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khpenner
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brandonbeggs
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Added CfgVALDEL, CfgVALGET & CfgVALSET messages (#218)
* Added CfgVALDEL, CfgVALGET & CfgVALSET messages Co-authored-by: Brandon <[email protected]>
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‎ublox_msgs/CMakeLists.txt‎

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@@ -42,6 +42,10 @@ set(msg_files
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"msg/CfgSBAS.msg"
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"msg/CfgTMODE3.msg"
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"msg/CfgUSB.msg"
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"msg/CfgVALDEL.msg"
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"msg/CfgVALGET.msg"
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"msg/CfgVALSET.msg"
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"msg/CfgVALSETCfgdata.msg"
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"msg/EsfINS.msg"
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"msg/EsfMEAS.msg"
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"msg/EsfRAWBlock.msg"

‎ublox_msgs/include/ublox_msgs/serialization.hpp‎

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@@ -894,6 +894,120 @@ struct UbloxSerializer<ublox_msgs::msg::CfgTMODE3_<ContainerAllocator> > {
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}
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};
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///
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/// @brief Serializes the CfgVALDEL message which has a repeated block.
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///
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template <typename ContainerAllocator>
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struct UbloxSerializer<ublox_msgs::msg::CfgVALDEL_<ContainerAllocator> > {
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inline static void read(const uint8_t *data, uint32_t count,
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ublox_msgs::msg::CfgVALDEL_<ContainerAllocator> &m) {
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UbloxIStream stream(const_cast<uint8_t *>(data), count);
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stream.next(m.version);
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stream.next(m.layers);
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stream.next(m.reserved0[0]);
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stream.next(m.reserved0[1]);
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for (std::size_t i = 0; i < m.keys.size(); ++i) {
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deserialize(stream, m.keys[i]);
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}
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}
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inline static uint32_t serializedLength(const ublox_msgs::msg::CfgVALDEL_<ContainerAllocator> &m) {
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return 4 + 4 * m.keys.size();
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}
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inline static void write(const uint8_t *data, uint32_t count,
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const ublox_msgs::msg::CfgVALDEL_<ContainerAllocator> &m) {
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UbloxOStream stream(const_cast<uint8_t *>(data), count);
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stream.next(m.version);
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stream.next(m.layers);
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stream.next(m.reserved0[0]);
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stream.next(m.reserved0[1]);
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for (std::size_t i = 0; i < m.keys.size(); ++i) {
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serialize(stream, m.keys[i]);
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}
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}
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};
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///
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/// @brief Serializes the CfgVALGET message which has a repeated block.
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///
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template <typename ContainerAllocator>
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struct UbloxSerializer<ublox_msgs::msg::CfgVALGET_<ContainerAllocator> > {
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inline static void read(const uint8_t *data, uint32_t count,
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ublox_msgs::msg::CfgVALGET_<ContainerAllocator> &m) {
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UbloxIStream stream(const_cast<uint8_t *>(data), count);
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stream.next(m.version);
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stream.next(m.layers);
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stream.next(m.position);
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uint8_t data_size = (count - 4) / 4;
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m.keys.resize(data_size);
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// the key and values are all together in the keys array
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for (std::size_t i = 0; i < data_size; ++i) {
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deserialize(stream, m.keys[i]);
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}
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}
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inline static uint32_t serializedLength(const ublox_msgs::msg::CfgVALGET_<ContainerAllocator> &m) {
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return 4 + 4 * m.keys.size();
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}
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inline static void write(const uint8_t *data, uint32_t count,
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const ublox_msgs::msg::CfgVALGET_<ContainerAllocator> &m) {
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UbloxOStream stream(const_cast<uint8_t *>(data), count);
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stream.next(m.version);
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stream.next(m.layers);
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stream.next(m.position);
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for (std::size_t i = 0; i < m.keys.size(); ++i) {
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serialize(stream, m.keys[i]);
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}
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}
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};
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///
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/// @brief Serializes the CfgVALSET message which has a repeated block.
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///
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template <typename ContainerAllocator>
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struct UbloxSerializer<ublox_msgs::msg::CfgVALSET_<ContainerAllocator> > {
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inline static void read(const uint8_t *data, uint32_t count,
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ublox_msgs::msg::CfgVALSET_<ContainerAllocator> &m) {
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UbloxIStream stream(const_cast<uint8_t *>(data), count);
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stream.next(m.version);
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stream.next(m.layers);
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stream.next(m.reserved0[0]);
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stream.next(m.reserved0[1]);
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for (std::size_t i = 0; i < m.cfgdata.size(); ++i) {
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deserialize(stream, m.cfgdata[i].key);
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for (std::size_t j = 0; j < m.cfgdata[i].data.size(); ++j) {
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deserialize(stream, m.cfgdata[i].data[j]);
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}
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}
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}
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inline static uint32_t serializedLength(const ublox_msgs::msg::CfgVALSET_<ContainerAllocator> &m) {
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int data_size = 0;
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for (std::size_t i = 0; i < m.cfgdata.size(); ++i) {
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data_size += m.cfgdata[i].data.size();
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data_size += 4;
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}
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return 4 + data_size;
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}
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inline static void write(const uint8_t *data, uint32_t count,
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const ublox_msgs::msg::CfgVALSET_<ContainerAllocator> &m) {
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UbloxOStream stream(const_cast<uint8_t *>(data), count);
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stream.next(m.version);
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stream.next(m.layers);
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stream.next(m.reserved0[0]);
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stream.next(m.reserved0[1]);
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for (std::size_t i = 0; i < m.cfgdata.size(); ++i) {
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serialize(stream, m.cfgdata[i].key);
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for (std::size_t j = 0; j < m.cfgdata[i].data.size(); ++j) {
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serialize(stream, m.cfgdata[i].data[j]);
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}
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}
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}
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};
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template <typename ContainerAllocator>
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struct UbloxSerializer<ublox_msgs::msg::EsfINS_<ContainerAllocator> > {
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inline static void read(const uint8_t *data, uint32_t count,

