Implement UBX-NAV-SAT message

readme.md

@@ -147,12 +147,13 @@ MON-VER
   - `VER`: Receiver/Software Version	
   - `HW`: Hardware Status
 - class **`NAV`**
- - `PVT`: Position Velocity Time
- - `RELPOSNED`: Relative position, as used for differential GPS.  Version 1 (uBlox-9) is implemented, which is incompatible with Version 0 (uBlox-8).  
- - `DOP`: Dilution of precision
- - `SVINFO`: 
-- class `**ESF**`
- - `MEAS`
+  - `PVT`: Position Velocity Time
+  - `RELPOSNED`: Relative position, as used for differential GPS.  Version 1 (uBlox-9) is implemented, which is incompatible with Version 0 (uBlox-8).  
+  - `DOP`: Dilution of precision
+  - `SVINFO`: Information about satellites used or visible. Deprecated; users are recommended to use the UBX-NAV-SAT message in preference.
+  - `SAT`: Information about SVs that are either known to be visible or currently tracked by the receiver.
+- class **`qES`**
+  - `MEAS`
 
 ## Usage
 

tests/tests.py

@@ -38,6 +38,38 @@ def testMON_VER(self):
         self.assertEqual(ver.extension_3, "GPS;GLO;GAL;BDS")
         self.assertEqual(ver.extension_4, "SBAS;IMES;QZSS")
 
+    def testNAV_SAT(self):
+        payload = b'\xB0\x1B\x48\x14\x01\x03\x00\x00\x00\x01\x21\x01\x8A\x00\x18\xFD\x17\x09\x00\x00\x00\x00\x00\x04\x18\xA5\x00\x00\x00\x00\x04\x00\x00\x00\x00\x08\x16\xA5\x00\x00\x00\x00\x03\x00'
+        sat = parseUBXPayload(UBX.NAV._class, UBX.NAV.SAT._id, payload)
+        self.assertEqual(sat.iTOW, 0x14481BB0)
+        self.assertEqual(sat.version, 0x01)
+        self.assertEqual(sat.numSvs, 0x03)
+        self.assertEqual(sat.reserved0, 0x0000)
+
+        self.assertEqual(sat.gnssId_1, 0)
+        self.assertEqual(sat.svId_1, 1)
+        self.assertEqual(sat.cno_1, 33)
+        self.assertEqual(sat.elev_1, 1)
+        self.assertEqual(sat.azim_1, 138)
+        self.assertEqual(sat.prRes_1, -744)
+        self.assertEqual(sat.flags_1, 0x00000917)
+
+        self.assertEqual(sat.gnssId_2, 0)
+        self.assertEqual(sat.svId_2, 0)
+        self.assertEqual(sat.cno_2, 0)
+        self.assertEqual(sat.elev_2, 4)
+        self.assertEqual(sat.azim_2, -23272)
+        self.assertEqual(sat.prRes_2, 0)
+        self.assertEqual(sat.flags_2, 0x00040000)
+
+        self.assertEqual(sat.gnssId_3, 0)
+        self.assertEqual(sat.svId_3, 0)
+        self.assertEqual(sat.cno_3, 0)
+        self.assertEqual(sat.elev_3, 8)
+        self.assertEqual(sat.azim_3, -23274)
+        self.assertEqual(sat.prRes_3, 0)
+        self.assertEqual(sat.flags_3, 0x00030000)
+
     def testCFG_GNSS(self):
         payload = b'\x00\x20\x20\x07\x00\x08\x10\x00\x01\x00\x01\x01\x01\x01\x03\x00\x01\x00\x01\x01\x02\x04\x08\x00\x00\x00\x01\x01\x03\x08\x10\x00\x00\x00\x01\x01\x04\x00\x08\x00\x00\x00\x01\x03\x05\x00\x03\x00\x01\x00\x01\x05\x06\x08\x0e\x00\x01\x00\x01\x01'
         gnss = parseUBXPayload(UBX.CFG._class, UBX.CFG.GNSS._id, payload)

ubx/UBX/NAV.py

@@ -59,6 +59,59 @@ class Repeated:
                 axim = I2(7)
                 prRes = I4(8)
 
+    @addGet
+    class SAT:
+
+        _id = 0x35
+
+        class Fields:
+            iTOW = U4(1)
+            version = U1(2)
+            numSvs = U1(3)
+            reserved0 = U2(4)
+
+            class Repeated:
+                gnssId = U1(1, 
+                                allowed={
+                                    0: 'GPS',
+                                    1: 'SBAS',
+                                    2: 'Galileo',
+                                    3: 'BeiDou',
+                                    4: 'IMES',
+                                    5: 'QZSS',
+                                    6: 'GLONASS',
+                                    })
+                svId = U1(2)
+                cno = U1(3)
+                elev = I1(4)
+                azim = I2(5)
+                prRes = I2(6)
+                flags = X4(7)
+
+        @property
+        def TOW_str(self):
+            mins, millis = divmod(self.iTOW, 60000)
+            hours, mins = divmod(mins, 60)
+            days, hours = divmod(hours, 24)
+            return "{:1d}-{:02d}:{:02d}:{:04.1f}gps".format(days, hours, mins, millis/1000)
+
+        def summary(self):
+            summary_str = "UBX.NAV.SAT:       TOW: {}, version: {}, numSvs: {}".format(
+                self.TOW_str, self.version, self.numSvs)
+
+            for i in range(1, self.numSvs+1):
+                summary_str += "\r\n  gnssId: {: >2}, svId: {: >3}, cno: {: >3} dBHz, elev: {: >3}, azim: {: >3}, prRes: {: >5}, flags: 0x{:08X}".format(
+                    self.__getattribute__(f'gnssId_{i}'),
+                    self.__getattribute__(f'svId_{i}'),
+                    self.__getattribute__(f'cno_{i}'),
+                    self.__getattribute__(f'elev_{i}'),
+                    self.__getattribute__(f'azim_{i}'),
+                    self.__getattribute__(f'prRes_{i}'),
+                    self.__getattribute__(f'flags_{i}')
+                )
+
+            return(summary_str)
+
     @addGet
     class PVT: