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Merged
semuadmin merged 6 commits into from
Aug 26, 2025
Merged

Rc 1.2.57 #196

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29a7842
Added IMU -related new cfg keys introduced in HSP 1.40
djshake Aug 25, 2025
019a92d
update to 1.2.57
semuadmin Aug 25, 2025
f98c00a
updates for HPS 1.40
semuadmin Aug 25, 2025
83cbed1
Merge branch 'addhps140' into RC-1.2.57
semuadmin Aug 25, 2025
f0579a7
NAV updates for HPG 2.00
semuadmin Aug 25, 2025
b6c7b39
update test cases
semuadmin Aug 25, 2025
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1 change: 1 addition & 0 deletions .vscode/settings.json
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@@ -1,5 +1,6 @@
{
"python.testing.pytestEnabled": true,
"python.testing.unittestEnabled": false,
"python.terminal.activateEnvironment": true,
"editor.formatOnSave": true,
"modulename": "${workspaceFolderBasename}",
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7 changes: 7 additions & 0 deletions RELEASE_NOTES.md
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@@ -1,5 +1,12 @@
# pyubx2 Release Notes

### RELEASE 1.2.57

ENHANCEMENTS:

1. NAV Payload definition updates for ZED-X20P HPG 2.00 (NAV-GEOFENCE, NAV-PVT, NAV-SAT, NAV-SIG, NAV-TIMETRUSTED).
1. Add new configuration database keys and other minor updates for ZED-F9R HPS 1.40 - thanks to @djshake for contribution.

### RELEASE 1.2.56

ENHANCEMENTS:
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2 changes: 1 addition & 1 deletion src/pyubx2/_version.py
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Expand Up @@ -8,4 +8,4 @@
:license: BSD 3-Clause
"""

__version__ = "1.2.56"
__version__ = "1.2.57"
11 changes: 11 additions & 0 deletions src/pyubx2/ubxtypes_configdb.py
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Expand Up @@ -176,6 +176,7 @@
"CFG_LOGFILTER_TIME_THRS": (0x30DE0006, U2),
"CFG_MOT_GNSSDIST_THRS": (0x3025003B, U2),
"CFG_MOT_GNSSSPEED_THRS": (0x20250038, U1),
"CFG_MOT_IMU_FILT_WINDOW": (0x30250016, U2),
"CFG_MSGOUT_NMEA_ID_DTM_I2C": (0x209100A6, U1),
"CFG_MSGOUT_NMEA_ID_DTM_SPI": (0x209100AA, U1),
"CFG_MSGOUT_NMEA_ID_DTM_UART1": (0x209100A7, U1),
Expand Down Expand Up @@ -1132,6 +1133,9 @@
"CFG_SEC_JAMDET_SENSITIVITY_HI": (0x10F60051, L),
"CFG_SEC_SPOOFDET_SIM_SIG_DIS": (0x10F6005D, L),
"CFG_SFCORE_HNR_RATE": (0x2008001A, U1),
"CFG_SFCORE_IMU2CRP_LA_X": (0x30080002, I2),
"CFG_SFCORE_IMU2CRP_LA_Y": (0x30080003, I2),
"CFG_SFCORE_IMU2CRP_LA_Z": (0x30080004, I2),
"CFG_SFCORE_USE_SF": (0x10080001, L),
"CFG_SFIMU_ACCEL_ACCURACY": (0x30060018, U2),
"CFG_SFIMU_ACCEL_FREQUENCY": (0x20060016, U1),
Expand All @@ -1148,7 +1152,11 @@
"CFG_SFIMU_IMU_I2C_SDA_PIO": (0x2006001F, U1),
"CFG_SFIMU_IMU_MNTALG_PITCH": (0x3006002E, I2),
"CFG_SFIMU_IMU_MNTALG_ROLL": (0x3006002F, I2),
"CFG_SFIMU_IMU_MNTALG_TOLERANCE": (0x20060030, E1),
"CFG_SFIMU_IMU_MNTALG_YAW": (0x4006002D, U4),
"CFG_SFIMU_IMU2ANT_LA_X": (0x30060020, I2),
"CFG_SFIMU_IMU2ANT_LA_Y": (0x30060021, I2),
"CFG_SFIMU_IMU2ANT_LA_Z": (0x30060022, I2),
"CFG_SFODO_CNT_BOTH_EDGES": (0x1007000D, L),
"CFG_SFODO_COMBINE_TICKS": (0x10070001, L),
"CFG_SFODO_COUNT_MAX": (0x40070009, U4),
Expand All @@ -1160,6 +1168,9 @@
"CFG_SFODO_DIS_DIR_INFO": (0x1007001C, L),
"CFG_SFODO_FACTOR": (0x40070007, U4),
"CFG_SFODO_FREQUENCY": (0x2007000B, U1),
"CFG_SFODO_IMU2VRP_LA_X": (0x30070012, I2),
"CFG_SFODO_IMU2VRP_LA_Y": (0x30070013, I2),
"CFG_SFODO_IMU2VRP_LA_Z": (0x30070014, I2),
"CFG_SFODO_LATENCY": (0x3007000A, U2),
"CFG_SFODO_QUANT_ERROR": (0x40070008, U4),
"CFG_SFODO_SPEED_BAND": (0x3007000E, U2),
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2 changes: 1 addition & 1 deletion src/pyubx2/ubxtypes_core.py
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Expand Up @@ -354,7 +354,7 @@
b"\x01\x26": "NAV-TIMELS",
b"\x01\x63": "NAV-TIMENAVIC",
b"\x01\x27": "NAV-TIMEQZSS",
# b"\x01\x64": "NAV-TIMETRUSTED", # not publicly documented
b"\x01\x64": "NAV-TIMETRUSTED",
b"\x01\x21": "NAV-TIMEUTC",
b"\x01\x11": "NAV-VELECEF",
b"\x01\x12": "NAV-VELNED",
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11 changes: 9 additions & 2 deletions src/pyubx2/ubxtypes_decodes.py
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Expand Up @@ -24,6 +24,7 @@
DGNSMODE = {
2: "RTK float",
3: "RTK fixed",
5: "RTK CAR", # Conservative ambiguity resolution
}
"""Differential correction mode from UBX-CFG-DGNSS"""

