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Update GNSS fix type enums, update corrections enum, fix NMEA mode #223

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Merged
flipflip8952 merged 4 commits into from
Oct 28, 2026
Merged

Update GNSS fix type enums, update corrections enum, fix NMEA mode #223

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12e5e97
update gnss fix type enums
flipflip8952 Oct 27, 2026
e6dc55b
more
flipflip8952 Oct 28, 2026
4f101ce
gll vtg
flipflip8952 Oct 28, 2026
975a1c7
fix test
flipflip8952 Oct 28, 2026
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15 changes: 14 additions & 1 deletion fpsdk_common/include/fpsdk_common/gnss.hpp
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Expand Up @@ -202,6 +202,10 @@ enum class SigCorr : uint8_t
RTCM3_SSR, //!< RTCM v3.x SSR type RTK corrections available
QZSS_SLAS, //!< QZSS SLAS corrections available
SPARTN, //!< SPARTN corrections available
CLAS, //!< QZSS centimeter-level augmentation service (CLAS) corrections available
LPP_OSR, //!< LTE positioning protocol (LPP) OSR type corrections available
LPP_SSR, //!< LTE positioning protocol (LPP) SSR type corrections available
GAL_HAS, //!< Galileo high-accurcy service (HAS) corrections available
};

/**
Expand Down Expand Up @@ -563,14 +567,23 @@ FixType NmeaQualityGgaToFixType(const parser::nmea::NmeaQualityGga quality);
*/
FixType NmeaModeRmcGnsToFixType(const parser::nmea::NmeaModeRmcGns mode);

/**
* @brief Convert NMEA GLL mode to fix type
*
* @param[in] mode NMEA GLL mode
*
* @returns the fix type corresponding to the mode
*/
FixType NmeaModeGllToFixType(const parser::nmea::NmeaModeGll mode);

/**
* @brief Convert NMEA GLL/VTG mode to fix type
*
* @param[in] mode NMEA GLL/VTG mode
*
* @returns the fix type corresponding to the mode
*/
FixType NmeaModeGllVtgToFixType(const parser::nmea::NmeaModeGllVtg mode);
FixType NmeaModeVtgToFixType(const parser::nmea::NmeaModeVtg mode);

/**
* @brief Convert NMEA system ID and satellite number to satellite
Expand Down
6 changes: 4 additions & 2 deletions fpsdk_common/include/fpsdk_common/parser/fpa.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -315,10 +315,10 @@ enum class FpaGnssStatus : int
NO_FIX = '0', //!< No fix
SPP = '1', //!< Single-point positioning (SPP)
RTK_MB = '2', //!< RTK moving baseline
RESERVED3 = '3', //!< Reserved
PPP_FLOAT = '3', //!< PPP float
RESERVED4 = '4', //!< Reserved
RTK_FLOAT = '5', //!< RTK float
RESERVED6 = '6', //!< Reserved
PPP_FIXED = '6', //!< PPP fixed
RESERVED7 = '7', //!< Reserved
RTK_FIXED = '8', //!< RTK fixed
RESERVED9 = '9', //!< Reserved
Expand Down Expand Up @@ -528,6 +528,8 @@ enum class FpaGnssFix : int
S3D_DR = '6', //!< Single 3D fix with dead-reckoning
RTK_FLOAT = '7', //!< RTK float fix
RTK_FIXED = '8', //!< RTK fixed fix
PPP_FLOAT = 'b', //!< PPP fix (11 == 0xb)
PPP_FIXED = 'c', //!< PPP fix (12 == 0xc)
}; // clang-format on

/**
Expand Down
48 changes: 37 additions & 11 deletions fpsdk_common/include/fpsdk_common/parser/nmea.hpp
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Expand Up @@ -306,29 +306,55 @@ enum class NmeaStatusGllRmc : int
const char* NmeaStatusGllRmcStr(const NmeaStatusGllRmc status);

