diff --git a/SConstruct b/SConstruct
index 43ba4ae749..56788e5842 100644
--- a/SConstruct
+++ b/SConstruct
@@ -19,6 +19,10 @@ Decider('MD5-timestamp')
 
 SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
 
+AddOption('--kaitai',
+          action='store_true',
+          help='Regenerate kaitai struct parsers')
+
 AddOption('--asan',
           action='store_true',
           help='turn on ASAN')
diff --git a/pyproject.toml b/pyproject.toml
index c795219a02..dc7245e872 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -250,6 +250,7 @@ exclude = [
   "teleoprtc_repo",
   "third_party",
   "*.ipynb",
+  "generated",
 ]
 lint.flake8-implicit-str-concat.allow-multiline = false
 
diff --git a/system/ubloxd/.gitignore b/system/ubloxd/.gitignore
deleted file mode 100644
index 9ab870da89..0000000000
--- a/system/ubloxd/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-generated/
diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript
index 4e5f043c1d..8ee94de311 100644
--- a/system/ubloxd/SConscript
+++ b/system/ubloxd/SConscript
@@ -1,12 +1,10 @@
 Import('env')
 
-current_dir = Dir('./generated/').srcnode().abspath
-python_cmd = f"kaitai-struct-compiler --target python --outdir {current_dir} $SOURCES"
-env.Command(File('./generated/ubx.py'), 'ubx.ksy', python_cmd)
-env.Command(File('./generated/gps.py'), 'gps.ksy', python_cmd)
-env.Command(File('./generated/glonass.py'), 'glonass.ksy', python_cmd)
-
+# TODO: look into this
 # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910
-
-#if GetOption('extras'):
-#  env.Program("tests/test_glonass_runner", ['tests/test_glonass_runner.cc', 'tests/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs])
+if GetOption('kaitai'):
+  current_dir = Dir('./generated/').srcnode().abspath
+  python_cmd = f"kaitai-struct-compiler --target python --outdir {current_dir} $SOURCES"
+  env.Command(File('./generated/ubx.py'), 'ubx.ksy', python_cmd)
+  env.Command(File('./generated/gps.py'), 'gps.ksy', python_cmd)
+  env.Command(File('./generated/glonass.py'), 'glonass.ksy', python_cmd)
diff --git a/system/ubloxd/generated/glonass.py b/system/ubloxd/generated/glonass.py
new file mode 100644
index 0000000000..63ff0d656c
--- /dev/null
+++ b/system/ubloxd/generated/glonass.py
@@ -0,0 +1,247 @@
+# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
+
+import kaitaistruct
+from kaitaistruct import KaitaiStruct, KaitaiStream, BytesIO
+
+
+if getattr(kaitaistruct, 'API_VERSION', (0, 9)) < (0, 9):
+    raise Exception("Incompatible Kaitai Struct Python API: 0.9 or later is required, but you have %s" % (kaitaistruct.__version__))
+
+class Glonass(KaitaiStruct):
+    def __init__(self, _io, _parent=None, _root=None):
+        self._io = _io
+        self._parent = _parent
+        self._root = _root if _root else self
+        self._read()
+
+    def _read(self):
+        self.idle_chip = self._io.read_bits_int_be(1) != 0
+        self.string_number = self._io.read_bits_int_be(4)
+        self._io.align_to_byte()
+        _on = self.string_number
+        if _on == 4:
+            self.data = Glonass.String4(self._io, self, self._root)
+        elif _on == 1:
+            self.data = Glonass.String1(self._io, self, self._root)
+        elif _on == 3:
+            self.data = Glonass.String3(self._io, self, self._root)
+        elif _on == 5:
+            self.data = Glonass.String5(self._io, self, self._root)
+        elif _on == 2:
+            self.data = Glonass.String2(self._io, self, self._root)
+        else:
+            self.data = Glonass.StringNonImmediate(self._io, self, self._root)
+        self.hamming_code = self._io.read_bits_int_be(8)
+        self.pad_1 = self._io.read_bits_int_be(11)
+        self.superframe_number = self._io.read_bits_int_be(16)
+        self.pad_2 = self._io.read_bits_int_be(8)
+        self.frame_number = self._io.read_bits_int_be(8)
+
+    class String4(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.tau_n_sign = self._io.read_bits_int_be(1) != 0
+            self.tau_n_value = self._io.read_bits_int_be(21)
+            self.delta_tau_n_sign = self._io.read_bits_int_be(1) != 0
