AP_GPS_UBLOX Class Reference

#include <AP_GPS_UBLOX.h>

Inheritance diagram for AP_GPS_UBLOX:

Collaboration diagram for AP_GPS_UBLOX:

Classes
union	PACKED
struct	ubx_ack_ack
struct	ubx_cfg_cfg
struct	ubx_cfg_gnss
struct	ubx_cfg_msg
struct	ubx_cfg_msg_rate
struct	ubx_cfg_msg_rate_6
struct	ubx_cfg_nav_rate
struct	ubx_cfg_nav_settings
struct	ubx_cfg_prt
struct	ubx_cfg_sbas
struct	ubx_header
struct	ubx_mon_hw2
struct	ubx_mon_hw_60
struct	ubx_mon_hw_68
struct	ubx_mon_ver
struct	ubx_nav_dop
struct	ubx_nav_posllh
struct	ubx_nav_pvt
struct	ubx_nav_solution
struct	ubx_nav_status
struct	ubx_nav_svinfo_header
struct	ubx_nav_velned
struct	ubx_rxm_raw
struct	ubx_rxm_rawx

Public Member Functions
	AP_GPS_UBLOX (AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port)
bool	read ()
AP_GPS::GPS_Status	highest_supported_status (void)
bool	is_configured (void)
void	broadcast_configuration_failure_reason (void) const override
void	Write_DataFlash_Log_Startup_messages () const override
bool	get_lag (float &lag_sec) const override
const char *	name () const override
Public Member Functions inherited from AP_GPS_Backend
	AP_GPS_Backend (AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port)
virtual	~AP_GPS_Backend (void)
virtual void	inject_data (const uint8_t *data, uint16_t len)
virtual bool	supports_mavlink_gps_rtk_message ()
virtual void	send_mavlink_gps_rtk (mavlink_channel_t chan)
virtual void	handle_msg (const mavlink_message_t *msg)
virtual void	handle_gnss_msg (const AP_GPS::GPS_State &msg)
virtual bool	is_healthy (void) const
void	broadcast_gps_type () const
virtual bool	prepare_for_arming (void)

Static Public Member Functions
static bool	_detect (struct UBLOX_detect_state &state, uint8_t data)

Private Types
enum	ubs_protocol_bytes {   PREAMBLE1 = 0xb5, PREAMBLE2 = 0x62, CLASS_NAV = 0x01, CLASS_ACK = 0x05,   CLASS_CFG = 0x06, CLASS_MON = 0x0A, CLASS_RXM = 0x02, MSG_ACK_NACK = 0x00,   MSG_ACK_ACK = 0x01, MSG_POSLLH = 0x2, MSG_STATUS = 0x3, MSG_DOP = 0x4,   MSG_SOL = 0x6, MSG_PVT = 0x7, MSG_VELNED = 0x12, MSG_CFG_CFG = 0x09,   MSG_CFG_RATE = 0x08, MSG_CFG_MSG = 0x01, MSG_CFG_NAV_SETTINGS = 0x24, MSG_CFG_PRT = 0x00,   MSG_CFG_SBAS = 0x16, MSG_CFG_GNSS = 0x3E, MSG_MON_HW = 0x09, MSG_MON_HW2 = 0x0B,   MSG_MON_VER = 0x04, MSG_NAV_SVINFO = 0x30, MSG_RXM_RAW = 0x10, MSG_RXM_RAWX = 0x15 }
enum	ubx_gnss_identifier {   GNSS_GPS = 0x00, GNSS_SBAS = 0x01, GNSS_GALILEO = 0x02, GNSS_BEIDOU = 0x03,   GNSS_IMES = 0x04, GNSS_QZSS = 0x05, GNSS_GLONASS = 0x06 }
enum	ubs_nav_fix_type {   FIX_NONE = 0, FIX_DEAD_RECKONING = 1, FIX_2D = 2, FIX_3D = 3,   FIX_GPS_DEAD_RECKONING = 4, FIX_TIME = 5 }
enum	ubx_nav_status_bits { NAV_STATUS_FIX_VALID = 1, NAV_STATUS_DGPS_USED = 2 }
enum	ubx_hardware_version {   ANTARIS = 0, UBLOX_5, UBLOX_6, UBLOX_7,   UBLOX_M8, UBLOX_UNKNOWN_HARDWARE_GENERATION = 0xff }
enum	config_step {   STEP_PVT = 0, STEP_NAV_RATE, STEP_SOL, STEP_PORT,   STEP_STATUS, STEP_POSLLH, STEP_VELNED, STEP_POLL_SVINFO,   STEP_POLL_SBAS, STEP_POLL_NAV, STEP_POLL_GNSS, STEP_DOP,   STEP_MON_HW, STEP_MON_HW2, STEP_RAW, STEP_RAWX,   STEP_VERSION, STEP_LAST }