/**
* @brief NMEA-Gx-GLL and NMEA-Gx-VTG pos mode
* @brief NMEA-Gx-GLL pos mode
*
* @note Do not use <, >, >=, <= operators on this!
*/
enum class NmeaModeGllVtg : int
enum class NmeaModeGll : int
{ // clang-format off
UNSPECIFIED = '!', //!< Unspecified
AUTONOMOUS = 'A', //!< Autonomous mode (SPP)
DGNSS = 'D', //!< Differential GNSS fix
ESTIMATED = 'E', //!< Estimated (dead reckoning only)
MANUAL = 'M', //!< Manual input mode
SIM = 'S', //!< Simulator mode
INVALID = 'N', //!< Invalid (no fix)
}; // clang-format on

/**
* @brief Stringify NMEA-Gx-GLL pos mode
*
* @param[in] mode The NMEA-Gx-GLL pos mode
*
* @returns the stringification of the NMEA-Gx-GLL and NMEA-Gx-VTG pos mode
*/
const char* NmeaModeGllStr(const NmeaModeGll mode);

/**
* @brief NMEA-Gx-VTG pos mode
*
* @note Do not use <, >, >=, <= operators on this!
*/
enum class NmeaModeVtg : int
{ // clang-format off
UNSPECIFIED = '!', //!< Unspecified
AUTONOMOUS = 'A', //!< Autonomous mode (SPP)
DGNSS = 'D', //!< Differential GNSS fix
ESTIMATED = 'E', //!< Estimated (dead reckoning only)
MANUAL = 'M', //!< Manual input mode
INVALID = 'N', //!< Invalid (no fix)
PRECISE = 'P', //!< Precise (e.g. PPP)
SIM = 'S', //!< Simulator mode
}; // clang-format on

/**
* @brief Stringify NMEA-Gx-GLL and NMEA-Gx-VTG pos mode
* @brief Stringify NMEA-Gx-VTG pos mode
*
* @param[in] mode The NMEA-Gx-GLL and NMEA-Gx-VTG pos mode
* @param[in] mode The NMEA-Gx-VTG pos mode
*
* @returns the stringification of the NMEA-Gx-GLL and NMEA-Gx-VTG pos mode
*/
const char* NmeaModeGllVtgStr(const NmeaModeGllVtg mode);
const char* NmeaModeVtgStr(const NmeaModeVtg mode);

/**
* @brief NMEA-Gx-RMC and NMEA-Gx-GNS pos mode
Expand Down Expand Up @@ -675,7 +701,7 @@ struct NmeaGllPayload : public NmeaPayload
NmeaLlh ll; //!< Position (no height)
NmeaTime time; //!< Time
NmeaStatusGllRmc status = NmeaStatusGllRmc::UNSPECIFIED; //!< Positioning system status
NmeaModeGllVtg mode = NmeaModeGllVtg::UNSPECIFIED; //!< Positioning system mode
NmeaModeGll mode = NmeaModeGll::UNSPECIFIED; //!< Positioning system mode

bool SetFromMsg(const uint8_t* msg, const std::size_t msg_size) final;

Expand Down Expand Up @@ -706,11 +732,11 @@ struct NmeaRmcPayload : public NmeaPayload
*/
struct NmeaVtgPayload : public NmeaPayload
{
NmeaFloat cogt; //!< Course over ground (true) [deg]
NmeaFloat cogm; //!< Course over ground (magnetic) [deg], not typically available
NmeaFloat sogn; //!< Speed over ground [knots]
NmeaFloat sogk; //!< Speed over ground [km/h]
NmeaModeGllVtg mode = NmeaModeGllVtg::UNSPECIFIED; //!< Positioning system mode
NmeaFloat cogt; //!< Course over ground (true) [deg]
NmeaFloat cogm; //!< Course over ground (magnetic) [deg], not typically available
NmeaFloat sogn; //!< Speed over ground [knots]
NmeaFloat sogk; //!< Speed over ground [km/h]
NmeaModeVtg mode = NmeaModeVtg::UNSPECIFIED; //!< Positioning system mode

bool SetFromMsg(const uint8_t* msg, const std::size_t msg_size) final;