+            self.delta_tau_n_value = self._io.read_bits_int_be(4)
+            self.e_n = self._io.read_bits_int_be(5)
+            self.not_used_1 = self._io.read_bits_int_be(14)
+            self.p4 = self._io.read_bits_int_be(1) != 0
+            self.f_t = self._io.read_bits_int_be(4)
+            self.not_used_2 = self._io.read_bits_int_be(3)
+            self.n_t = self._io.read_bits_int_be(11)
+            self.n = self._io.read_bits_int_be(5)
+            self.m = self._io.read_bits_int_be(2)
+
+        @property
+        def tau_n(self):
+            if hasattr(self, '_m_tau_n'):
+                return self._m_tau_n
+
+            self._m_tau_n = ((self.tau_n_value * -1) if self.tau_n_sign else self.tau_n_value)
+            return getattr(self, '_m_tau_n', None)
+
+        @property
+        def delta_tau_n(self):
+            if hasattr(self, '_m_delta_tau_n'):
+                return self._m_delta_tau_n
+
+            self._m_delta_tau_n = ((self.delta_tau_n_value * -1) if self.delta_tau_n_sign else self.delta_tau_n_value)
+            return getattr(self, '_m_delta_tau_n', None)
+
+
+    class StringNonImmediate(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.data_1 = self._io.read_bits_int_be(64)
+            self.data_2 = self._io.read_bits_int_be(8)
+
+
+    class String5(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.n_a = self._io.read_bits_int_be(11)
+            self.tau_c = self._io.read_bits_int_be(32)
+            self.not_used = self._io.read_bits_int_be(1) != 0
+            self.n_4 = self._io.read_bits_int_be(5)
+            self.tau_gps = self._io.read_bits_int_be(22)
+            self.l_n = self._io.read_bits_int_be(1) != 0
+
+
+    class String1(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.not_used = self._io.read_bits_int_be(2)
+            self.p1 = self._io.read_bits_int_be(2)
+            self.t_k = self._io.read_bits_int_be(12)
+            self.x_vel_sign = self._io.read_bits_int_be(1) != 0
+            self.x_vel_value = self._io.read_bits_int_be(23)
+            self.x_accel_sign = self._io.read_bits_int_be(1) != 0
+            self.x_accel_value = self._io.read_bits_int_be(4)
+            self.x_sign = self._io.read_bits_int_be(1) != 0
+            self.x_value = self._io.read_bits_int_be(26)
+
+        @property
+        def x_vel(self):
+            if hasattr(self, '_m_x_vel'):
+                return self._m_x_vel
+
+            self._m_x_vel = ((self.x_vel_value * -1) if self.x_vel_sign else self.x_vel_value)
+            return getattr(self, '_m_x_vel', None)
+
+        @property
+        def x_accel(self):
+            if hasattr(self, '_m_x_accel'):
+                return self._m_x_accel
+
+            self._m_x_accel = ((self.x_accel_value * -1) if self.x_accel_sign else self.x_accel_value)
+            return getattr(self, '_m_x_accel', None)
+
+        @property
+        def x(self):
+            if hasattr(self, '_m_x'):
+                return self._m_x
+
+            self._m_x = ((self.x_value * -1) if self.x_sign else self.x_value)
+            return getattr(self, '_m_x', None)
+
+
+    class String2(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.b_n = self._io.read_bits_int_be(3)
+            self.p2 = self._io.read_bits_int_be(1) != 0
+            self.t_b = self._io.read_bits_int_be(7)
+            self.not_used = self._io.read_bits_int_be(5)
+            self.y_vel_sign = self._io.read_bits_int_be(1) != 0
+            self.y_vel_value = self._io.read_bits_int_be(23)
+            self.y_accel_sign = self._io.read_bits_int_be(1) != 0
+            self.y_accel_value = self._io.read_bits_int_be(4)
+            self.y_sign = self._io.read_bits_int_be(1) != 0
+            self.y_value = self._io.read_bits_int_be(26)
+
+        @property
+        def y_vel(self):
+            if hasattr(self, '_m_y_vel'):
+                return self._m_y_vel
+
+            self._m_y_vel = ((self.y_vel_value * -1) if self.y_vel_sign else self.y_vel_value)
+            return getattr(self, '_m_y_vel', None)
+
+        @property
+        def y_accel(self):
+            if hasattr(self, '_m_y_accel'):
+                return self._m_y_accel