Private Member Functions
bool	_parse_gps ()
bool	_configure_message_rate (uint8_t msg_class, uint8_t msg_id, uint8_t rate)
void	_configure_rate (void)
void	_configure_sbas (bool enable)
void	_update_checksum (uint8_t *data, uint16_t len, uint8_t &ck_a, uint8_t &ck_b)
bool	_send_message (uint8_t msg_class, uint8_t msg_id, void *msg, uint16_t size)
void	send_next_rate_update (void)
bool	_request_message_rate (uint8_t msg_class, uint8_t msg_id)
void	_request_next_config (void)
void	_request_port (void)
void	_request_version (void)
void	_save_cfg (void)
void	_verify_rate (uint8_t msg_class, uint8_t msg_id, uint8_t rate)
void	unexpected_message (void)
void	log_mon_hw (void)
void	log_mon_hw2 (void)
void	log_rxm_raw (const struct ubx_rxm_raw &raw)
void	log_rxm_rawx (const struct ubx_rxm_rawx &raw)
uint8_t	_ubx_msg_log_index (uint8_t ubx_msg)

Private Attributes
union AP_GPS_UBLOX::PACKED	_buffer
uint8_t	_ck_a
uint8_t	_ck_b
uint8_t	_step
uint8_t	_msg_id
uint16_t	_payload_length
uint16_t	_payload_counter
uint8_t	_class
bool	_cfg_saved
uint32_t	_last_vel_time
uint32_t	_last_pos_time
uint32_t	_last_cfg_sent_time
uint8_t	_num_cfg_save_tries
uint32_t	_last_config_time
uint16_t	_delay_time
uint8_t	_next_message
uint8_t	_ublox_port
bool	_have_version
struct ubx_mon_ver	_version
uint32_t	_unconfigured_messages
uint8_t	_hardware_generation
bool	_new_position:1
bool	_new_speed:1
uint8_t	_disable_counter
AP_GPS::GPS_Status	next_fix
bool	_cfg_needs_save
bool	noReceivedHdop
bool	havePvtMsg

Additional Inherited Members
Protected Member Functions inherited from AP_GPS_Backend
int32_t	swap_int32 (int32_t v) const
int16_t	swap_int16 (int16_t v) const
void	fill_3d_velocity (void)
void	make_gps_time (uint32_t bcd_date, uint32_t bcd_milliseconds)
void	_detection_message (char *buffer, uint8_t buflen) const
bool	should_df_log () const
Protected Attributes inherited from AP_GPS_Backend
AP_HAL::UARTDriver *	port
	UART we are attached to. More...
AP_GPS &	gps
	access to frontend (for parameters) More...
AP_GPS::GPS_State &	state
	public state for this instance More...

Detailed Description

Definition at line 92 of file AP_GPS_UBLOX.h.

Member Enumeration Documentation

config_step

enum AP_GPS_UBLOX::config_step

private

Enumerator
STEP_PVT
STEP_NAV_RATE
STEP_SOL
STEP_PORT
STEP_STATUS
STEP_POSLLH
STEP_VELNED
STEP_POLL_SVINFO
STEP_POLL_SBAS
STEP_POLL_NAV
STEP_POLL_GNSS
STEP_DOP
STEP_MON_HW
STEP_MON_HW2
STEP_RAW
STEP_RAWX
STEP_VERSION
STEP_LAST

Definition at line 485 of file AP_GPS_UBLOX.h.

ubs_nav_fix_type

enum AP_GPS_UBLOX::ubs_nav_fix_type

private

Enumerator
FIX_NONE
FIX_DEAD_RECKONING
FIX_2D
FIX_3D
FIX_GPS_DEAD_RECKONING
FIX_TIME

Definition at line 463 of file AP_GPS_UBLOX.h.