Expand Down
21 changes: 13 additions & 8 deletions fpsdk_common/include/fpsdk_common/parser/ubx.hpp
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Expand Up @@ -2312,14 +2312,19 @@ static constexpr bool UBX_NAV_SIG_V0_SIGFLAGS_PR_CORR_USED(const uint16_t
static constexpr bool UBX_NAV_SIG_V0_SIGFLAGS_CR_CORR_USED(const uint16_t sigFlags) { return (sigFlags & 0x0080) == 0x0080; } //!< @todo documentation
static constexpr bool UBX_NAV_SIG_V0_SIGFLAGS_DO_CORR_USED(const uint16_t sigFlags) { return (sigFlags & 0x0100) == 0x0100; } //!< @todo documentation
static constexpr bool UBX_NAV_SIG_V0_SIGFLAGS_AUTH_STATUS(const uint16_t sigFlags) { return (sigFlags & 0x0200) == 0x0200; } //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_NONE = 0; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_SBAS = 1; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_BDS = 2; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_RTCM2 = 3; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_RTCM3_OSR = 4; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_RTCM3_SSR = 5; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_QZSS_SLAS = 6; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_SPARTN = 7; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_NONE = 0; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_SBAS = 1; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_BDS = 2; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_RTCM2 = 3; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_RTCM3_OSR = 4; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_RTCM3_SSR = 5; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_QZSS_SLAS = 6; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_SPARTN = 7; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_CLAS = 9; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_LPP_OSR = 10; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_LPP_SSR = 11; //!< @todo documentation
static constexpr uint8_t UBX_NAV_SIG_V0_CORRSOURCE_GAL_HAS = 12; //!< @todo documentation

inline const char * UBX_NAV_SIG_V0_CORRSOURCE_STR(const uint8_t corrSource) { return types::IxToStr(corrSource, "NONE", "SBAS", "BDS", "RTCM2", "RTCM3_OSR", "RTCM3_SSR", "QZSS_SLAS", "SPARTN"); } //!< @todo documentation
static constexpr double UBX_NAV_SIG_V0_PRRES_SCALE = 1e-1; //!< @todo documentation
// clang-format on
Expand Down
9 changes: 7 additions & 2 deletions fpsdk_common/include/fpsdk_common/to_json/parser_nmea.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,9 +45,14 @@ inline void to_json(nlohmann::json& j, const NmeaStatusGllRmc e)
j = NmeaStatusGllRmcStr(e);
}

inline void to_json(nlohmann::json& j, const NmeaModeGllVtg e)
inline void to_json(nlohmann::json& j, const NmeaModeGll e)
{
j = NmeaModeGllVtgStr(e);
j = NmeaModeGllStr(e);
}

inline void to_json(nlohmann::json& j, const NmeaModeVtg e)
{
j = NmeaModeVtgStr(e);
}

inline void to_json(nlohmann::json& j, const NmeaModeRmcGns e)
Expand Down
35 changes: 27 additions & 8 deletions fpsdk_common/src/gnss.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -164,6 +164,10 @@ const char* SigCorrStr(const SigCorr corr)
case SigCorr::RTCM3_SSR: return "RTCM3_SSR";
case SigCorr::QZSS_SLAS: return "QZSS_SLAS";
case SigCorr::SPARTN: return "SPARTN";
case SigCorr::CLAS: return "CLAS";
case SigCorr::LPP_OSR: return "LPP_OSR";
case SigCorr::LPP_SSR: return "LPP_SSR";
case SigCorr::GAL_HAS: return "GAL_HAS";
} // clang-format on
return "?";
}
Expand Down Expand Up @@ -588,16 +592,31 @@ FixType NmeaModeRmcGnsToFixType(const parser::nmea::NmeaModeRmcGns mode)
return FixType::UNKNOWN;
}

