CfgNMEA
This is a ROS message definition.
Source
# CFG-NMEA (0x06 0x17)
# NMEA protocol configuration V1
#
# Set/Get the NMEA protocol configuration. See section NMEA Protocol
# Configuration for a detailed description of the configuration effects on
# NMEA output
#
uint8 CLASS_ID = 6
uint8 MESSAGE_ID = 23
uint8 filter # filter flags
uint8 FILTER_POS = 1 # Enable position output for failed or
# invalid fixes
uint8 FILTER_MSK_POS = 2 # Enable position output for invalid fixes
uint8 FILTER_TIME = 4 # Enable time output for invalid times
uint8 FILTER_DATE = 8 # Enable date output for invalid dates
uint8 FILTER_GPS_ONLY = 16 # Restrict output to GPS satellites only
uint8 FILTER_TRACK = 32 # Enable COG output even if COG is frozen
uint8 nmea_version # NMEA version
uint8 NMEA_VERSION_4_1 = 65 # Version 4.1
uint8 NMEA_VERSION_4_0 = 64 # Version 4.0
uint8 NMEA_VERSION_2_3 = 35 # Version 2.3
uint8 NMEA_VERSION_2_1 = 33 # Version 2.1
uint8 num_sv # Maximum Number of SVs to report per TalkerId:
# unlimited (0) or 8, 12, 16
uint8 NUM_SV_UNLIMITED = 0
uint8 flags # flags
uint8 FLAGS_COMPAT = 1 # enable compatibility mode.
# This might be needed for certain applications
# when customer's NMEA parser expects a fixed
# number of digits in position coordinates
uint8 FLAGS_CONSIDER = 2 # enable considering mode
uint8 FLAGS_LIMIT82 = 4 # enable strict limit to 82 characters maximum
uint8 FLAGS_HIGH_PREC = 8 # enable high precision mode
# This flag cannot be set in conjunction with
# either Compatibility Mode or Limit82 Mode.
# (not supported in protocol versions < 20.01)
uint32 gnss_to_filter # Filters out satellites based on their GNSS.
# If a bitfield is enabled, the corresponding
# satellites will be not output.
uint32 GNSS_TO_FILTER_GPS = 1 # Disable reporting of GPS satellites
uint32 GNSS_TO_FILTER_SBAS = 2 # Disable reporting of SBAS satellites
uint32 GNSS_TO_FILTER_QZSS = 16 # Disable reporting of QZSS satellites
uint32 GNSS_TO_FILTER_GLONASS = 32 # Disable reporting of GLONASS satellites
uint32 GNSS_TO_FILTER_BEIDOU = 64 # Disable reporting of BeiDou satellites
uint8 sv_numbering # Configures the display of satellites that do not
# have an NMEA-defined value. Note: this does not
# apply to satellites with an unknown ID.
uint8 SV_NUMBERING_STRICT = 0 # Strict - Satellites are not output
uint8 SV_NUMBERING_EXTENDED = 1 # Extended - Use proprietary numbering
uint8 main_talker_id # By default the main Talker ID (i.e. the Talker
# ID used for all messages other than GSV) is
# determined by the GNSS assignment of the
# receiver's channels (see CfgGNSS).
# This field enables the main Talker ID to be
# overridden
uint8 MAIN_TALKER_ID_NOT_OVERRIDDEN = 0 # Main Talker ID is not overridden
uint8 MAIN_TALKER_ID_GP = 1 # Set main Talker ID to 'GP'
uint8 MAIN_TALKER_ID_GL = 2 # Set main Talker ID to 'GL'
uint8 MAIN_TALKER_ID_GN = 3 # Set main Talker ID to 'GN'
uint8 MAIN_TALKER_ID_GA = 4 # Set main Talker ID to 'GA'
uint8 MAIN_TALKER_ID_GB = 5 # Set main Talker ID to 'GB'
uint8 gsv_talker_id # By default the Talker ID for GSV messages is
# GNSS specific (as defined by NMEA). This field
# enables the GSV Talker ID to be overridden.
uint8 GSV_TALKER_ID_GNSS_SPECIFIC = 0 # Use GNSS specific Talker ID
# (as defined by NMEA)
uint8 GSV_TALKER_ID_MAIN = 1 # Use the main Talker ID
uint8 version # Message version (set to 1 for this version)
uint8 VERSION = 1
uint8[2] bds_talker_id # Sets the two characters that should be used
# for the BeiDou Talker ID. If these are set to
# zero, the default BeiDou TalkerId will be used
uint8[6] reserved1 # Reserved