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Merged
flipflip8952 merged 2 commits into from
Oct 28, 2026
Merged

Update GNSS fix type enums, bump SDK #119

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a5ea191
update gnss fix types
flipflip8952 Oct 27, 2026
f0d0122
adfasdf
flipflip8952 Oct 28, 2026
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2 changes: 1 addition & 1 deletion fixposition-sdk
Open in desktop
Submodule fixposition-sdk updated 68 files
+4 −1 .clang-tidy
+0 −0 .devcontainer/.bash_history.d/.gitkeep
+0 −0 .devcontainer/.vscode-server/.gitkeep
+42 −0 .devcontainer/helper.sh
+3 −0 .devcontainer/jazzy/devcontainer.json
+3 −0 .devcontainer/lyrical/devcontainer.json
+3 −0 .devcontainer/noetic/devcontainer.json
+3 −0 .devcontainer/trixie/devcontainer.json
+5 −3 .gitignore
+18 −14 Makefile
+8 −0 docker/Dockerfile.humble-base
+2 −14 docker/Dockerfile.humble-dev
+8 −0 docker/Dockerfile.jazzy-base
+2 −14 docker/Dockerfile.jazzy-dev
+8 −0 docker/Dockerfile.lyrical-base
+2 −14 docker/Dockerfile.lyrical-dev
+8 −0 docker/Dockerfile.noetic-base
+2 −14 docker/Dockerfile.noetic-dev
+8 −0 docker/Dockerfile.trixie-base
+2 −14 docker/Dockerfile.trixie-dev
+8 −0 docker/ci.sh
+24 −20 docker/docker-compose.yaml
+9 −12 docker/scripts/adduser_fpsdk.sh
+0 −0 docker/scripts/adduser_fpsdk/.bash_logout
+0 −1 docker/scripts/adduser_fpsdk/.bashrc
+3 −4 docker/scripts/adduser_fpsdk/fpsdk.bgptheme
+4 −0 docker/scripts/install_apt_base.sh
+0 −2 docker/scripts/install_apt_dev.sh
+2 −0 docker/scripts/install_ffmpeg.sh
+0 −27 docker/scripts/install_gitbashprompt.sh
+7 −9 docker/scripts/install_locales.sh
+3 −1 examples/camera_streaming/CMakeLists.txt
+138 −47 examples/camera_streaming/camera_streaming.cpp
+3 −5 fpsdk.code-workspace
+13 −6 fpsdk.sh
+3 −0 fpsdk_apps/CMakeLists.txt
+32 −21 fpsdk_apps/fpltool/fpltool_extract.cpp
+1 −0 fpsdk_apps/fpltool/fpltool_extract.hpp
+9 −5 fpsdk_apps/fpltool/fpltool_opts.hpp
+4 −3 fpsdk_apps/yaml2shell/yaml2shell.cpp
+3 −3 fpsdk_common/include/fpsdk_common/app.hpp
+10 −6 fpsdk_common/include/fpsdk_common/cam.hpp
+1 −1 fpsdk_common/include/fpsdk_common/can.hpp
+7 −7 fpsdk_common/include/fpsdk_common/fpl.hpp
+15 −2 fpsdk_common/include/fpsdk_common/gnss.hpp
+1 −1 fpsdk_common/include/fpsdk_common/logging.hpp
+1 −1 fpsdk_common/include/fpsdk_common/math.hpp
+4 −2 fpsdk_common/include/fpsdk_common/parser/fpa.hpp
+38 −12 fpsdk_common/include/fpsdk_common/parser/nmea.hpp
+13 −8 fpsdk_common/include/fpsdk_common/parser/ubx.hpp
+1 −1 fpsdk_common/include/fpsdk_common/ros1.hpp
+2 −2 fpsdk_common/include/fpsdk_common/time.hpp
+7 −2 fpsdk_common/include/fpsdk_common/to_json/parser_nmea.hpp
