Septentrio receivers configured as RTK bases with SBF commands; they stream PVTGeodetic blocks and RTCM3. More...

Namespaces
namespace	BlockId

namespace	Plan

Classes
struct	BlockHeader
	Starts every block. The CRC covers id through the end of the block; length counts the whole block. More...

struct	PVTGeodetic

Functions
std::optional< BlockHeader >	checkedHeader (std::span< const uint8_t > block)
	The header of a block candidate whose length fits the candidate and whose CRC matches; nullopt otherwise.

Variables
const GPSReceiverFamily	FAMILY

constexpr uint8_t	SYNC1 = 0x24

constexpr uint8_t	SYNC2 = 0x40

Detailed Description

Septentrio receivers configured as RTK bases with SBF commands; they stream PVTGeodetic blocks and RTCM3.

Offsets count from a block's first sync byte, so a whole block decodes directly. Each layout ends at the last field QGC reads, which is the shortest block QGC can decode.

Function Documentation

◆ checkedHeader()

std::optional< BlockHeader > SBF::checkedHeader ( std::span< const uint8_t > block )

inline

The header of a block candidate whose length fits the candidate and whose CRC matches; nullopt otherwise.

Definition at line 97 of file SBFBlocks.h.

References QGC::crc16Xmodem().

Variable Documentation

◆ FAMILY

const GPSReceiverFamily SBF::FAMILY

Initial value:

{
    .type = GPSType::septentrio,
    .logCategory = &SBFProtocolLog,
    .stream = {.framers = GPSFrameKind::SBF | GPSFrameKind::RTCM3, .enabled = GPSFrameKind::SBF},
    .baudCandidates = Plan::BAUD_RATES,
    .create = &gpsCreateProtocol<Protocol>,
    .signature = &signature,
}

Definition at line 352 of file SBFProtocol.cc.

◆ SYNC1

constexpr uint8_t SBF::SYNC1 = 0x24

inlineconstexpr

Definition at line 17 of file SBFBlocks.h.

◆ SYNC2

constexpr uint8_t SBF::SYNC2 = 0x40

inlineconstexpr

Definition at line 18 of file SBFBlocks.h.

Namespaces

Classes

Functions