ubs_protocol_bytes

enum AP_GPS_UBLOX::ubs_protocol_bytes

private

Enumerator
PREAMBLE1
PREAMBLE2
CLASS_NAV
CLASS_ACK
CLASS_CFG
CLASS_MON
CLASS_RXM
MSG_ACK_NACK
MSG_ACK_ACK
MSG_POSLLH
MSG_STATUS
MSG_DOP
MSG_SOL
MSG_PVT
MSG_VELNED
MSG_CFG_CFG
MSG_CFG_RATE
MSG_CFG_MSG
MSG_CFG_NAV_SETTINGS
MSG_CFG_PRT
MSG_CFG_SBAS
MSG_CFG_GNSS
MSG_MON_HW
MSG_MON_HW2
MSG_MON_VER
MSG_NAV_SVINFO
MSG_RXM_RAW
MSG_RXM_RAWX

Definition at line 424 of file AP_GPS_UBLOX.h.

ubx_gnss_identifier

enum AP_GPS_UBLOX::ubx_gnss_identifier

private

Enumerator
GNSS_GPS
GNSS_SBAS
GNSS_GALILEO
GNSS_BEIDOU
GNSS_IMES
GNSS_QZSS
GNSS_GLONASS

Definition at line 454 of file AP_GPS_UBLOX.h.

ubx_hardware_version

enum AP_GPS_UBLOX::ubx_hardware_version

private

Enumerator
ANTARIS
UBLOX_5
UBLOX_6
UBLOX_7
UBLOX_M8
UBLOX_UNKNOWN_HARDWARE_GENERATION

Definition at line 475 of file AP_GPS_UBLOX.h.

ubx_nav_status_bits

enum AP_GPS_UBLOX::ubx_nav_status_bits

private

Enumerator
NAV_STATUS_FIX_VALID
NAV_STATUS_DGPS_USED

Definition at line 471 of file AP_GPS_UBLOX.h.

Constructor & Destructor Documentation

AP_GPS_UBLOX()

AP_GPS_UBLOX::AP_GPS_UBLOX	(	AP_GPS &	_gps,
		AP_GPS::GPS_State &	_state,
		AP_HAL::UARTDriver *	_port
	)

Definition at line 46 of file AP_GPS_UBLOX.cpp.

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Member Function Documentation

_configure_message_rate()

bool AP_GPS_UBLOX::_configure_message_rate ( uint8_t  msg_class, uint8_t  msg_id, uint8_t  rate  )

private

Definition at line 1156 of file AP_GPS_UBLOX.cpp.

Referenced by _parse_gps(), _verify_rate(), and unexpected_message().

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_configure_rate()

void AP_GPS_UBLOX::_configure_rate ( void  )

private

Definition at line 1257 of file AP_GPS_UBLOX.cpp.

Referenced by _parse_gps().

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_configure_sbas()

void AP_GPS_UBLOX::_configure_sbas ( bool  enable )

private

_detect()

bool AP_GPS_UBLOX::_detect ( struct UBLOX_detect_state &  state, uint8_t  data  )

static

Definition at line 1193 of file AP_GPS_UBLOX.cpp.

Referenced by AP_GPS::detect_instance(), and highest_supported_status().

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_parse_gps()

bool AP_GPS_UBLOX::_parse_gps ( void  )

private

Definition at line 592 of file AP_GPS_UBLOX.cpp.

Referenced by read().

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_request_message_rate()

bool AP_GPS_UBLOX::_request_message_rate ( uint8_t  msg_class, uint8_t  msg_id  )

private

Definition at line 1136 of file AP_GPS_UBLOX.cpp.

Referenced by _request_next_config().

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_request_next_config()

void AP_GPS_UBLOX::_request_next_config ( void  )

private

Definition at line 63 of file AP_GPS_UBLOX.cpp.

Referenced by AP_GPS_UBLOX(), and read().

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_request_port()

void AP_GPS_UBLOX::_request_port ( void  )

private

Definition at line 309 of file AP_GPS_UBLOX.cpp.

Referenced by _parse_gps(), _request_message_rate(), and _request_next_config().

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_request_version()

void AP_GPS_UBLOX::_request_version ( void  )

private

Definition at line 1251 of file AP_GPS_UBLOX.cpp.

Referenced by _request_next_config().

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_save_cfg()

void AP_GPS_UBLOX::_save_cfg ( void  )

private

Definition at line 1174 of file AP_GPS_UBLOX.cpp.