FixType NmeaModeGllVtgToFixType(const parser::nmea::NmeaModeGllVtg mode)
FixType NmeaModeGllToFixType(const parser::nmea::NmeaModeGll mode)
{
switch (mode) { // clang-format off
case parser::nmea::NmeaModeGllVtg::INVALID: /* FALLTHROUGH */
case parser::nmea::NmeaModeGllVtg::MANUAL: return FixType::NOFIX;
case parser::nmea::NmeaModeGllVtg::AUTONOMOUS: /* FALLTHROUGH */
case parser::nmea::NmeaModeGllVtg::DGNSS: /* FALLTHROUGH */
case parser::nmea::NmeaModeGllVtg::SIM: return FixType::SPP_3D;
case parser::nmea::NmeaModeGllVtg::ESTIMATED: return FixType::DRONLY;
case parser::nmea::NmeaModeGllVtg::UNSPECIFIED: break;
case parser::nmea::NmeaModeGll::INVALID: /* FALLTHROUGH */
case parser::nmea::NmeaModeGll::MANUAL: return FixType::NOFIX;
case parser::nmea::NmeaModeGll::AUTONOMOUS: /* FALLTHROUGH */
case parser::nmea::NmeaModeGll::DGNSS: /* FALLTHROUGH */
case parser::nmea::NmeaModeGll::SIM: return FixType::SPP_3D;
case parser::nmea::NmeaModeGll::ESTIMATED: return FixType::DRONLY;
case parser::nmea::NmeaModeGll::UNSPECIFIED: break;
} // clang-format on
return FixType::UNKNOWN;
}