Expand Down Expand Up @@ -84,6 +85,7 @@
10: "motorbike", # (supported for protocol versions 19.20, and 35.10)
11: "robotic lawn mower", # (supported for protocol versions 33.21)
12: "electric kick scooter", # (supported for protocol versions 33.21, and 35.10)
13: "rail", # trains and trams
}
"""Dynamic model from UBX-CFG-NAV5"""

Expand Down Expand Up @@ -424,7 +426,11 @@
5: "RTCM3 SSR",
6: "QZSS SLAS",
7: "SPARTN",
8: "CLAS",
8: "CLAS", # not used in HPG 2.00
9: "CLAS",
10: "LPP OSR",
11: "LPP SSR",
12: "GAL HAS",
}
"""DGPS correction source from UBX-NAV-SIG"""

Expand All @@ -433,7 +439,8 @@
1: "Klobuchar GPS",
2: "SBAS",
3: "Klobuchar BeiDou",
4: "Dual Frequency",
4: "Dual Frequency", # not used in HPG 2.00
8: "Dual frequency",
}
"""Ionospheric model type from UBX-NAV-SIG"""

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43 changes: 32 additions & 11 deletions src/pyubx2/ubxtypes_get.py
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Expand Up @@ -1609,6 +1609,7 @@
{
"mem": U1,
"alloc": U1,
"outputPort": U3,
},
),
"reserved0": U1,
Expand Down Expand Up @@ -2160,7 +2161,7 @@
"combState": U1,
"group": ( # repeating group * numFences
"numFences",
{"state": U1, "reserved1": U1},
{"state": U1, "id": U1},
),
},
"NAV-HPPOSECEF": {
Expand Down Expand Up @@ -2478,6 +2479,9 @@
{
"invalidLlh": U1,
"lastCorrectionAge": U4,
"reserved1": U8,
"authTime": U1,
"nmaFixStatus": U1,
},
),
"reserved0": U4, # NB this is incorrectly stated as U5 in older documentation
Expand Down Expand Up @@ -2586,6 +2590,9 @@
"prCorrUsed": U1,
"crCorrUsed": U1,
"doCorrUsed": U1,
"clasCorrUsed": U1,
"lppCorrUsed": U1,
"hasCorrUsed": U1,
},
),
},
Expand Down Expand Up @@ -2657,6 +2664,7 @@
"prCorrUsed": U1,
"crCorrUsed": U1,
"doCorrUsed": U1,
"authStatus": U1,
},
),
"reserved1": U4,
Expand Down Expand Up @@ -2925,15 +2933,28 @@
),
"tAcc": U4,
},
# nominal definition, excluded from public HPG 1.50 interface manual:
# "NAV-TIMETRUSTED": {
# "group": (
# "None",
# {
# "data": X1,
# },
# ),
# },
"NAV-TIMETRUSTED": {
"version": U1,
"refSys": U1,
"validFlags": (
X1,
{
"trustedTimeValid": U1,
"deltaTimeValid": U1,
},
),
"reserved0": U1,
"iTOW": U4,
"iniWho": U2,
"propWho": U2,
"iniTow": U4,
"propTow": U4,
"iniTAcc": U4,
"propTAcc": U4,
"deltaS": I4,
"deltaMs": I4,
"reserved1": U4,
},
"NAV-TIMEUTC": {
"iTOW": U4,
"tAcc": U4,
Expand All @@ -2950,7 +2971,7 @@
"validTOW": U1,
"validWKN": U1,
"validUTC": U1,
"reserved0": U1,
"authStatus": U1,
"utcStandard": U4,
},
),
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Binary file added tests/pygpsdata-NAV-ZED-X20P.log
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23 changes: 18 additions & 5 deletions tests/test_bitfields.py
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Expand Up @@ -7,6 +7,7 @@