+
+            self._m_y_accel = ((self.y_accel_value * -1) if self.y_accel_sign else self.y_accel_value)
+            return getattr(self, '_m_y_accel', None)
+
+        @property
+        def y(self):
+            if hasattr(self, '_m_y'):
+                return self._m_y
+
+            self._m_y = ((self.y_value * -1) if self.y_sign else self.y_value)
+            return getattr(self, '_m_y', None)
+
+
+    class String3(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.p3 = self._io.read_bits_int_be(1) != 0
+            self.gamma_n_sign = self._io.read_bits_int_be(1) != 0
+            self.gamma_n_value = self._io.read_bits_int_be(10)
+            self.not_used = self._io.read_bits_int_be(1) != 0
+            self.p = self._io.read_bits_int_be(2)
+            self.l_n = self._io.read_bits_int_be(1) != 0
+            self.z_vel_sign = self._io.read_bits_int_be(1) != 0
+            self.z_vel_value = self._io.read_bits_int_be(23)
+            self.z_accel_sign = self._io.read_bits_int_be(1) != 0
+            self.z_accel_value = self._io.read_bits_int_be(4)
+            self.z_sign = self._io.read_bits_int_be(1) != 0
+            self.z_value = self._io.read_bits_int_be(26)
+
+        @property
+        def gamma_n(self):
+            if hasattr(self, '_m_gamma_n'):
+                return self._m_gamma_n
+
+            self._m_gamma_n = ((self.gamma_n_value * -1) if self.gamma_n_sign else self.gamma_n_value)
+            return getattr(self, '_m_gamma_n', None)
+
+        @property
+        def z_vel(self):
+            if hasattr(self, '_m_z_vel'):
+                return self._m_z_vel
+
+            self._m_z_vel = ((self.z_vel_value * -1) if self.z_vel_sign else self.z_vel_value)
+            return getattr(self, '_m_z_vel', None)
+
+        @property
+        def z_accel(self):
+            if hasattr(self, '_m_z_accel'):
+                return self._m_z_accel
+
+            self._m_z_accel = ((self.z_accel_value * -1) if self.z_accel_sign else self.z_accel_value)
+            return getattr(self, '_m_z_accel', None)
+
+        @property
+        def z(self):
+            if hasattr(self, '_m_z'):
+                return self._m_z
+
+            self._m_z = ((self.z_value * -1) if self.z_sign else self.z_value)
+            return getattr(self, '_m_z', None)
+
+
+
diff --git a/system/ubloxd/generated/gps.py b/system/ubloxd/generated/gps.py
new file mode 100644
index 0000000000..a999016f3e
--- /dev/null
+++ b/system/ubloxd/generated/gps.py
@@ -0,0 +1,193 @@
+# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
+
+import kaitaistruct
+from kaitaistruct import KaitaiStruct, KaitaiStream, BytesIO
+
+
+if getattr(kaitaistruct, 'API_VERSION', (0, 9)) < (0, 9):
+    raise Exception("Incompatible Kaitai Struct Python API: 0.9 or later is required, but you have %s" % (kaitaistruct.__version__))
+
+class Gps(KaitaiStruct):
+    def __init__(self, _io, _parent=None, _root=None):
+        self._io = _io
+        self._parent = _parent
+        self._root = _root if _root else self
+        self._read()
+
+    def _read(self):
+        self.tlm = Gps.Tlm(self._io, self, self._root)
+        self.how = Gps.How(self._io, self, self._root)
+        _on = self.how.subframe_id
+        if _on == 1:
+            self.body = Gps.Subframe1(self._io, self, self._root)
+        elif _on == 2:
+            self.body = Gps.Subframe2(self._io, self, self._root)
+        elif _on == 3:
+            self.body = Gps.Subframe3(self._io, self, self._root)
+        elif _on == 4:
+            self.body = Gps.Subframe4(self._io, self, self._root)
+
+    class Subframe1(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.week_no = self._io.read_bits_int_be(10)
+            self.code = self._io.read_bits_int_be(2)
+            self.sv_accuracy = self._io.read_bits_int_be(4)
+            self.sv_health = self._io.read_bits_int_be(6)
+            self.iodc_msb = self._io.read_bits_int_be(2)
+            self.l2_p_data_flag = self._io.read_bits_int_be(1) != 0
+            self.reserved1 = self._io.read_bits_int_be(23)
+            self.reserved2 = self._io.read_bits_int_be(24)