FixType NmeaModeVtgToFixType(const parser::nmea::NmeaModeVtg mode)
{
switch (mode) { // clang-format off
case parser::nmea::NmeaModeVtg::INVALID: /* FALLTHROUGH */
case parser::nmea::NmeaModeVtg::MANUAL: return FixType::NOFIX;
case parser::nmea::NmeaModeVtg::AUTONOMOUS: /* FALLTHROUGH */
case parser::nmea::NmeaModeVtg::DGNSS: /* FALLTHROUGH */
case parser::nmea::NmeaModeVtg::PRECISE: /* FALLTHROUGH */
case parser::nmea::NmeaModeVtg::SIM: return FixType::SPP_3D;
case parser::nmea::NmeaModeVtg::ESTIMATED: return FixType::DRONLY;
case parser::nmea::NmeaModeVtg::UNSPECIFIED: break;
} // clang-format on
return FixType::UNKNOWN;
}
Expand Down
28 changes: 20 additions & 8 deletions fpsdk_common/src/parser/fpa.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -233,10 +233,10 @@ const char* FpaGnssStatusStr(const FpaGnssStatus status)
case FpaGnssStatus::NO_FIX: return "NO_FIX";
case FpaGnssStatus::SPP: return "SPP";
case FpaGnssStatus::RTK_MB: return "RTK_MB";
case FpaGnssStatus::RESERVED3: return "RESERVED3";
case FpaGnssStatus::PPP_FLOAT: return "PPP_FLOAT";
case FpaGnssStatus::RESERVED4: return "RESERVED4";
case FpaGnssStatus::RTK_FLOAT: return "RTK_FLOAT";
case FpaGnssStatus::RESERVED6: return "RESERVED6";
case FpaGnssStatus::PPP_FIXED: return "PPP_FIXED";
case FpaGnssStatus::RESERVED7: return "RESERVED7";
case FpaGnssStatus::RTK_FIXED: return "RTK_FIXED";
case FpaGnssStatus::RESERVED9: return "RESERVED9";
Expand Down Expand Up @@ -383,6 +383,8 @@ const char* FpaGnssFixStr(const FpaGnssFix fix)
case FpaGnssFix::S3D_DR: return "S3D_DR";
case FpaGnssFix::RTK_FLOAT: return "RTK_FLOAT";
case FpaGnssFix::RTK_FIXED: return "RTK_FIXED";
case FpaGnssFix::PPP_FLOAT: return "PPP_FLOAT";
case FpaGnssFix::PPP_FIXED: return "PPP_FIXED";
} // clang-format on
return "?";
}
Expand Down Expand Up @@ -768,10 +770,10 @@ static bool GetGnssStatus(FpaGnssStatus& status, const std::string& field)
case FpaGnssStatus::NO_FIX: status = FpaGnssStatus::NO_FIX; ok = true; break;
case FpaGnssStatus::SPP: status = FpaGnssStatus::SPP; ok = true; break;
case FpaGnssStatus::RTK_MB: status = FpaGnssStatus::RTK_MB; ok = true; break;
case FpaGnssStatus::RESERVED3: status = FpaGnssStatus::RESERVED3; ok = true; break;
case FpaGnssStatus::PPP_FLOAT: status = FpaGnssStatus::PPP_FLOAT; ok = true; break;
case FpaGnssStatus::RESERVED4: status = FpaGnssStatus::RESERVED4; ok = true; break;
case FpaGnssStatus::RTK_FLOAT: status = FpaGnssStatus::RTK_FLOAT; ok = true; break;
case FpaGnssStatus::RESERVED6: status = FpaGnssStatus::RESERVED6; ok = true; break;
case FpaGnssStatus::PPP_FIXED: status = FpaGnssStatus::PPP_FIXED; ok = true; break;
case FpaGnssStatus::RESERVED7: status = FpaGnssStatus::RESERVED7; ok = true; break;
case FpaGnssStatus::RTK_FIXED: status = FpaGnssStatus::RTK_FIXED; ok = true; break;
case FpaGnssStatus::RESERVED9: status = FpaGnssStatus::RESERVED9; ok = true; break;
Expand Down Expand Up @@ -952,7 +954,13 @@ static bool GetGnssFix(FpaGnssFix& fix, const std::string& field)
{
bool ok = false;
fix = FpaGnssFix::UNSPECIFIED;
if (!field.empty()) {
// Two-digits values
if (field.size() == 2) { // clang-format off
if (field == "11") { fix = FpaGnssFix::PPP_FLOAT; ok = true; }
else if (field == "12") { fix = FpaGnssFix::PPP_FIXED; ok = true; }
} // clang-format on
// Single-digit values
else if (field.size() == 1) {
switch ((FpaGnssFix)field[0]) { // clang-format off
case FpaGnssFix::UNKNOWN: fix = FpaGnssFix::UNKNOWN; ok = true; break;
case FpaGnssFix::NOFIX: fix = FpaGnssFix::NOFIX; ok = true; break;
Expand All @@ -962,9 +970,13 @@ static bool GetGnssFix(FpaGnssFix& fix, const std::string& field)
case FpaGnssFix::S3D: fix = FpaGnssFix::S3D; ok = true; break;
case FpaGnssFix::S3D_DR: fix = FpaGnssFix::S3D_DR; ok = true; break;
case FpaGnssFix::RTK_FLOAT: fix = FpaGnssFix::RTK_FLOAT; ok = true; break;
case FpaGnssFix::RTK_FIXED: fix = FpaGnssFix::RTK_FIXED; ok = true; break;
case FpaGnssFix::UNSPECIFIED: break;
} // clang-format on
case FpaGnssFix::RTK_FIXED: fix = FpaGnssFix::RTK_FIXED; ok = true; break; // clang-format on
// Not single-digit value, handled above or invalid
case FpaGnssFix::PPP_FLOAT:
case FpaGnssFix::PPP_FIXED:
case FpaGnssFix::UNSPECIFIED:
break;
}
} else {
ok = true;
}
Expand Down
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