.. _program_listing_file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_ubx_cfg_item.hpp:

Program Listing for File ubx_cfg_item.hpp
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_ubx_cfg_item.hpp>` (``/tmp/ws/src/ublox_dgnss/ublox_dgnss_node/include/ublox_dgnss_node/ubx/ubx_cfg_item.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 Australian Robotics Supplies & Technology
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef UBLOX_DGNSS_NODE__UBX__UBX_CFG_ITEM_HPP_
   #define UBLOX_DGNSS_NODE__UBX__UBX_CFG_ITEM_HPP_
   #include <unistd.h>
   #include <map>
   #include <list>
   #include <string>
   #include <sstream>
   #include "ublox_dgnss_node/ubx/ubx_types.hpp"
   #include "ublox_dgnss_node/ubx/ubx.hpp"
   
   namespace ubx::cfg
   {
   size_t storage_size_bytes(u8_t storage_size_id)
   {
     size_t size = 0;
     switch (storage_size_id) {
       case 0x01: size = 1; break;     
       case 0x02: size = 1; break;
       case 0x03: size = 2; break;
       case 0x04: size = 4; break;
       case 0x05: size = 8; break;
       default:
         size = 0;
     }
     return size;
   }
   
   union ubx_key_id_t {
     u4_t all;
     struct  ubx_key_id_bit_t
     {
       u2_t item_id : 12;
       u1_t reserved2 : 4;
       u1_t group_id : 8;
       u1_t reserverd1 : 4;
       u1_t storage_size_id : 3;
       u1_t reserved0 : 1;
     } bits;
     u4_t key_id()
     {
       return all;
     }
     u1_t storage_size_id()
     {
       return bits.storage_size_id;
     }
     u1_t group_id()
     {
       return bits.group_id;
     }
     u2_t item_id()
     {
       return bits.item_id;
     }                                         // actually 12 bits
     size_t storage_size()
     {
       return storage_size_bytes(bits.storage_size_id);
     }
     std::string to_hex()
     {
       std::ostringstream oss;
       oss << "0x" << std::setfill('0') << std::setw(8) << std::right << std::hex << +all;
       return oss.str();
     }
   };
   
   
   struct key_value_t
   {
     ubx_key_id_t ubx_key_id;
     value_t ubx_value;
   };
   
   enum ubx_unit_t
   {
     NA,       // not applicable
     M,       // meters
     Y,       // years
     MONTH,       // months
     D,       // days
     H,       // hours
     MIN,       // minutes
     S,       // seconds
     HZ,       // frquency (Hz)
     MA,       // milli amps (mA)
     MS,       // milliseconds
     DEG,       // degree ie Longitude, Latitude
     MM,       // milimeter
     CM,       // centimeter
     MPS,       // meters per second
   };
   
   struct ubx_cfg_item_t
   {
     const char * ubx_config_item;
     ubx_key_id_t ubx_key_id;
     ubx_type_t ubx_type;
     double_t scale;
     ubx_unit_t ubx_unit;
   };
   
   // cfg infmsg
   const ubx_cfg_item_t CFG_INFMSG_UBX_USB = {"CFG_INFMSG_UBX_USB", 0x20920004, X1, 1, NA};
   const ubx_cfg_item_t CFG_INFMSG_NMEA_USB = {"CFG_INFMSG_NMEA_USB", 0x20920009, X1, 1, NA};
   enum CFG_INFMSG_ENUM
   {
     INFMSG_ERROR = 0x01,         // Enable ERROR information messages
     INFMSG_WARNING = 0x02,       // Enable WARNING information messages
     INFMSG_NOTICE = 0x04,        // Enable NOTICE information messages
     INFMSG_TEST = 0x08,          // Enable TEST information messages
     INFMSG_DEBUG = 0x10,         // Enable DEBUG information messages
   };
   