+            self.reserved3 = self._io.read_bits_int_be(24)
+            self.reserved4 = self._io.read_bits_int_be(16)
+            self._io.align_to_byte()
+            self.t_gd = self._io.read_s1()
+            self.iodc_lsb = self._io.read_u1()
+            self.t_oc = self._io.read_u2be()
+            self.af_2 = self._io.read_s1()
+            self.af_1 = self._io.read_s2be()
+            self.af_0_sign = self._io.read_bits_int_be(1) != 0
+            self.af_0_value = self._io.read_bits_int_be(21)
+            self.reserved5 = self._io.read_bits_int_be(2)
+
+        @property
+        def af_0(self):
+            if hasattr(self, '_m_af_0'):
+                return self._m_af_0
+
+            self._m_af_0 = ((self.af_0_value - (1 << 21)) if self.af_0_sign else self.af_0_value)
+            return getattr(self, '_m_af_0', None)
+
+
+    class Subframe3(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.c_ic = self._io.read_s2be()
+            self.omega_0 = self._io.read_s4be()
+            self.c_is = self._io.read_s2be()
+            self.i_0 = self._io.read_s4be()
+            self.c_rc = self._io.read_s2be()
+            self.omega = self._io.read_s4be()
+            self.omega_dot_sign = self._io.read_bits_int_be(1) != 0
+            self.omega_dot_value = self._io.read_bits_int_be(23)
+            self._io.align_to_byte()
+            self.iode = self._io.read_u1()
+            self.idot_sign = self._io.read_bits_int_be(1) != 0
+            self.idot_value = self._io.read_bits_int_be(13)
+            self.reserved = self._io.read_bits_int_be(2)
+
+        @property
+        def omega_dot(self):
+            if hasattr(self, '_m_omega_dot'):
+                return self._m_omega_dot
+
+            self._m_omega_dot = ((self.omega_dot_value - (1 << 23)) if self.omega_dot_sign else self.omega_dot_value)
+            return getattr(self, '_m_omega_dot', None)
+
+        @property
+        def idot(self):
+            if hasattr(self, '_m_idot'):
+                return self._m_idot
+
+            self._m_idot = ((self.idot_value - (1 << 13)) if self.idot_sign else self.idot_value)
+            return getattr(self, '_m_idot', None)
+
+
+    class Subframe4(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.data_id = self._io.read_bits_int_be(2)
+            self.page_id = self._io.read_bits_int_be(6)
+            self._io.align_to_byte()
+            _on = self.page_id
+            if _on == 56:
+                self.body = Gps.Subframe4.IonosphereData(self._io, self, self._root)
+
+        class IonosphereData(KaitaiStruct):
+            def __init__(self, _io, _parent=None, _root=None):
+                self._io = _io
+                self._parent = _parent
+                self._root = _root if _root else self
+                self._read()
+
+            def _read(self):
+                self.a0 = self._io.read_s1()
+                self.a1 = self._io.read_s1()
+                self.a2 = self._io.read_s1()
+                self.a3 = self._io.read_s1()
+                self.b0 = self._io.read_s1()
+                self.b1 = self._io.read_s1()
+                self.b2 = self._io.read_s1()
+                self.b3 = self._io.read_s1()
+
+
+
+    class How(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.tow_count = self._io.read_bits_int_be(17)
+            self.alert = self._io.read_bits_int_be(1) != 0
+            self.anti_spoof = self._io.read_bits_int_be(1) != 0
+            self.subframe_id = self._io.read_bits_int_be(3)
+            self.reserved = self._io.read_bits_int_be(2)
+
+
+    class Tlm(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.preamble = self._io.read_bytes(1)
+            if not self.preamble == b"\x8B":
+                raise kaitaistruct.ValidationNotEqualError(b"\x8B", self.preamble, self._io, u"/types/tlm/seq/0")
+            self.tlm = self._io.read_bits_int_be(14)
+            self.integrity_status = self._io.read_bits_int_be(1) != 0
+            self.reserved = self._io.read_bits_int_be(1) != 0
+
+
+    class Subframe2(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.iode = self._io.read_u1()
+            self.c_rs = self._io.read_s2be()
