added UBX:NAV:SAT message

network_backend.py

@@ -18,7 +18,7 @@ from threading import Thread
 from queue import Queue
 from ubx.ubx import frame_create
 from ubx.msg import UbxMsg
-from ubx.messages.nav import Sig
+from ubx.messages.nav import Sig, Sat
 from ubx.messages.rxm import RawX
 
 class NetworkBackend(ABackend):
@@ -149,6 +149,7 @@ if __name__ == "__main__":
 		]
 		ubx_rx_list = [
 			UbxReceiver(Sig(), 0x01, 0x43),
+			UbxReceiver(Sat(), 0x01, 0x35),
 			UbxReceiver(RawX(), 0x02, 0x15),
 
 			UbxReceiver(UbxMsg(), 0x05, 0x01),
@@ -201,6 +202,9 @@ if __name__ == "__main__":
 				# Poll UBX-NAV-SIG (0x01 0x43)
 				frame = frame_create(0x01, 0x43, b'')
 				transceiver[grm].send(frame)
+				# Poll UBX-NAV-SAT (0x01 0x35)
+				frame = frame_create(0x01, 0x35, b'')
+				transceiver[grm].send(frame)
 				# Poll UBX-RXM-RAWX (0x02 0x15)
 				frame = frame_create(0x02, 0x15, b'')
 				transceiver[grm].send(frame)

ubx/messages/nav.py

@@ -37,3 +37,36 @@ class Sig(ubx.msg.UbxMsg):
 			remain -= group_size
 			obj.signals.append(signal)
 		return obj.__dict__
+
+class Sat(ubx.msg.UbxMsg):
+	class Group1:
+		@classmethod
+		def from_bytes(cls, data: bytes):
+			obj = Sat.Group1()
+			obj.gnss_id = struct.unpack("B", data[0:1])[0]
+			obj.sv_id = struct.unpack("B", data[1:2])[0]
+			obj.cno = struct.unpack("B", data[2:3])[0]
+			obj.elev = struct.unpack("B", data[3:4])[0]
+			obj.azim = struct.unpack("<h", data[4:6])[0]
+			obj.pr_res = struct.unpack("<h", data[6:8])[0]
+			obj.flags = struct.unpack("<I", data[8:12])[0]
+			return obj.__dict__
+
+	@classmethod
+	def from_bytes(cls, data: bytes):
+		obj = Sat()
+		obj.iTOW = struct.unpack("<L", data[0:4])[0]
+		obj.version = struct.unpack("B", data[4:5])[0]
+		obj.num_sv = struct.unpack("B", data[5:6])[0]
+		obj.reserved0 = struct.unpack("BB", data[6:8])[0]
+		obj.satellites = []
+		offset = 8
+		remain = len(data) - offset
+		group_size = 12
+		n = offset
+		while remain:
+			satellite = cls.Group1.from_bytes(data[n:n + group_size])
+			n += group_size
+			remain -= group_size
+			obj.satellites.append(satellite)
+		return obj.__dict__