   // cfg uart1
   const ubx_cfg_item_t CFG_UART1INPROT_UBX = {"CFG_UART1INPROT_UBX", 0x10730001, L, 1, NA};
   const ubx_cfg_item_t CFG_UART1INPROT_NMEA = {"CFG_UART1INPROT_NMEA", 0x10730002, L, 1, NA};
   const ubx_cfg_item_t CFG_UART1INPROT_RTCM3X = {"CFG_UART1INPROT_RTCM3X", 0x10730004, L, 1, NA};
   const ubx_cfg_item_t CFG_UART1OUTPROT_UBX = {"CFG_UART1OUTPROT_UBX", 0x10740001, L, 1, NA};
   const ubx_cfg_item_t CFG_UART1OUTPROT_NMEA = {"CFG_UART1OUTPROT_NMEA", 0x10740002, L, 1, NA};
   const ubx_cfg_item_t CFG_UART1OUTPROT_RTCM3X = {"CFG_UART1OUTPROT_RTCM3X", 0x10740004, L, 1, NA};
   
   // cfg usb
   const ubx_cfg_item_t CFG_USBINPROT_UBX = {"CFG_USBINPROT_UBX", 0x10770001, L, 1, NA};
   const ubx_cfg_item_t CFG_USBINPROT_NMEA = {"CFG_USBINPROT_NMEA", 0x10770002, L, 1, NA};
   const ubx_cfg_item_t CFG_USBINPROT_RTCM3X = {"CFG_USBINPROT_RTCM3X", 0x10770004, L, 1, NA};
   const ubx_cfg_item_t CFG_USBOUTPROT_UBX = {"CFG_USBOUTPROT_UBX", 0x10780001, L, 1, NA};
   const ubx_cfg_item_t CFG_USBOUTPROT_NMEA = {"CFG_USBOUTPROT_NMEA", 0x10780002, L, 1, NA};
   const ubx_cfg_item_t CFG_USBOUTPROT_RTCM3X = {"CFG_USBOUTPROT_RTCM3X", 0x10780004, L, 1, NA};
   
   // cfg tmode - time mode configuration
   const ubx_cfg_item_t CFG_TMODE_MODE = {"CFG_TMODE_MODE", 0x20030001, E1, 1, NA};
   enum CFG_TMODE_MODE_ENUM {DISABLED = 0, SURVEY_IN = 1, FIXED = 2};
   const ubx_cfg_item_t CFG_TMODE_POS_TYPE = {"CFG_TMODE_POS_TYPE", 0x20030002, E1, 1, NA};
   enum CFG_TMODE_POS_TYPE_ENUM {ECEF = 0, LLH = 1};
   
   // cfg navhpg - high precision navigation configuration
   const ubx_cfg_item_t CFG_NAVHPG_DGNSSMODE = {"CFG_NAVHPG_DGNSSMODE", 0x20140011, E1, 1, NA};
   enum CFG_NAVHPG_DGNSSMODE_ENUM
   {
     RTK_FLOAT = 2,       // no attempts made to fix ambiguities
     RTK_FIXED = 3       // Ambiguities are fixed whenever possible
   };
   
   // cfg navspg - standard precision navigation configuration
   const ubx_cfg_item_t CFG_NAVSPG_FIXMODE = {"CFG_NAVSPG_FIXMODE", 0x20110011, E1, 1, NA};
   enum CFG_NAVSPG_FIXMODE_ENUM
   {
     ONLY_2D = 1,         // 2D Only
     ONLY_3D = 2,         // 3D only
     AUTO = 3             // Auto 2D/3D
   };
   const ubx_cfg_item_t CFG_NAVSPG_INIFIX3D = {"CFG_NAVSPG_INIFIX3D", 0x10110013, L, 1, NA};
   
   const ubx_cfg_item_t CFG_NAVSPG_UTCSTANDARD = {"CFG_NAVSPG_UTCSTANDARD", 0x2011001c, E1, 1, NA};
   enum CFG_NAVSPG_UTCSTANDARD_ENUM
   {
     UTC_AUTO = 0,         // Automatic; receiver selects based on GNSS configuration
     UTC_USNO = 3,         // UTC as operated by the US Naval Observatory (USNO)
                           //  derived from GPS time
     UTC_EU = 5,           // UT as combined from multiple European laboratories
                           //  dervied from Galileo time
     UTC_SU = 6,           // UTC as operated by the former Soviet Unnion (SU)
                           //  derived from GLONASS time
     UTC_NTSC = 7          // UTC as operated by the National Time Service Center (NTSC), Chin
                           //  derived from BeiDou time
   };
   