+            self.delta_n = self._io.read_s2be()
+            self.m_0 = self._io.read_s4be()
+            self.c_uc = self._io.read_s2be()
+            self.e = self._io.read_s4be()
+            self.c_us = self._io.read_s2be()
+            self.sqrt_a = self._io.read_u4be()
+            self.t_oe = self._io.read_u2be()
+            self.fit_interval_flag = self._io.read_bits_int_be(1) != 0
+            self.aoda = self._io.read_bits_int_be(5)
+            self.reserved = self._io.read_bits_int_be(2)
+
+
+
diff --git a/system/ubloxd/generated/ubx.py b/system/ubloxd/generated/ubx.py
new file mode 100644
index 0000000000..9946584388
--- /dev/null
+++ b/system/ubloxd/generated/ubx.py
@@ -0,0 +1,273 @@
+# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
+
+import kaitaistruct
+from kaitaistruct import KaitaiStruct, KaitaiStream, BytesIO
+from enum import Enum
+
+
+if getattr(kaitaistruct, 'API_VERSION', (0, 9)) < (0, 9):
+    raise Exception("Incompatible Kaitai Struct Python API: 0.9 or later is required, but you have %s" % (kaitaistruct.__version__))
+
+class Ubx(KaitaiStruct):
+
+    class GnssType(Enum):
+        gps = 0
+        sbas = 1
+        galileo = 2
+        beidou = 3
+        imes = 4
+        qzss = 5
+        glonass = 6
+    def __init__(self, _io, _parent=None, _root=None):
+        self._io = _io
+        self._parent = _parent
+        self._root = _root if _root else self
+        self._read()
+
+    def _read(self):
+        self.magic = self._io.read_bytes(2)
+        if not self.magic == b"\xB5\x62":
+            raise kaitaistruct.ValidationNotEqualError(b"\xB5\x62", self.magic, self._io, u"/seq/0")
+        self.msg_type = self._io.read_u2be()
+        self.length = self._io.read_u2le()
+        _on = self.msg_type
+        if _on == 2569:
+            self.body = Ubx.MonHw(self._io, self, self._root)
+        elif _on == 533:
+            self.body = Ubx.RxmRawx(self._io, self, self._root)
+        elif _on == 531:
+            self.body = Ubx.RxmSfrbx(self._io, self, self._root)
+        elif _on == 309:
+            self.body = Ubx.NavSat(self._io, self, self._root)
+        elif _on == 2571:
+            self.body = Ubx.MonHw2(self._io, self, self._root)
+        elif _on == 263:
+            self.body = Ubx.NavPvt(self._io, self, self._root)
+
+    class RxmRawx(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.rcv_tow = self._io.read_f8le()
+            self.week = self._io.read_u2le()
+            self.leap_s = self._io.read_s1()
+            self.num_meas = self._io.read_u1()
+            self.rec_stat = self._io.read_u1()
+            self.reserved1 = self._io.read_bytes(3)
+            self._raw_meas = []
+            self.meas = []
+            for i in range(self.num_meas):
+                self._raw_meas.append(self._io.read_bytes(32))
+                _io__raw_meas = KaitaiStream(BytesIO(self._raw_meas[i]))
+                self.meas.append(Ubx.RxmRawx.Measurement(_io__raw_meas, self, self._root))
+
+
+        class Measurement(KaitaiStruct):
+            def __init__(self, _io, _parent=None, _root=None):
+                self._io = _io
+                self._parent = _parent
+                self._root = _root if _root else self
+                self._read()
+
+            def _read(self):
+                self.pr_mes = self._io.read_f8le()
+                self.cp_mes = self._io.read_f8le()
+                self.do_mes = self._io.read_f4le()
+                self.gnss_id = KaitaiStream.resolve_enum(Ubx.GnssType, self._io.read_u1())
+                self.sv_id = self._io.read_u1()
+                self.reserved2 = self._io.read_bytes(1)
+                self.freq_id = self._io.read_u1()
+                self.lock_time = self._io.read_u2le()
+                self.cno = self._io.read_u1()
+                self.pr_stdev = self._io.read_u1()
+                self.cp_stdev = self._io.read_u1()
+                self.do_stdev = self._io.read_u1()
+                self.trk_stat = self._io.read_u1()
+                self.reserved3 = self._io.read_bytes(1)
+
+
+
+    class RxmSfrbx(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.gnss_id = KaitaiStream.resolve_enum(Ubx.GnssType, self._io.read_u1())
