBX_CFG_GNSS_FLAGS_ENABLED 0x000001
#define UBX_CFG_GNSS_FLAGS_GPS_L1CA 0x010000
#define UBX_CFG_GNSS_FLAGS_SBAS_L1CA 0x010000
#define UBX_CFG_GNSS_FLAGS_BEIDOU_B1I 0x010000
#define UBX_CFG_GNSS_FLAGS_QZSS_L1CA 0x010000
#define UBX_CFG_GNSS_FLAGS_QZSS_L1SAIF 0x040000
#define UBX_CFG_GNSS_FLAGS_GLONASS_L1OF 0x010000
#define UBX_CFG_GNSS_FLAGS_GALILEO_E1 0x010000
#define UBX_CFG_GNSS_NUMCH_VER7 22
#define UBX_CFG_GNSS_NUMCH_VER8 32
struct UBX_CFG_GNSS_CFGBLOCK {
uint8_t gnssId;
uint8_t resTrkCh;
uint8_t maxTrkCh;
uint8_t resvd;
uint32_t flags;
} __attribute__((packed));
struct UBX_CFG_GNSS {
uint8_t msgVer;
uint8_t numTrkChHw;
uint8_t numTrkChUse;
uint8_t numConfigBlocks;
struct UBX_CFG_GNSS_CFGBLOCK cfgBlocks[UBX_GNSS_ID_MAX];
} __attribute__((packed));
// CFG-NAV5: Position Fixing Mode
#define UBX_CFG_NAV5_FIXMODE_2D_ONLY 0x01
#define UBX_CFG_NAV5_FIXMODE_3D_ONLY 0x02
#define UBX_CFG_NAV5_FIXMODE_AUTO_2D3D 0x03
// CFG-NAV5: Bitfield mask
#define UBX_CFG_NAV5_DYNMODEL (1 << 0) // Apply dynamic model settings
#define UBX_CFG_NAV5_MINELEV (1 << 1) // Apply minimum elevation settings
#define UBX_CFG_NAV5_FIXMODE (1 << 2) // Apply fix mode settings
#define UBX_CFG_NAV5_DRLIMIT (1 << 3) // Reserved
#define UBX_CFG_NAV5_POSITION (1 << 4) // Apply position mask settings
#define UBX_CFG_NAV5_TIME (1 << 5) // Apply time mask settings
#define UBX_CFG_NAV5_STATICHOLD (1 << 6) // Apply static hold settings
#define UBX_CFG_NAV5_DGPS (1 << 7) // Reserved
struct UBX_CFG_NAV5 {
uint16_t mask;
uint8_t dynModel;
uint8_t fixMode;
int32_t fixedAlt;
uint32_t fixedAltVar;
int8_t minElev;
uint8_t drLimit;
uint16_t pDop;
uint16_t tDop;
uint16_t pAcc;
uint16_t tAcc;
uint8_t staticHoldThresh;
uint8_t dgpsTimeOut;
uint8_t cnoThreshNumSVs;
uint8_t cnoThresh;
uint16_t reserved2;
uint32_t reserved3;
uint32_t reserved4;
} __attribute__((packed));
// CFG-NAVX5: Bitfield mask1
#define UBX_CFG_NAVX5_MIN_MAX (1 << 2) // Apply min/max SVs settings
#define UBX_CFG_NAVX5_MIN_CNO (1 << 3) // Apply minimum C/N0 setting
#define UBX_CFG_NAVX5_INIT_3DFIX (1 << 6) // Apply initial 3D fix settings
#define UBX_CFG_NAVX5_WKN_ROLL (1 << 9) // Apply GPS weeknumber rollover settings
#define UBX_CFG_NAVX5_PPP (1 << 13) // Apply PPP flag, only supported on certain product variants
#define UBX_CFG_NAVX5_AOP (1 << 14) // Apply useAOP flag and aopOrbMaxErr setting (AssistNow Autonomous)
struct UBX_CFG_NAVX5 {
uint16_t version;
uint16_t mask1;
uint32_t reserved0;
uint8_t reserved1;
uint8_t reserved2;
uint8_t minSVs;
uint8_t maxSVs;
uint8_t minCN0;
uint8_t reserved5;
uint8_t iniFix3D;
uint8_t reserved6;
uint8_t reserved7;
uint8_t reserved8;