   const ubx_cfg_item_t CFG_NAVSPG_DYNMODEL = {"CFG_NAVSPG_DYNMODEL", 0x20110021, E1, 1, NA};
   enum CFG_NAVSPG_DYNMODEL_ENUM
   {
     DYN_MODEL_PORT = 0,       // Portable
     DYN_MODEL_STAT = 2,       // Stationary
     DYN_MODEL_PED = 3,       // Pedestrian
     DYN_MODEL_AUTOMOT = 4,       // Automotive
     DYN_MODEL_SEA = 5,          // Sea
     DYN_MODEL_AIR1 = 6,         // Airborne <1g acceleration
     DYN_MODEL_AIR2 = 7,         // Airborne <2g acceleration
     DYN_MODEL_AIR4 = 8,         // Airborne <4g acceleration
     DYN_MODEL_WRIST = 9,        // Wrist-worn watch (not available in all products)
     DYN_MODEL_BIKE = 10,        // Motorbike (not available in all products)
     DYN_MODEL_MOWER = 11,       // Robotic lawn mower (not available in all products)
     DYN_MODEL_ESCOOTER = 12,    // E-scooter (not available in all products)
   };
   
   // cfg odo
   const ubx_cfg_item_t CFG_ODO_USE_ODO = {"CFG_ODO_USE_ODO", 0x10220001, L, 1, NA};
   const ubx_cfg_item_t CFG_ODO_USE_COG = {"CFG_ODO_USE_COG", 0x10220002, L, 1, NA};
   const ubx_cfg_item_t CFG_ODO_OUTLPVEL = {"CFG_ODO_OUTLPVEL", 0x10220003, L, 1, NA};
   const ubx_cfg_item_t CFG_ODO_OUTLPCOG = {"CFG_ODO_OUTLPCOG", 0x10220004, L, 1, NA};
   const ubx_cfg_item_t CFG_ODO_PROFILE = {"CFG_ODO_PROFILE", 0x20220005, E1, 1, NA};
   enum CFG_ODO_PROFILE_ENUM
   {
     ODO_RUN = 0,          // Running
     ODO_CYCL = 1,         // Cycling
     ODO_SWIM = 2,         // Swimming
     ODO_CAR = 3,          // Car
     ODO_CUSTOM = 4,       // Custom
   };
   const ubx_cfg_item_t CFG_ODO_COGMAXSPEED = {"CFG_ODO_COGMAXSPEED", 0x20220021, U1, 1, MPS};
   const ubx_cfg_item_t CFG_ODO_COGMAXPOSACC = {"CFG_ODO_COGMAXPOSACC", 0x20220022, U1, 1, NA};
   const ubx_cfg_item_t CFG_ODO_VELLPGAIN = {"CFG_ODO_VALLPGAIN", 0x20220031, U1, 1, NA};
   const ubx_cfg_item_t CFG_ODO_COGLPGAIN = {"CFG_ODO_COGLPGAIN", 0x20220032, U1, 1, NA};
   
   
   // cfg rate - navigation and measurement rate configuration
   const ubx_cfg_item_t CFG_RATE_MEAS = {"CFG_RATE_MEAS", 0x30210001, U2, .001, S};
   const ubx_cfg_item_t CFG_RATE_NAV = {"CFG_RATE_NAV", 0x30210002, U2, 1, NA};
   const ubx_cfg_item_t CFG_RATE_TIMEREF = {"CFG_RATE_TIMEREF", 0x30210003, E1, 1, NA};
   enum CFG_RATE_TIMEREF_ENUM
   {
     ALIGN_UTC = 0,         // Align measurements to UTC time
     ALIGN_GPS = 1,         // Align measurements to GPS time
     ALIGN_GLO = 2,         // Align measurements to GLONASS time
     ALIGN_BDS = 3,         // Align measurements to BeiDou time
     ALIGN_GAL = 4,         // Align measurements to Galileo time
   };
   
   // cfg sfimu - sensor fusion IMU configuration
   const ubx_cfg_item_t CFG_SFIMU_AUTO_MNTALG_ENA =
   {"CFG_SFIMU_AUTO_MNTALG_ENA", 0x10060027, L, 0, NA};
   const ubx_cfg_item_t CFG_SFIMU_IMU_MNTALG_YAW =
   {"CFG_SFIMU_IMU_MNTALG_YAW", 0x4006002d, U4, .001, DEG};
   const ubx_cfg_item_t CFG_SFIMU_IMU_MNTALG_PITCH =
   {"CFG_SFIMU_IMU_MNTALG_PITCH", 0x3006002e, I2, .001, DEG};
   const ubx_cfg_item_t CFG_SFIMU_IMU_MNTALG_ROLL =
   {"CFG_SFIMU_IMU_MNTALG_ROLL", 0x3006002f, I2, .001, DEG};
   
