parse and show p_dop

ubx.py

@@ -8,6 +8,8 @@ UBX_SYNC2         = 0x62
 UBX_CLASS_NAV     = 0x01
 UBX_ID_NAV_SAT    = 0x35
 UBX_ID_NAV_SVINFO = 0x30
+UBX_ID_NAV_DOP    = 0x04
+
 UBX_SYNC_WORD = b'\xb5\x62'
 
 
@@ -156,12 +158,27 @@ def parse_nav_svinfo(payload: bytes) -> list[dict]:
 		})
 	return sats
 
-def extract_satellites(frames: list[dict]) -> list[dict]:
+def parse_nav_dop(payload: bytes) -> dict:
+	if len(payload) < 18:
+		return {}
+
+	i_tow, p_dop, g_dop, t_dop, v_dop, h_dop, n_dop, e_dop = struct.unpack_from(
+		"<IHHHHHHH", payload
+	)
+	scale = 0.01
+	res = {
+		"p_dop": p_dop*scale, "g_dop": g_dop*scale, "t_dop": t_dop*scale,
+		"v_dop": v_dop*scale, "h_dop": h_dop*scale, "n_dop": n_dop*scale, "e_dop": e_dop*scale
+	}
+
+	return res
+
+def extract_satellites(frames: list[dict]) -> dict:
 	for f in frames:
 		if f["cls"] == UBX_CLASS_NAV and f["id"] == UBX_ID_NAV_SAT:
-			return parse_nav_sat(f["payload"])
+			return {'sat': parse_nav_sat(f["payload"])}
 		if f["cls"] == UBX_CLASS_NAV and f["id"] == UBX_ID_NAV_SVINFO:
-			return parse_nav_svinfo(f["payload"])
-	return []
-
-
+			return {'sat': parse_nav_svinfo(f["payload"])}
+		if f["cls"] == UBX_CLASS_NAV and f["id"] == UBX_ID_NAV_DOP:
+			return {'dop': parse_nav_dop(f["payload"])}
+	return {}