Peter Barker
4 years ago
committed by
Peter Barker
3 changed files with 268 additions and 2 deletions
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#pragma once |
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#include <AP_Logger/LogStructure.h> |
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#define LOG_IDS_FROM_GPS \ |
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LOG_GPS_MSG, \
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LOG_GPA_MSG, \
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LOG_GPS_RAW_MSG, \
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LOG_GPS_RAWH_MSG, \
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LOG_GPS_RAWS_MSG, \
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LOG_GPS_UBX1_MSG, \
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LOG_GPS_UBX2_MSG |
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// @LoggerMessage: GPS
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// @Description: Information received from GNSS systems attached to the autopilot
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// @Field: TimeUS: Time since system startup
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// @Field: I: GPS instance number
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// @Field: Status: GPS Fix type; 2D fix, 3D fix etc.
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// @Field: GMS: milliseconds since start of GPS Week
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// @Field: GWk: weeks since 5 Jan 1980
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// @Field: NSats: number of satellites visible
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// @Field: HDop: horizontal precision
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// @Field: Lat: latitude
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// @Field: Lng: longitude
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// @Field: Alt: altitude
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// @Field: Spd: ground speed
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// @Field: GCrs: ground course
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// @Field: VZ: vertical speed
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// @Field: Yaw: vehicle yaw
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// @Field: U: boolean value indicating whether this GPS is in use
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struct PACKED log_GPS { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t instance; |
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uint8_t status; |
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uint32_t gps_week_ms; |
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uint16_t gps_week; |
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uint8_t num_sats; |
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uint16_t hdop; |
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int32_t latitude; |
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int32_t longitude; |
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int32_t altitude; |
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float ground_speed; |
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float ground_course; |
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float vel_z; |
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float yaw; |
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uint8_t used; |
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}; |
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// @LoggerMessage: GPA
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// @Description: GPS accuracy information
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// @Field: I: GPS instance number
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// @Field: TimeUS: Time since system startup
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// @Field: VDop: vertical degree of procession
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// @Field: HAcc: horizontal position accuracy
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// @Field: VAcc: vertical position accuracy
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// @Field: SAcc: speed accuracy
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// @Field: YAcc: yaw accuracy
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// @Field: VV: true if vertical velocity is available
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// @Field: SMS: time since system startup this sample was taken
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// @Field: Delta: system time delta between the last two reported positions
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struct PACKED log_GPA { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t instance; |
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uint16_t vdop; |
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uint16_t hacc; |
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uint16_t vacc; |
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uint16_t sacc; |
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float yaw_accuracy; |
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uint8_t have_vv; |
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uint32_t sample_ms; |
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uint16_t delta_ms; |
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}; |
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/*
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UBlox logging |
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*/ |
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// @LoggerMessage: UBX1
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// @Description: uBlox-specific GPS information (part 1)
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// @Field: TimeUS: Time since system startup
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// @Field: Instance: GPS instance number
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// @Field: noisePerMS: noise level as measured by GPS
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// @Field: jamInd: jamming indicator; higher is more likely jammed
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// @Field: aPower: antenna power indicator; 2 is don't know
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// @Field: agcCnt: automatic gain control monitor
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// @Field: config: bitmask for messages which haven't been seen
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struct PACKED log_Ubx1 { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t instance; |
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uint16_t noisePerMS; |
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uint8_t jamInd; |
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uint8_t aPower; |
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uint16_t agcCnt; |
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uint32_t config; |
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}; |
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// @LoggerMessage: UBX2
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// @Description: uBlox-specific GPS information (part 2)
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// @Field: TimeUS: Time since system startup
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// @Field: Instance: GPS instance number
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// @Field: ofsI: imbalance of I part of complex signal
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// @Field: magI: magnitude of I part of complex signal
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// @Field: ofsQ: imbalance of Q part of complex signal
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// @Field: magQ: magnitude of Q part of complex signal
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struct PACKED log_Ubx2 { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t instance; |
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int8_t ofsI; |