@author: semuadmin
"""

# pylint: disable=line-too-long, invalid-name, missing-docstring, no-member

import unittest
Expand All @@ -20,6 +21,7 @@ def setUp(self):
self.nav_sat2 = b"\xb5b\x015\x14\x00\x00\x00\x00\x00\x01\x01\x00\x00\x00\x00+*\xf0\x00\xfd\xff\x07\x07\x00\x00\x9bt" # qualityInd = 7, orbitSource = 7
self.nav_sat3 = b"\xb5b\x015\x14\x00\x00\x00\x00\x00\x01\x01\x00\x00\x00\x00+*\xf0\x00\xfd\xff\x03\x04\x02\x00\x96_" # rtcmCorrUsed = 1
self.nav_sat4 = b"\xb5b\x015\x14\x00\x00\x00\x00\x00\x01\x01\x00\x00\x00\x00+*\xf0\x00\xfd\xff\x0a\x15\x5f\x00\x0bh" # svUsed = 1, almUsed = 1
self.nav_sat6 = b"\xb5b\x015\x14\x00\x00\x00\x00\x00\x01\x01\x00\x00\x00\x00+*\xf0\x00\xfd\xff\n\x15_\x01\x0ci"

def tearDown(self):
pass
Expand All @@ -28,27 +30,30 @@ def testNavSat2(
self,
): # check X4 bitfield correctly parsed (remember little-endian)
res = UBXReader.parse(self.nav_sat2)
# print(res)
self.assertEqual(
str(res),
"<UBX(NAV-SAT, iTOW=23:59:42, version=1, numSvs=1, reserved0=0, gnssId_01=GPS, svId_01=0, cno_01=43, elev_01=42, azim_01=240, prRes_01=-0.3, qualityInd_01=7, svUsed_01=0, health_01=0, diffCorr_01=0, smoothed_01=0, orbitSource_01=7, ephAvail_01=0, almAvail_01=0, anoAvail_01=0, aopAvail_01=0, sbasCorrUsed_01=0, rtcmCorrUsed_01=0, slasCorrUsed_01=0, spartnCorrUsed_01=0, prCorrUsed_01=0, crCorrUsed_01=0, doCorrUsed_01=0)>",
"<UBX(NAV-SAT, iTOW=23:59:42, version=1, numSvs=1, reserved0=0, gnssId_01=GPS, svId_01=0, cno_01=43, elev_01=42, azim_01=240, prRes_01=-0.3, qualityInd_01=7, svUsed_01=0, health_01=0, diffCorr_01=0, smoothed_01=0, orbitSource_01=7, ephAvail_01=0, almAvail_01=0, anoAvail_01=0, aopAvail_01=0, sbasCorrUsed_01=0, rtcmCorrUsed_01=0, slasCorrUsed_01=0, spartnCorrUsed_01=0, prCorrUsed_01=0, crCorrUsed_01=0, doCorrUsed_01=0, clasCorrUsed_01=0, lppCorrUsed_01=0, hasCorrUsed_01=0)>",
)

def testNavSat3(
self,
): # check X4 bitfield correctly parsed (remember little-endian)
res = UBXReader.parse(self.nav_sat3)
# print(res)
self.assertEqual(
str(res),
"<UBX(NAV-SAT, iTOW=23:59:42, version=1, numSvs=1, reserved0=0, gnssId_01=GPS, svId_01=0, cno_01=43, elev_01=42, azim_01=240, prRes_01=-0.3, qualityInd_01=3, svUsed_01=0, health_01=0, diffCorr_01=0, smoothed_01=0, orbitSource_01=4, ephAvail_01=0, almAvail_01=0, anoAvail_01=0, aopAvail_01=0, sbasCorrUsed_01=0, rtcmCorrUsed_01=1, slasCorrUsed_01=0, spartnCorrUsed_01=0, prCorrUsed_01=0, crCorrUsed_01=0, doCorrUsed_01=0)>",
"<UBX(NAV-SAT, iTOW=23:59:42, version=1, numSvs=1, reserved0=0, gnssId_01=GPS, svId_01=0, cno_01=43, elev_01=42, azim_01=240, prRes_01=-0.3, qualityInd_01=3, svUsed_01=0, health_01=0, diffCorr_01=0, smoothed_01=0, orbitSource_01=4, ephAvail_01=0, almAvail_01=0, anoAvail_01=0, aopAvail_01=0, sbasCorrUsed_01=0, rtcmCorrUsed_01=1, slasCorrUsed_01=0, spartnCorrUsed_01=0, prCorrUsed_01=0, crCorrUsed_01=0, doCorrUsed_01=0, clasCorrUsed_01=0, lppCorrUsed_01=0, hasCorrUsed_01=0)>",
)