   // cfg sfodo - sensor fusion odometer configuration
   const ubx_cfg_item_t CFG_SFODO_COMBINE_TICKS =
   {"CFG_SFODO_COMBINE_TICKS", 0x10070001, L, 0, NA};
   const ubx_cfg_item_t CFG_SFODO_COUNT_MAX =
   {"CFG_SFODO_COUNT_MAX", 0x40070009, U4, 0, NA};
   const ubx_cfg_item_t CFG_SFODO_DIS_AUTOCOUNTMAX =
   {"CFG_SFODO_DIS_AUTOCOUNTMAX", 0x10070004, L, 0, NA};
   const ubx_cfg_item_t CFG_SFODO_DIS_AUTODIRPINPOL =
   {"CFG_SFODO_DIS_AUTODIRPINPOL", 0x10070005, L, 0, NA};
   const ubx_cfg_item_t CFG_SFODO_FACTOR =
   {"CFG_SFODO_FACTOR", 0x40070007, U4, 1e-6, NA};
   const ubx_cfg_item_t CFG_SFODO_QUANT_ERROR =
   {"CFG_SFODO_QUANT_ERROR", 0x40070008, U4, 1e-6, M};
   const ubx_cfg_item_t CFG_SFODO_LATENCY =
   {"CFG_SFODO_LATENCY", 0x3007000a, U2, 0, MS};
   
   // cfg msgout - msg output rate configurations
   const ubx_cfg_item_t CFG_MSGOUT_UBX_NAV_STATUS_USB =
   {"CFG_MSGOUT_UBX_NAV_STATUS_USB", 0x2091001d, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_NAV_CLOCK_USB =
   {"CFG_MSGOUT_UBX_NAV_CLOCK_USB", 0x20910068, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_NAV_COV_USB =
   {"CFG_MSGOUT_UBX_NAV_COV_USB", 0x20910086, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_NAV_DOP_USB =
   {"CFG_MSGOUT_UBX_NAV_DOP_USB", 0x2091003b, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_NAV_EOE_USB =
   {"CFG_MSGOUT_UBX_NAV_EOE_USB", 0x20910162, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_NAV_POSECEF_USB =
   {"CFG_MSGOUT_UBX_NAV_POSECEF_USB", 0x20910027, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_NAV_HPPOSECEF_USB =
   {"CFG_MSGOUT_UBX_NAV_HPPOSECEF_USB", 0x20910031, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_NAV_POSLLH_USB =
   {"CFG_MSGOUT_UBX_NAV_POSLLH_USB", 0x2091002C, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_NAV_HPPOSLLH_USB =
   {"CFG_MSGOUT_UBX_NAV_HPPOSLLH_USB", 0x20910036, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_NAV_ODO_USB =
   {"CFG_MSGOUT_UBX_NAV_ODO_USB", 0x20910081, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_NAV_PVT_USB =
   {"CFG_MSGOUT_UBX_NAV_PVT_USB", 0x20910009, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_NAV_RELPOSNED_USB =
   {"CFG_MSGOUT_UBX_NAV_RELPOSNED_USB", 0x20910090, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_NAV_TIMEUTC_USB =
   {"CFG_MSGOUT_UBX_NAV_TIMEUTC_USB", 0x2091005e, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_NAV_VELECEF_USB =
   {"CFG_MSGOUT_UBX_NAV_VELECEF_USB", 0x20910040, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_NAV_VELNED_USB =
   {"CFG_MSGOUT_UBX_NAV_VELNED_USB", 0x20910045, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_RXM_RTCM_USB =
   {"CFG_MSGOUT_UBX_RXM_RTCM_USB", 0x2091026b, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_ESF_MEAS_USB =
   {"CFG_MSGOUT_UBX_ESF_MEAS_USB", 0x2091027a, U1, 0, NA};
   const ubx_cfg_item_t CFG_MSGOUT_UBX_ESF_STATUS_USB =
   {"CFG_MSGOUT_UBX_ESF_STATUS_USB", 0x20910108, U1, 0, NA};
   