+            self.sv_id = self._io.read_u1()
+            self.reserved1 = self._io.read_bytes(1)
+            self.freq_id = self._io.read_u1()
+            self.num_words = self._io.read_u1()
+            self.reserved2 = self._io.read_bytes(1)
+            self.version = self._io.read_u1()
+            self.reserved3 = self._io.read_bytes(1)
+            self.body = []
+            for i in range(self.num_words):
+                self.body.append(self._io.read_u4le())
+
+
+
+    class NavSat(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.itow = self._io.read_u4le()
+            self.version = self._io.read_u1()
+            self.num_svs = self._io.read_u1()
+            self.reserved = self._io.read_bytes(2)
+            self._raw_svs = []
+            self.svs = []
+            for i in range(self.num_svs):
+                self._raw_svs.append(self._io.read_bytes(12))
+                _io__raw_svs = KaitaiStream(BytesIO(self._raw_svs[i]))
+                self.svs.append(Ubx.NavSat.Nav(_io__raw_svs, self, self._root))
+
+
+        class Nav(KaitaiStruct):
+            def __init__(self, _io, _parent=None, _root=None):
+                self._io = _io
+                self._parent = _parent
+                self._root = _root if _root else self
+                self._read()
+
+            def _read(self):
+                self.gnss_id = KaitaiStream.resolve_enum(Ubx.GnssType, self._io.read_u1())
+                self.sv_id = self._io.read_u1()
+                self.cno = self._io.read_u1()
+                self.elev = self._io.read_s1()
+                self.azim = self._io.read_s2le()
+                self.pr_res = self._io.read_s2le()
+                self.flags = self._io.read_u4le()
+
+
+
+    class NavPvt(KaitaiStruct):
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.i_tow = self._io.read_u4le()
+            self.year = self._io.read_u2le()
+            self.month = self._io.read_u1()
+            self.day = self._io.read_u1()
+            self.hour = self._io.read_u1()
+            self.min = self._io.read_u1()
+            self.sec = self._io.read_u1()
+            self.valid = self._io.read_u1()
+            self.t_acc = self._io.read_u4le()
+            self.nano = self._io.read_s4le()
+            self.fix_type = self._io.read_u1()
+            self.flags = self._io.read_u1()
+            self.flags2 = self._io.read_u1()
+            self.num_sv = self._io.read_u1()
+            self.lon = self._io.read_s4le()
+            self.lat = self._io.read_s4le()
+            self.height = self._io.read_s4le()
+            self.h_msl = self._io.read_s4le()
+            self.h_acc = self._io.read_u4le()
+            self.v_acc = self._io.read_u4le()
+            self.vel_n = self._io.read_s4le()
+            self.vel_e = self._io.read_s4le()
+            self.vel_d = self._io.read_s4le()
+            self.g_speed = self._io.read_s4le()
+            self.head_mot = self._io.read_s4le()
+            self.s_acc = self._io.read_s4le()
+            self.head_acc = self._io.read_u4le()
+            self.p_dop = self._io.read_u2le()
+            self.flags3 = self._io.read_u1()
+            self.reserved1 = self._io.read_bytes(5)
+            self.head_veh = self._io.read_s4le()
+            self.mag_dec = self._io.read_s2le()
+            self.mag_acc = self._io.read_u2le()
+
+
+    class MonHw2(KaitaiStruct):
+
+        class ConfigSource(Enum):
+            flash = 102
+            otp = 111
+            config_pins = 112
+            rom = 113
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.ofs_i = self._io.read_s1()
+            self.mag_i = self._io.read_u1()
+            self.ofs_q = self._io.read_s1()
+            self.mag_q = self._io.read_u1()
+            self.cfg_source = KaitaiStream.resolve_enum(Ubx.MonHw2.ConfigSource, self._io.read_u1())
+            self.reserved1 = self._io.read_bytes(3)
+            self.low_lev_cfg = self._io.read_u4le()
+            self.reserved2 = self._io.read_bytes(8)
+            self.post_status = self._io.read_u4le()
+            self.reserved3 = self._io.read_bytes(4)