def testNavSat4(
self,
): # check X4 bitfield correctly parsed (remember little-endian)
res = UBXReader.parse(self.nav_sat4)
print(res)
self.assertEqual(
str(res),
"<UBX(NAV-SAT, iTOW=23:59:42, version=1, numSvs=1, reserved0=0, gnssId_01=GPS, svId_01=0, cno_01=43, elev_01=42, azim_01=240, prRes_01=-0.3, qualityInd_01=2, svUsed_01=1, health_01=0, diffCorr_01=0, smoothed_01=0, orbitSource_01=5, ephAvail_01=0, almAvail_01=1, anoAvail_01=0, aopAvail_01=0, sbasCorrUsed_01=1, rtcmCorrUsed_01=1, slasCorrUsed_01=1, spartnCorrUsed_01=1, prCorrUsed_01=1, crCorrUsed_01=0, doCorrUsed_01=1)>",
"<UBX(NAV-SAT, iTOW=23:59:42, version=1, numSvs=1, reserved0=0, gnssId_01=GPS, svId_01=0, cno_01=43, elev_01=42, azim_01=240, prRes_01=-0.3, qualityInd_01=2, svUsed_01=1, health_01=0, diffCorr_01=0, smoothed_01=0, orbitSource_01=5, ephAvail_01=0, almAvail_01=1, anoAvail_01=0, aopAvail_01=0, sbasCorrUsed_01=1, rtcmCorrUsed_01=1, slasCorrUsed_01=1, spartnCorrUsed_01=1, prCorrUsed_01=1, crCorrUsed_01=0, doCorrUsed_01=1, clasCorrUsed_01=0, lppCorrUsed_01=0, hasCorrUsed_01=0)>",
)

def testNavSat5(self): # check message bytes match original byte stream
Expand Down Expand Up @@ -87,12 +92,20 @@ def testNavSat6(
prCorrUsed_01=1,
crCorrUsed_01=0,
doCorrUsed_01=1,
clasCorrUsed_01=0,
lppCorrUsed_01=1,
hasCorrUsed_01=0,
)
# print(res)
self.assertEqual(
str(res),
"<UBX(NAV-SAT, iTOW=23:59:42, version=1, numSvs=1, reserved0=0, gnssId_01=GPS, svId_01=0, cno_01=43, elev_01=42, azim_01=240, prRes_01=-0.30000000000000004, qualityInd_01=2, svUsed_01=1, health_01=0, diffCorr_01=0, smoothed_01=0, orbitSource_01=5, ephAvail_01=0, almAvail_01=1, anoAvail_01=0, aopAvail_01=0, sbasCorrUsed_01=1, rtcmCorrUsed_01=1, slasCorrUsed_01=1, spartnCorrUsed_01=1, prCorrUsed_01=1, crCorrUsed_01=0, doCorrUsed_01=1)>",
"<UBX(NAV-SAT, iTOW=23:59:42, version=1, numSvs=1, reserved0=0, gnssId_01=GPS, svId_01=0, cno_01=43, elev_01=42, azim_01=240, prRes_01=-0.30000000000000004, qualityInd_01=2, svUsed_01=1, health_01=0, diffCorr_01=0, smoothed_01=0, orbitSource_01=5, ephAvail_01=0, almAvail_01=1, anoAvail_01=0, aopAvail_01=0, sbasCorrUsed_01=1, rtcmCorrUsed_01=1, slasCorrUsed_01=1, spartnCorrUsed_01=1, prCorrUsed_01=1, crCorrUsed_01=0, doCorrUsed_01=1, clasCorrUsed_01=0, lppCorrUsed_01=1, hasCorrUsed_01=0)>",
)
# print(res.serialize())
self.assertEqual(
res.serialize(),
self.nav_sat6,
)
self.assertEqual(res.serialize(), self.nav_sat4)


if __name__ == "__main__":
Expand Down
36 changes: 20 additions & 16 deletions tests/test_stream.py
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