   std::map<ubx_key_id_t, ubx_cfg_item_t> ubxKeyCfgItemMap = {
     {CFG_INFMSG_UBX_USB.ubx_key_id, CFG_INFMSG_UBX_USB},
     {CFG_INFMSG_NMEA_USB.ubx_key_id, CFG_INFMSG_NMEA_USB},
     {CFG_UART1INPROT_UBX.ubx_key_id, CFG_UART1INPROT_UBX},
     {CFG_UART1INPROT_NMEA.ubx_key_id, CFG_UART1INPROT_NMEA},
     {CFG_UART1INPROT_RTCM3X.ubx_key_id, CFG_UART1INPROT_RTCM3X},
     {CFG_UART1OUTPROT_UBX.ubx_key_id, CFG_UART1OUTPROT_UBX},
     {CFG_UART1OUTPROT_NMEA.ubx_key_id, CFG_UART1OUTPROT_NMEA},
     {CFG_UART1OUTPROT_RTCM3X.ubx_key_id, CFG_UART1OUTPROT_RTCM3X},
     {CFG_USBINPROT_UBX.ubx_key_id, CFG_USBINPROT_UBX},
     {CFG_USBINPROT_NMEA.ubx_key_id, CFG_USBINPROT_NMEA},
     {CFG_USBINPROT_RTCM3X.ubx_key_id, CFG_USBINPROT_RTCM3X},
     {CFG_USBOUTPROT_UBX.ubx_key_id, CFG_USBOUTPROT_UBX},
     {CFG_USBOUTPROT_NMEA.ubx_key_id, CFG_USBOUTPROT_NMEA},
     {CFG_USBOUTPROT_RTCM3X.ubx_key_id, CFG_USBOUTPROT_RTCM3X},
     {CFG_TMODE_MODE.ubx_key_id, CFG_TMODE_MODE},
     {CFG_TMODE_POS_TYPE.ubx_key_id, CFG_TMODE_POS_TYPE},
     {CFG_NAVHPG_DGNSSMODE.ubx_key_id, CFG_NAVHPG_DGNSSMODE},
     {CFG_NAVSPG_FIXMODE.ubx_key_id, CFG_NAVSPG_FIXMODE},
     {CFG_NAVSPG_INIFIX3D.ubx_key_id, CFG_NAVSPG_INIFIX3D},
     {CFG_NAVSPG_UTCSTANDARD.ubx_key_id, CFG_NAVSPG_UTCSTANDARD},
     {CFG_NAVSPG_DYNMODEL.ubx_key_id, CFG_NAVSPG_DYNMODEL},
   
     {CFG_ODO_USE_ODO.ubx_key_id, CFG_ODO_USE_ODO},
     {CFG_ODO_USE_COG.ubx_key_id, CFG_ODO_USE_COG},
     {CFG_ODO_OUTLPVEL.ubx_key_id, CFG_ODO_OUTLPVEL},
     {CFG_ODO_OUTLPCOG.ubx_key_id, CFG_ODO_OUTLPCOG},
     {CFG_ODO_PROFILE.ubx_key_id, CFG_ODO_PROFILE},
     {CFG_ODO_COGMAXSPEED.ubx_key_id, CFG_ODO_COGMAXSPEED},
     {CFG_ODO_COGMAXPOSACC.ubx_key_id, CFG_ODO_COGMAXPOSACC},
     {CFG_ODO_VELLPGAIN.ubx_key_id, CFG_ODO_VELLPGAIN},
     {CFG_ODO_COGLPGAIN.ubx_key_id, CFG_ODO_COGLPGAIN},
   
     {CFG_RATE_MEAS.ubx_key_id, CFG_RATE_MEAS},
     {CFG_RATE_NAV.ubx_key_id, CFG_RATE_NAV},
     {CFG_RATE_TIMEREF.ubx_key_id, CFG_RATE_TIMEREF},
   
     {CFG_SFIMU_AUTO_MNTALG_ENA.ubx_key_id, CFG_SFIMU_AUTO_MNTALG_ENA},
     {CFG_SFIMU_IMU_MNTALG_YAW.ubx_key_id, CFG_SFIMU_IMU_MNTALG_YAW},
     {CFG_SFIMU_IMU_MNTALG_PITCH.ubx_key_id, CFG_SFIMU_IMU_MNTALG_PITCH},
     {CFG_SFIMU_IMU_MNTALG_ROLL.ubx_key_id, CFG_SFIMU_IMU_MNTALG_ROLL},
   
