CfgGNSSBlock

This is a ROS message definition.

Source

# see Cfg-GNSS message
#

uint8 gnss_id                          # System identifier (see Satellite Numbering)

uint8 GNSS_ID_GPS = 0
uint8 GNSS_ID_SBAS = 1
uint8 GNSS_ID_GALILEO = 2
uint8 GNSS_ID_BEIDOU = 3
uint8 GNSS_ID_IMES = 4
uint8 GNSS_ID_QZSS = 5
uint8 GNSS_ID_GLONASS = 6

uint8 res_trk_ch                       # (Read only in protocol versions greater than 23)
                                       # Number of reserved (minimum) tracking channels
                                       # for this GNSS system
uint8 RES_TRK_CH_GPS = 8
uint8 RES_TRK_CH_QZSS = 0
uint8 RES_TRK_CH_SBAS = 0
uint8 RES_TRK_CH_GLONASS = 8
uint8 max_trk_ch                       # (Read only in protocol versions greater than 23)
                                       # Maximum number of tracking channels used for this
                                       # system. Must be > 0, >= resTrkChn, <= numTrkChUse and
                                       # <= maximum number of tracking channels supported for
                                       # this system
uint8 MAX_TRK_CH_MAJOR_MIN = 4         # max_trk_ch must have this minimum value
                                       # for each enabled major GNSS
uint8 MAX_TRK_CH_GPS = 16
uint8 MAX_TRK_CH_GLONASS = 14
uint8 MAX_TRK_CH_QZSS = 3
uint8 MAX_TRK_CH_SBAS = 3

uint8 reserved1                        # Reserved

uint32 flags                           # Bitfield of flags. At least one signal must be
                                       # configured in every enabled system.
uint32 FLAGS_ENABLE = 1                # Enable this system
uint32 FLAGS_SIG_CFG_MASK = 16711680   # Signal configuration mask
uint32 SIG_CFG_GPS_L1CA = 65536        # When gnssId is 0 (GPS)
                                       # * 0x01 = GPS L1C/A
uint32 SIG_CFG_SBAS_L1CA = 65536       # When gnssId is 1 (SBAS)
                                       # * 0x01 = SBAS L1C/A
uint32 SIG_CFG_GALILEO_E1OS = 65536    # When gnssId is 2 (Galileo)
                                       # * 0x01 = Galileo E1OS (not supported in
                                       #   protocol versions less than 18)
uint32 SIG_CFG_BEIDOU_B1I = 65536      # When gnssId is 3 (BeiDou)
                                       # * 0x01 = BeiDou B1I
uint32 SIG_CFG_IMES_L1 = 65536         # When gnssId is 4 (IMES)
                                       # * 0x01 = IMES L1
uint32 SIG_CFG_QZSS_L1CA = 65536       # When gnssId is 5 (QZSS)
                                       # * 0x01 = QZSS L1C/A
uint32 SIG_CFG_QZSS_L1SAIF = 262144    # * 0x04 = QZSS L1SAIF
uint32 SIG_CFG_GLONASS_L1OF = 65536    # When gnssId is 6 (GLONASS)
                                       # * 0x01 = GLONASS L1OF