Referenced by read().

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_send_message()

bool AP_GPS_UBLOX::_send_message ( uint8_t  msg_class, uint8_t  msg_id, void *  msg, uint16_t  size  )

private

Definition at line 1107 of file AP_GPS_UBLOX.cpp.

Referenced by _configure_message_rate(), _configure_rate(), _parse_gps(), _request_message_rate(), _request_next_config(), _request_port(), _request_version(), and _save_cfg().

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_ubx_msg_log_index()

uint8_t AP_GPS_UBLOX::_ubx_msg_log_index ( uint8_t  ubx_msg )

inlineprivate

Definition at line 572 of file AP_GPS_UBLOX.h.

Referenced by log_mon_hw(), and log_mon_hw2().

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_update_checksum()

void AP_GPS_UBLOX::_update_checksum ( uint8_t *  data, uint16_t  len, uint8_t &  ck_a, uint8_t &  ck_b  )

private

Definition at line 1093 of file AP_GPS_UBLOX.cpp.

Referenced by _send_message().

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_verify_rate()

void AP_GPS_UBLOX::_verify_rate ( uint8_t  msg_class, uint8_t  msg_id, uint8_t  rate  )

private

Definition at line 193 of file AP_GPS_UBLOX.cpp.

Referenced by _parse_gps().

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broadcast_configuration_failure_reason()

void AP_GPS_UBLOX::broadcast_configuration_failure_reason ( void  ) const

overridevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 1284 of file AP_GPS_UBLOX.cpp.

Referenced by is_configured().

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get_lag()

bool AP_GPS_UBLOX::get_lag ( float &  lag_sec ) const

overridevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 1297 of file AP_GPS_UBLOX.cpp.

Referenced by is_configured().

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highest_supported_status()

AP_GPS::GPS_Status AP_GPS_UBLOX::highest_supported_status ( void  )

inlinevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 100 of file AP_GPS_UBLOX.h.

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is_configured()

bool AP_GPS_UBLOX::is_configured ( void  )

inlinevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 104 of file AP_GPS_UBLOX.h.

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log_mon_hw()

void AP_GPS_UBLOX::log_mon_hw ( void  )

private

Definition at line 468 of file AP_GPS_UBLOX.cpp.

Referenced by _parse_gps().

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log_mon_hw2()

void AP_GPS_UBLOX::log_mon_hw2 ( void  )

private

Definition at line 492 of file AP_GPS_UBLOX.cpp.

Referenced by _parse_gps().

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log_rxm_raw()

void AP_GPS_UBLOX::log_rxm_raw ( const struct ubx_rxm_raw &  raw )

private

Definition at line 511 of file AP_GPS_UBLOX.cpp.

Referenced by _parse_gps().

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log_rxm_rawx()

void AP_GPS_UBLOX::log_rxm_rawx ( const struct ubx_rxm_rawx &  raw )

private

Definition at line 537 of file AP_GPS_UBLOX.cpp.

Referenced by _parse_gps().

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name()

const char* AP_GPS_UBLOX::name ( ) const

inlineoverridevirtual

Implements AP_GPS_Backend.

Definition at line 122 of file AP_GPS_UBLOX.h.

read()

bool AP_GPS_UBLOX::read ( void  )

virtual

Implements AP_GPS_Backend.

Definition at line 328 of file AP_GPS_UBLOX.cpp.

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send_next_rate_update()

void AP_GPS_UBLOX::send_next_rate_update ( void  )

private

unexpected_message()

void AP_GPS_UBLOX::unexpected_message ( void  )

private

Definition at line 578 of file AP_GPS_UBLOX.cpp.

Referenced by _parse_gps().

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Write_DataFlash_Log_Startup_messages()

void AP_GPS_UBLOX::Write_DataFlash_Log_Startup_messages ( ) const

overridevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 1320 of file AP_GPS_UBLOX.cpp.

Referenced by is_configured().

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Member Data Documentation

_buffer

union AP_GPS_UBLOX::PACKED AP_GPS_UBLOX::_buffer

private

Referenced by _parse_gps(), log_mon_hw(), log_mon_hw2(), and read().

_cfg_needs_save

bool AP_GPS_UBLOX::_cfg_needs_save

private

Definition at line 546 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps(), _verify_rate(), and read().