uint16_t wknRollover;
uint32_t reserved9;
uint8_t reserved10;
uint8_t reserved11;
uint8_t usePPP;
uint8_t useAOP;
uint8_t reserved12;
uint8_t reserved13;
uint16_t aopOrbMaxErr;
uint32_t reserved3;
uint32_t reserved4;
} __attribute__((packed));
// MON message Class
#define UBX_MON_MAX_EXT 5
struct UBX_MON_VER {
char swVersion[30];
char hwVersion[10];
#if UBX_MON_MAX_EXT > 0
char extension[UBX_MON_MAX_EXT][30];
#endif
} __attribute__((packed));
// OP custom messages
struct UBX_OP_SYSINFO {
uint32_t flightTime;
uint16_t options;
uint8_t board_type;
uint8_t board_revision;
uint8_t commit_tag_name[26];
uint8_t sha1sum[8];
} __attribute__((packed));
// OP custom messages
struct UBX_OP_MAG {
int16_t x;
int16_t y;
int16_t z;
uint16_t Status;
} __attribute__((packed));
typedef union {
uint8_t payload[0];
// Nav Class
struct UBX_NAV_POSLLH nav_posllh;
struct UBX_NAV_STATUS nav_status;
struct UBX_NAV_DOP nav_dop;
struct UBX_NAV_SOL nav_sol;
struct UBX_NAV_VELNED nav_velned;
#if !defined(PIOS_GPS_MINIMAL)
struct UBX_NAV_PVT nav_pvt;
struct UBX_NAV_TIMEUTC nav_timeutc;
struct UBX_NAV_SVINFO nav_svinfo;
struct UBX_CFG_PRT cfg_prt;
// Ack Class
struct UBX_ACK_ACK ack_ack;
struct UBX_ACK_NAK ack_nak;
// Mon Class
struct UBX_MON_VER mon_ver;
struct UBX_OP_SYSINFO op_sysinfo;
struct UBX_OP_MAG op_mag;
#endif
} UBXPayload;
struct UBXHeader {
uint8_t class;
uint8_t id;
uint16_t len;
uint8_t ck_a;
uint8_t ck_b;
} __attribute__((packed));
struct UBXPacket {
struct UBXHeader header;
UBXPayload payload;
} __attribute__((packed));
struct UBXSENTHEADER {
uint8_t prolog[2];
uint8_t class;
uint8_t id;
uint16_t len;
} __attribute__((packed));
union UBXSENTPACKET {
uint8_t buffer[0];
struct {
struct UBXSENTHEADER header;
union {
struct UBX_CFG_CFG cfg_cfg;
struct UBX_CFG_MSG cfg_msg;
struct UBX_CFG_NAV5 cfg_nav5;
struct UBX_CFG_NAVX5 cfg_navx5;
struct UBX_CFG_PRT cfg_prt;
struct UBX_CFG_RATE cfg_rate;
struct UBX_CFG_SBAS cfg_sbas;
struct UBX_CFG_GNSS cfg_gnss;
} payload;
uint8_t resvd[2]; // added space for checksum bytes
} message;
} __attribute__((packed));
// Used by AutoConfig code
extern int32_t ubxHwVersion;
extern GPSPositionSensorSensorTypeOptions ubxSensorType;
extern struct UBX_ACK_ACK ubxLastAck;
extern struct UBX_ACK_NAK ubxLastNak;
bool checksum_ubx_message(struct UBXPacket *);
uint32_t parse_ubx_message(struct UBXPacket *, GPSPositionSensorData *);
int parse_ubx_stream(uint8_t *rx, uint16_t len, char *, GPSPositionSensorData *, struct GPS_RX_STATS *);
void op_gpsv9_load_mag_settings();
void aux_hmc5x83_load_mag_settings();
#endif /* UBX_H */
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