gnss_messages_type_list.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once

namespace mrpt::obs::gnss
{
/** List of all known GNSS message types.
  * Normally, each type here has a corresponding class, derived from
 * mrpt::obs::gnss::gnss_message,
  * that stores the message data, but some classes may be still in the "TO-DO"
 * list or just not needed in practice.
  * On the other hand, \b all message classes \b must be associated with one and
 * only one value from this list.
  * \sa mrpt::obs::CObservationGPS, mrpt::obs::gnss::gnss_message
  */
enum gnss_message_type_t
{
    // ====== NMEA ======
    NMEA_GGA = 10,
    NMEA_GLL,
    NMEA_GSA,
    NMEA_GSV,
    NMEA_MSS,
    NMEA_RMC,
    NMEA_VTG,
    NMEA_ZDA,

    // ====== TopCon mmGPS ======
    TOPCON_PZS = 30,
    TOPCON_SATS,

    // ====== Novatel OEM6 ======
    // See "OEM6 Family Firmware Reference Manual"
    NV_OEM6_MSG2ENUM = 1000,

    NV_OEM6_GENERIC_FRAME = 3000 + NV_OEM6_MSG2ENUM,  // Generic container
    NV_OEM6_GENERIC_SHORT_FRAME =
        3001 + NV_OEM6_MSG2ENUM,  // Generic container (short header)

    NV_OEM6_ALIGNBSLNENU = 1315 + NV_OEM6_MSG2ENUM,
    NV_OEM6_ALIGNBSLNXYZ = 1314 + NV_OEM6_MSG2ENUM,
    NV_OEM6_ALIGNDOP = 1332 + NV_OEM6_MSG2ENUM,
    NV_OEM6_BESTPOS = 42 + NV_OEM6_MSG2ENUM,  // SPAN: Best available combined
    // GNSS and INS position
    NV_OEM6_BESTSATS = 1194 + NV_OEM6_MSG2ENUM,
    NV_OEM6_BESTUTM = 726 + NV_OEM6_MSG2ENUM,
    NV_OEM6_BESTVEL = 99 + NV_OEM6_MSG2ENUM,
    NV_OEM6_BESTXYZ = 241 + NV_OEM6_MSG2ENUM,
    NV_OEM6_CLOCKSTEERING = 26 + NV_OEM6_MSG2ENUM,
    NV_OEM6_GPGLL = 219 + NV_OEM6_MSG2ENUM,
    NV_OEM6_GPGGA = 218 + NV_OEM6_MSG2ENUM,
    NV_OEM6_GPGGARTK =
        259 + NV_OEM6_MSG2ENUM,  // More decimal digits than regular GGA
    NV_OEM6_GPGSA = 221 + NV_OEM6_MSG2ENUM,
    NV_OEM6_GPGSV = 223 + NV_OEM6_MSG2ENUM,
    NV_OEM6_GPHDT = 1045 + NV_OEM6_MSG2ENUM,
    NV_OEM6_GPRMC = 225 + NV_OEM6_MSG2ENUM,
    NV_OEM6_GPVTG = 226 + NV_OEM6_MSG2ENUM,
    NV_OEM6_GPZDA = 227 + NV_OEM6_MSG2ENUM,
    NV_OEM6_IONUTC = 8 + NV_OEM6_MSG2ENUM,
    NV_OEM6_MARKPOS = 181 + NV_OEM6_MSG2ENUM,
    NV_OEM6_MARK2POS = 615 + NV_OEM6_MSG2ENUM,
    NV_OEM6_MARKTIME = 231 + NV_OEM6_MSG2ENUM,
    NV_OEM6_MARK2TIME = 616 + NV_OEM6_MSG2ENUM,
    NV_OEM6_PPPPOS = 1538 + NV_OEM6_MSG2ENUM,
    NV_OEM6_RANGECMP = 140 + NV_OEM6_MSG2ENUM,
    NV_OEM6_RAWEPHEM = 41 + NV_OEM6_MSG2ENUM,
    NV_OEM6_RXSTATUS = 93 + NV_OEM6_MSG2ENUM,
    NV_OEM6_VERSION = 37 + NV_OEM6_MSG2ENUM,

    // ====== Novatel SPAN+OEM6 ======
    // See "SPAN on OEM6 firmware reference"

    NV_OEM6_INSPVAS = 508 + NV_OEM6_MSG2ENUM,  // Most recent position, velocity
    // and attitude at full rate of
    // IMU (short header)
    NV_OEM6_INSATTS = 319 + NV_OEM6_MSG2ENUM,  // Most recent attitude (roll,
    // pitch and azimuth)
    // measurements (short header)
    NV_OEM6_INSCOVS = 320 + NV_OEM6_MSG2ENUM,  // Position, attitude, and
    // velocity matrices with respect
    // to the local level frame
    // (short header)
    NV_OEM6_INSVELS = 324 + NV_OEM6_MSG2ENUM,  // Most recent North, East, and
    // Up velocity vector values
    // (short header)
    NV_OEM6_RAWIMUS = 325 + NV_OEM6_MSG2ENUM  // IMU status indicator and the
    // measurements from the
    // accelerometers and gyros (short
    // header)

};
}