_cfg_saved

bool AP_GPS_UBLOX::_cfg_saved

private

Definition at line 517 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps(), and read().

_ck_a

uint8_t AP_GPS_UBLOX::_ck_a

private

Definition at line 507 of file AP_GPS_UBLOX.h.

Referenced by read().

_ck_b

uint8_t AP_GPS_UBLOX::_ck_b

private

Definition at line 508 of file AP_GPS_UBLOX.h.

Referenced by read().

_class

uint8_t AP_GPS_UBLOX::_class

private

Definition at line 516 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps(), read(), and unexpected_message().

_delay_time

uint16_t AP_GPS_UBLOX::_delay_time

private

Definition at line 524 of file AP_GPS_UBLOX.h.

Referenced by read().

_disable_counter

uint8_t AP_GPS_UBLOX::_disable_counter

private

Definition at line 538 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps(), and unexpected_message().

_hardware_generation

uint8_t AP_GPS_UBLOX::_hardware_generation

private

Definition at line 530 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps(), _request_next_config(), and get_lag().

_have_version

bool AP_GPS_UBLOX::_have_version

private

Definition at line 527 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps(), _request_next_config(), and Write_DataFlash_Log_Startup_messages().

_last_cfg_sent_time

uint32_t AP_GPS_UBLOX::_last_cfg_sent_time

private

Definition at line 521 of file AP_GPS_UBLOX.h.

Referenced by _save_cfg(), and read().

_last_config_time

uint32_t AP_GPS_UBLOX::_last_config_time

private

Definition at line 523 of file AP_GPS_UBLOX.h.

Referenced by read().

_last_pos_time

uint32_t AP_GPS_UBLOX::_last_pos_time

private

Definition at line 520 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps().

_last_vel_time

uint32_t AP_GPS_UBLOX::_last_vel_time

private

Definition at line 519 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps().

_msg_id

uint8_t AP_GPS_UBLOX::_msg_id

private

Definition at line 512 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps(), read(), and unexpected_message().

_new_position

bool AP_GPS_UBLOX::_new_position

private

Definition at line 534 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps().

_new_speed

bool AP_GPS_UBLOX::_new_speed

private

Definition at line 536 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps().

_next_message

uint8_t AP_GPS_UBLOX::_next_message

private

Definition at line 525 of file AP_GPS_UBLOX.h.

Referenced by _request_next_config().

_num_cfg_save_tries

uint8_t AP_GPS_UBLOX::_num_cfg_save_tries

private

Definition at line 522 of file AP_GPS_UBLOX.h.

Referenced by _save_cfg(), and read().

_payload_counter

uint16_t AP_GPS_UBLOX::_payload_counter

private

Definition at line 514 of file AP_GPS_UBLOX.h.

Referenced by read().

_payload_length

uint16_t AP_GPS_UBLOX::_payload_length

private

Definition at line 513 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps(), log_mon_hw(), and read().

_step

uint8_t AP_GPS_UBLOX::_step

private

Definition at line 511 of file AP_GPS_UBLOX.h.

Referenced by read().

_ublox_port

uint8_t AP_GPS_UBLOX::_ublox_port

private

Definition at line 526 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps(), and _request_message_rate().

_unconfigured_messages

uint32_t AP_GPS_UBLOX::_unconfigured_messages

private

Definition at line 529 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps(), _request_next_config(), _verify_rate(), broadcast_configuration_failure_reason(), is_configured(), log_mon_hw(), and read().

_version

struct ubx_mon_ver AP_GPS_UBLOX::_version

private

Definition at line 528 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps(), and Write_DataFlash_Log_Startup_messages().

havePvtMsg

bool AP_GPS_UBLOX::havePvtMsg

private

Definition at line 550 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps(), _verify_rate(), and read().

next_fix

AP_GPS::GPS_Status AP_GPS_UBLOX::next_fix

private

Definition at line 544 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps().

noReceivedHdop

bool AP_GPS_UBLOX::noReceivedHdop

private

Definition at line 548 of file AP_GPS_UBLOX.h.

Referenced by _parse_gps().

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The documentation for this class was generated from the following files:

• libraries/AP_GPS/AP_GPS_UBLOX.h
• libraries/AP_GPS/AP_GPS_UBLOX.cpp