‎ublox_msgs/include/ublox_msgs/ublox_msgs.hpp‎

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@@ -85,6 +85,10 @@
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#include <ublox_msgs/msg/cfg_sbas.hpp>
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#include <ublox_msgs/msg/cfg_tmode3.hpp>
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#include <ublox_msgs/msg/cfg_usb.hpp>
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#include <ublox_msgs/msg/cfg_valdel.hpp>
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#include <ublox_msgs/msg/cfg_valget.hpp>
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#include <ublox_msgs/msg/cfg_valset.hpp>
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#include <ublox_msgs/msg/cfg_valset_cfgdata.hpp>
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#include <ublox_msgs/msg/upd_sos.hpp>
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#include <ublox_msgs/msg/upd_sos_ack.hpp>
@@ -223,6 +227,9 @@ namespace Message {
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static const uint8_t SBAS = ublox_msgs::msg::CfgSBAS::MESSAGE_ID;
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static const uint8_t TMODE3 = ublox_msgs::msg::CfgTMODE3::MESSAGE_ID;
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static const uint8_t USB = ublox_msgs::msg::CfgUSB::MESSAGE_ID;
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static const uint8_t VALDEL = ublox_msgs::msg::CfgVALDEL::MESSAGE_ID;
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static const uint8_t VALGET = ublox_msgs::msg::CfgVALGET::MESSAGE_ID;
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static const uint8_t VALSET = ublox_msgs::msg::CfgVALSET::MESSAGE_ID;
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} // namespace CFG
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namespace UPD {

‎ublox_msgs/msg/CfgVALDEL.msg‎

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# CFG-VALDEL (0x06 0x8c)
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# Delete configuration item values
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#
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# This message is used to delete saved configurations to effectively revert the items values to
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# defaults. Maximum of 64 Key IDs.
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#
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uint8 CLASS_ID = 6
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uint8 MESSAGE_ID = 140
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uint8 version # Message Version (0x00 for this version)
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uint8 layers # Bit mask: the layers where the configuration should be applied
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uint8 LAYER_BBR = 1 # BBR layer
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uint8 LAYER_FLASH = 2 # Flash Layer
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uint8[2] reserved0
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# Start of repeated block
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uint32[] keys # Configuration key IDs of configuration items to be retrieved
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# End of repeated block

‎ublox_msgs/msg/CfgVALGET.msg‎

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# CFG-VALGET (0x06 0x8b)
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# Get configuration items
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#
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# This message is used to get configuration values by providing a list of configuration key IDs,
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# which identify the configuration items to retrieve. Maximum of 64 Key IDs.
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#
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uint8 CLASS_ID = 6
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uint8 MESSAGE_ID = 139
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uint8 version # Message Version (0x00 for this version)
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uint8 layers # The layer which the configuration items should be retrieved
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uint8 LAYER_RAM = 0 # RAM layer
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uint8 LAYER_BBR = 1 # BBR layer
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uint8 LAYER_FLASH = 2 # Flash Layer
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uint8 LAYER_DEFAULT = 7 # Default Layer
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uint16 position # Skip this many key values before constructing output message
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# Start of repeated block
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uint32[] keys # Configuration key IDs of configuration items to be retrieved
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# End of repeated block

‎ublox_msgs/msg/CfgVALSET.msg‎

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# CFG-VALSET (0x06 0x8a)
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# Set configuration item values
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#
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# This message is used to set a configuration by providing configuration data ( a list of
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# key and value pairs), which identify the configuration items to change, and their new values.
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# Maximum of 64 Key IDs.
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#
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uint8 CLASS_ID = 6
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uint8 MESSAGE_ID = 138
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uint8 version # Message Version (0x00 for this version)
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uint8 layers # Bit mask: the layers where the configuration should be applied
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uint8 LAYER_RAM = 1 # RAM layer
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uint8 LAYER_BBR = 2 # BBR layer
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uint8 LAYER_FLASH = 4 # Flash Layer
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uint8[2] reserved0
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# Start of repeated block
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CfgVALSETCfgdata[] cfgdata # Configuration data (key and value pairs)
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# End of repeated block

‎ublox_msgs/msg/CfgVALSETCfgdata.msg‎

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# See Cfg-VALSET
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#
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uint32 key # Key for configuration item being changed
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uint8[] data # Data for configuration item being changed,
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# array can be of length 1 - 8 (i.e. 1 - 8 bytes long)

‎ublox_msgs/src/ublox_msgs.cpp‎

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@@ -160,6 +160,12 @@ DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::TMODE3,
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ublox_msgs, CfgTMODE3)
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DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::USB,
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ublox_msgs, CfgUSB)
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DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::VALDEL,
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ublox_msgs, CfgVALDEL);
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DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::VALGET,
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ublox_msgs, CfgVALGET);
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DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::VALSET,
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ublox_msgs, CfgVALSET);
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DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::UPD, ublox_msgs::Message::UPD::SOS,
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ublox_msgs, UpdSOS)

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