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260 lines
4.5 KiB
260 lines
4.5 KiB
5 years ago
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meta:
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id: ubx
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endian: le
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seq:
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- id: magic
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contents: [0xb5, 0x62]
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- id: msg_type
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type: u2be
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- id: length
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type: u2
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- id: body
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type:
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switch-on: msg_type
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cases:
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0x0107: nav_pvt
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0x0213: rxm_sfrbx
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0x0215: rxm_rawx
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0x0a09: mon_hw
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0x0a0b: mon_hw2
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instances:
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checksum:
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pos: length + 6
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type: u2
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types:
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mon_hw:
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seq:
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- id: pin_sel
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type: u4
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- id: pin_bank
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type: u4
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- id: pin_dir
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type: u4
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- id: pin_val
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type: u4
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- id: noise_per_ms
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type: u2
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- id: agc_cnt
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type: u2
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- id: a_status
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type: u1
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enum: antenna_status
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- id: a_power
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type: u1
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enum: antenna_power
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- id: flags
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type: u1
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- id: reserved1
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size: 1
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- id: used_mask
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type: u4
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- id: vp
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size: 17
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- id: jam_ind
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type: u1
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- id: reserved2
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size: 2
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- id: pin_irq
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type: u4
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- id: pull_h
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type: u4
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- id: pull_l
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type: u4
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enums:
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antenna_status:
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0: init
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1: dontknow
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2: ok
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3: short
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4: open
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antenna_power:
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0: off
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1: on
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2: dontknow
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mon_hw2:
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seq:
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- id: ofs_i
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type: s1
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- id: mag_i
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type: u1
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- id: ofs_q
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type: s1
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- id: mag_q
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type: u1
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- id: cfg_source
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type: u1
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enum: config_source
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- id: reserved1
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size: 3
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- id: low_lev_cfg
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type: u4
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- id: reserved2
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size: 8
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- id: post_status
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type: u4
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- id: reserved3
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size: 4
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enums:
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config_source:
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113: rom
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111: otp
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112: config_pins
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102: flash
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rxm_sfrbx:
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seq:
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- id: gnss_id
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type: u1
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enum: gnss_type
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- id: sv_id
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type: u1
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- id: reserved1
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size: 1
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- id: freq_id
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type: u1
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- id: num_words
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type: u1
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- id: reserved2
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size: 1
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- id: version
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type: u1
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- id: reserved3
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size: 1
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- id: body
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type: u4
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repeat: expr
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repeat-expr: num_words
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rxm_rawx:
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seq:
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- id: rcv_tow
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type: f8
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- id: week
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type: u2
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- id: leap_s
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type: s1
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- id: num_meas
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type: u1
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- id: rec_stat
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type: u1
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- id: reserved1
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size: 3
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- id: measurements
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type: meas
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size: 32
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repeat: expr
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repeat-expr: num_meas
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types:
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meas:
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seq:
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- id: pr_mes
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type: f8
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- id: cp_mes
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type: f8
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- id: do_mes
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type: f4
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- id: gnss_id
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type: u1
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enum: gnss_type
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- id: sv_id
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type: u1
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- id: reserved2
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size: 1
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- id: freq_id
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type: u1
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- id: lock_time
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type: u2
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- id: cno
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type: u1
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- id: pr_stdev
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type: u1
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- id: cp_stdev
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type: u1
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- id: do_stdev
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type: u1
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- id: trk_stat
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type: u1
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- id: reserved3
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size: 1
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nav_pvt:
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seq:
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- id: i_tow
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type: u4
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- id: year
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type: u2
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- id: month
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type: u1
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- id: day
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type: u1
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- id: hour
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type: u1
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- id: min
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type: u1
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- id: sec
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type: u1
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- id: valid
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type: u1
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- id: t_acc
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type: u4
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- id: nano
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type: s4
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- id: fix_type
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type: u1
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- id: flags
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type: u1
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- id: flags2
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type: u1
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- id: num_sv
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type: u1
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- id: lon
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type: s4
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- id: lat
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type: s4
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- id: height
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type: s4
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- id: h_msl
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type: s4
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- id: h_acc
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type: u4
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- id: v_acc
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type: u4
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- id: vel_n
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type: s4
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- id: vel_e
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type: s4
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- id: vel_d
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type: s4
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- id: g_speed
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type: s4
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- id: head_mot
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type: s4
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- id: s_acc
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type: s4
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- id: head_acc
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type: u4
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- id: p_dop
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type: u2
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- id: flags3
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type: u1
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- id: reserved1
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size: 5
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- id: head_veh
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type: s4
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- id: mag_dec
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type: s2
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- id: mag_acc
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type: u2
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enums:
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gnss_type:
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0: gps
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1: sbas
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2: galileo
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3: beidou
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4: imes
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5: qzss
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6: glonass
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