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uint8_t magI; |
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int8_t ofsQ; |
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uint8_t magQ; |
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}; |
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// @LoggerMessage: GRAW
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// @Description: Raw uBlox data
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// @Field: TimeUS: Time since system startup
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// @Field: WkMS: receiver TimeOfWeek measurement
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// @Field: Week: GPS week
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// @Field: numSV: number of space vehicles seen
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// @Field: sv: space vehicle number of first vehicle
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// @Field: cpMes: carrier phase measurement
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// @Field: prMes: pseudorange measurement
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// @Field: doMes: Doppler measurement
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// @Field: mesQI: measurement quality index
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// @Field: cno: carrier-to-noise density ratio
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// @Field: lli: loss of lock indicator
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struct PACKED log_GPS_RAW { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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int32_t iTOW; |
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int16_t week; |
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uint8_t numSV; |
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uint8_t sv; |
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double cpMes; |
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double prMes; |
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float doMes; |
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int8_t mesQI; |
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int8_t cno; |
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uint8_t lli; |
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}; |
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// @LoggerMessage: GRXH
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// @Description: Raw uBlox data - header
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// @Field: TimeUS: Time since system startup
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// @Field: rcvTime: receiver TimeOfWeek measurement
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// @Field: week: GPS week
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// @Field: leapS: GPS leap seconds
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// @Field: numMeas: number of space-vehicle measurements to follow
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// @Field: recStat: receiver tracking status bitfield
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struct PACKED log_GPS_RAWH { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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double rcvTow; |
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uint16_t week; |
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int8_t leapS; |
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uint8_t numMeas; |
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uint8_t recStat; |
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}; |
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// @LoggerMessage: GRXS
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// @Description: Raw uBlox data - space-vehicle data
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// @Field: TimeUS: Time since system startup
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// @Field: prMes: Pseudorange measurement
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// @Field: cpMes: Carrier phase measurement
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// @Field: doMes: Doppler measurement
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// @Field: gnss: GNSS identifier
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// @Field: sv: Satellite identifier
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// @Field: freq: GLONASS frequency slot
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// @Field: lock: carrier phase locktime counter
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// @Field: cno: carrier-to-noise density ratio
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// @Field: prD: estimated pseudorange measurement standard deviation
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// @Field: cpD: estimated carrier phase measurement standard deviation
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// @Field: doD: estimated Doppler measurement standard deviation
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// @Field: trk: tracking status bitfield
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struct PACKED log_GPS_RAWS { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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double prMes; |
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double cpMes; |
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float doMes; |
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uint8_t gnssId; |
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uint8_t svId; |
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uint8_t freqId; |
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uint16_t locktime; |
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uint8_t cno; |
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uint8_t prStdev; |
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uint8_t cpStdev; |
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uint8_t doStdev; |
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uint8_t trkStat; |
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}; |
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#define LOG_STRUCTURE_FROM_GPS \ |
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{ LOG_GPS_MSG, sizeof(log_GPS), \
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"GPS", "QBBIHBcLLeffffB", "TimeUS,I,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,Yaw,U", "s#---SmDUmnhnh-", "F----0BGGB000--" }, \
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{ LOG_GPA_MSG, sizeof(log_GPA), \
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"GPA", "QBCCCCfBIH", "TimeUS,I,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta", "s#mmmnd-ss", "F-BBBB0-CC" }, \
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{ LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \
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"UBX1", "QBHBBHI", "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt,config", "s#-----", "F------" }, \
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{ LOG_GPS_UBX2_MSG, sizeof(log_Ubx2), \
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"UBX2", "QBbBbB", "TimeUS,Instance,ofsI,magI,ofsQ,magQ", "s#----", "F-----" }, \
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{ LOG_GPS_RAW_MSG, sizeof(log_GPS_RAW), \
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"GRAW", "QIHBBddfBbB", "TimeUS,WkMS,Week,numSV,sv,cpMes,prMes,doMes,mesQI,cno,lli", "s--S-------", "F--0-------" }, \
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{ LOG_GPS_RAWH_MSG, sizeof(log_GPS_RAWH), \
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"GRXH", "QdHbBB", "TimeUS,rcvTime,week,leapS,numMeas,recStat", "s-----", "F-----" }, \
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{ LOG_GPS_RAWS_MSG, sizeof(log_GPS_RAWS), \
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"GRXS", "QddfBBBHBBBBB", "TimeUS,prMes,cpMes,doMes,gnss,sv,freq,lock,cno,prD,cpD,doD,trk", "s------------", "F------------" }, |
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