+
+
+    class MonHw(KaitaiStruct):
+
+        class AntennaStatus(Enum):
+            init = 0
+            dontknow = 1
+            ok = 2
+            short = 3
+            open = 4
+
+        class AntennaPower(Enum):
+            false = 0
+            true = 1
+            dontknow = 2
+        def __init__(self, _io, _parent=None, _root=None):
+            self._io = _io
+            self._parent = _parent
+            self._root = _root if _root else self
+            self._read()
+
+        def _read(self):
+            self.pin_sel = self._io.read_u4le()
+            self.pin_bank = self._io.read_u4le()
+            self.pin_dir = self._io.read_u4le()
+            self.pin_val = self._io.read_u4le()
+            self.noise_per_ms = self._io.read_u2le()
+            self.agc_cnt = self._io.read_u2le()
+            self.a_status = KaitaiStream.resolve_enum(Ubx.MonHw.AntennaStatus, self._io.read_u1())
+            self.a_power = KaitaiStream.resolve_enum(Ubx.MonHw.AntennaPower, self._io.read_u1())
+            self.flags = self._io.read_u1()
+            self.reserved1 = self._io.read_bytes(1)
+            self.used_mask = self._io.read_u4le()
+            self.vp = self._io.read_bytes(17)
+            self.jam_ind = self._io.read_u1()
+            self.reserved2 = self._io.read_bytes(2)
+            self.pin_irq = self._io.read_u4le()
+            self.pull_h = self._io.read_u4le()
+            self.pull_l = self._io.read_u4le()
+
+
+    @property
+    def checksum(self):
+        if hasattr(self, '_m_checksum'):
+            return self._m_checksum
+
+        _pos = self._io.pos()
+        self._io.seek((self.length + 6))
+        self._m_checksum = self._io.read_u2le()
+        self._io.seek(_pos)
+        return getattr(self, '_m_checksum', None)
+
+
diff --git a/system/ubloxd/ubloxd.py b/system/ubloxd/ubloxd.py
index aa9cc8f98e..d193e3c157 100755
--- a/system/ubloxd/ubloxd.py
+++ b/system/ubloxd/ubloxd.py
@@ -217,7 +217,7 @@ class UBXMessageProcessor:
   def __init__(self):
     pass
 
-  def process_nav_pvt(self, msg: UBXMessage) -> log.Event | None:
+  def process_nav_pvt(self, msg: UBXMessage):
     """Process NAV-PVT (Position Velocity Time) message"""
     if len(msg.payload) < 92:
       cloudlog.warning("NAV-PVT message too short")
@@ -265,7 +265,7 @@ class UBXMessageProcessor:
 
     return evt
 
-  def process_rxm_rawx(self, msg: UBXMessage) -> log.Event | None:
+  def process_rxm_rawx(self, msg: UBXMessage):
     """Process RXM-RAWX (Raw measurement data) message"""
     if len(msg.payload) < 16:
       return None
@@ -289,7 +289,7 @@ class UBXMessageProcessor:
     rs.clkReset = bool(recStat & 0x04)
     return evt
 
-  def process_rxm_sfrbx(self, msg: UBXMessage) -> log.Event | None:
+  def process_rxm_sfrbx(self, msg: UBXMessage):
     """Process RXM-SFRBX (Subframe buffer) message"""
     # Create minimal valid ubloxGnss message with ephemeris field
     evt = messaging.new_message('ubloxGnss', valid=True)
@@ -297,7 +297,7 @@ class UBXMessageProcessor:
     eph.svId = 1  # Dummy value
     return evt
 
-  def process_mon_hw(self, msg: UBXMessage) -> log.Event | None:
+  def process_mon_hw(self, msg: UBXMessage):
     """Process MON-HW (Hardware status) message"""
     # Create minimal valid ubloxGnss message with hwStatus field
     evt = messaging.new_message('ubloxGnss', valid=True)
@@ -305,7 +305,7 @@ class UBXMessageProcessor:
     hw.noisePerMS = 0
     return evt
 
-  def process_mon_hw2(self, msg: UBXMessage) -> log.Event | None:
+  def process_mon_hw2(self, msg: UBXMessage):
     """Process MON-HW2 (Extended hardware status) message"""
     # Create minimal valid ubloxGnss message with hwStatus2 field
     evt = messaging.new_message('ubloxGnss', valid=True)
@@ -313,7 +313,7 @@ class UBXMessageProcessor:
     hw2.ofsI = 0
     return evt
 
-  def process_nav_sat(self, msg: UBXMessage) -> log.Event | None:
+  def process_nav_sat(self, msg: UBXMessage):
     """Process NAV-SAT (Satellite status) message"""
     # Create minimal valid ubloxGnss message with satReport field
     evt = messaging.new_message('ubloxGnss', valid=True)