     {CFG_SFODO_COMBINE_TICKS.ubx_key_id, CFG_SFODO_COMBINE_TICKS},
     {CFG_SFODO_COUNT_MAX.ubx_key_id, CFG_SFODO_COUNT_MAX},
     {CFG_SFODO_DIS_AUTOCOUNTMAX.ubx_key_id, CFG_SFODO_DIS_AUTOCOUNTMAX},
     {CFG_SFODO_DIS_AUTODIRPINPOL.ubx_key_id, CFG_SFODO_DIS_AUTODIRPINPOL},
     {CFG_SFODO_FACTOR.ubx_key_id, CFG_SFODO_FACTOR},
     {CFG_SFODO_LATENCY.ubx_key_id, CFG_SFODO_LATENCY},
     {CFG_SFODO_QUANT_ERROR.ubx_key_id, CFG_SFODO_QUANT_ERROR},
   
     {CFG_MSGOUT_UBX_NAV_STATUS_USB.ubx_key_id, CFG_MSGOUT_UBX_NAV_STATUS_USB},
     {CFG_MSGOUT_UBX_NAV_CLOCK_USB.ubx_key_id, CFG_MSGOUT_UBX_NAV_CLOCK_USB},
     {CFG_MSGOUT_UBX_NAV_COV_USB.ubx_key_id, CFG_MSGOUT_UBX_NAV_COV_USB},
     {CFG_MSGOUT_UBX_NAV_DOP_USB.ubx_key_id, CFG_MSGOUT_UBX_NAV_DOP_USB},
     {CFG_MSGOUT_UBX_NAV_EOE_USB.ubx_key_id, CFG_MSGOUT_UBX_NAV_EOE_USB},
     {CFG_MSGOUT_UBX_NAV_POSECEF_USB.ubx_key_id, CFG_MSGOUT_UBX_NAV_POSECEF_USB},
     {CFG_MSGOUT_UBX_NAV_HPPOSECEF_USB.ubx_key_id, CFG_MSGOUT_UBX_NAV_HPPOSECEF_USB},
     {CFG_MSGOUT_UBX_NAV_POSLLH_USB.ubx_key_id, CFG_MSGOUT_UBX_NAV_POSLLH_USB},
     {CFG_MSGOUT_UBX_NAV_HPPOSLLH_USB.ubx_key_id, CFG_MSGOUT_UBX_NAV_HPPOSLLH_USB},
     {CFG_MSGOUT_UBX_NAV_ODO_USB.ubx_key_id, CFG_MSGOUT_UBX_NAV_ODO_USB},
     {CFG_MSGOUT_UBX_NAV_PVT_USB.ubx_key_id, CFG_MSGOUT_UBX_NAV_PVT_USB},
     {CFG_MSGOUT_UBX_NAV_RELPOSNED_USB.ubx_key_id, CFG_MSGOUT_UBX_NAV_RELPOSNED_USB},
     {CFG_MSGOUT_UBX_NAV_TIMEUTC_USB.ubx_key_id, CFG_MSGOUT_UBX_NAV_TIMEUTC_USB},
     {CFG_MSGOUT_UBX_NAV_VELECEF_USB.ubx_key_id, CFG_MSGOUT_UBX_NAV_VELECEF_USB},
     {CFG_MSGOUT_UBX_NAV_VELNED_USB.ubx_key_id, CFG_MSGOUT_UBX_NAV_VELNED_USB},
     {CFG_MSGOUT_UBX_RXM_RTCM_USB.ubx_key_id, CFG_MSGOUT_UBX_RXM_RTCM_USB},
     {CFG_MSGOUT_UBX_ESF_MEAS_USB.ubx_key_id, CFG_MSGOUT_UBX_ESF_MEAS_USB},
     {CFG_MSGOUT_UBX_ESF_STATUS_USB.ubx_key_id, CFG_MSGOUT_UBX_ESF_STATUS_USB}
   };
   
   bool operator<(const ubx_key_id_t & fk1, const ubx_key_id_t & fk2)
   {
     return fk1.all < fk2.all;
   }
   }  // namespace ubx::cfg
   
   #endif  // UBLOX_DGNSS_NODE__UBX__UBX_CFG_ITEM_HPP_