+1 −1 fpsdk_common/include/fpsdk_common/trafo.hpp
+1 −1 fpsdk_common/include/fpsdk_common/utils.hpp
+1 −1 fpsdk_common/include/fpsdk_common/video.hpp
+4 −3 fpsdk_common/src/app.cpp
+17 −19 fpsdk_common/src/cam.cpp
+27 −8 fpsdk_common/src/gnss.cpp
+1 −1 fpsdk_common/src/logging.cpp
+20 −8 fpsdk_common/src/parser/fpa.cpp
+61 −23 fpsdk_common/src/parser/nmea.cpp
+1 −1 fpsdk_common/src/video.cpp
+4 −4 fpsdk_common/test/parser_fpa_test.cpp
+4 −2 fpsdk_common/test/parser_nmea_test.cpp
+1 −1 fpsdk_doc/Doxyfile
+3 −0 fpsdk_doc/fpsdk_doc.hpp
+ − fpsdk_doc/logox.png
3 changes: 2 additions & 1 deletion fixposition_driver_lib/include/fixposition_driver_lib/helper.hpp
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Expand Up @@ -235,7 +235,8 @@ struct NmeaEpochData {
fpsdk::common::parser::nmea::NmeaNavStatusRmc navstatus_ =
fpsdk::common::parser::nmea::NmeaNavStatusRmc::UNSPECIFIED;
fpsdk::common::parser::nmea::NmeaModeRmcGns mode1_ = fpsdk::common::parser::nmea::NmeaModeRmcGns::UNSPECIFIED;
fpsdk::common::parser::nmea::NmeaModeGllVtg mode2_ = fpsdk::common::parser::nmea::NmeaModeGllVtg::UNSPECIFIED;
fpsdk::common::parser::nmea::NmeaModeGll mode2_ = fpsdk::common::parser::nmea::NmeaModeGll::UNSPECIFIED;
fpsdk::common::parser::nmea::NmeaModeVtg mode3_ = fpsdk::common::parser::nmea::NmeaModeVtg::UNSPECIFIED;
fpsdk::common::parser::nmea::NmeaQualityGga quality_ = fpsdk::common::parser::nmea::NmeaQualityGga::UNSPECIFIED;
fpsdk::common::parser::nmea::NmeaOpModeGsa opmode_ = fpsdk::common::parser::nmea::NmeaOpModeGsa::UNSPECIFIED;
fpsdk::common::parser::nmea::NmeaNavModeGsa navmode_ = fpsdk::common::parser::nmea::NmeaNavModeGsa::UNSPECIFIED;
Expand Down
3 changes: 2 additions & 1 deletion fixposition_driver_lib/src/helper.cpp
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Expand Up @@ -311,7 +311,8 @@ NmeaEpochData NmeaEpochData::CompleteAndReset() {
status_ = (gll_.status > rmc_.status ? gll_.status : rmc_.status);
navstatus_ = rmc_.navstatus;
mode1_ = rmc_.mode;
mode2_ = (gll_.mode > vtg_.mode ? gll_.mode : vtg_.mode);
mode2_ = gll_.mode;
mode3_ = vtg_.mode;
quality_ = gga_.quality;
opmode_ = gsa_.opmode;
navmode_ = gsa_.navmode;
Expand Down
46 changes: 34 additions & 12 deletions fixposition_driver_msgs/include/fixposition_driver_msgs/data_to_ros.hpp
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Expand Up @@ -67,6 +67,8 @@ inline int FpaGnssFixToMsg(const RosMsgT& msg, const fpsdk::common::parser::fpa:
case fpsdk::common::parser::fpa::FpaGnssFix::S3D_DR: return msg.consts.GNSS_FIX_S3D_DR;
case fpsdk::common::parser::fpa::FpaGnssFix::RTK_FLOAT: return msg.consts.GNSS_FIX_RTK_FLOAT;
case fpsdk::common::parser::fpa::FpaGnssFix::RTK_FIXED: return msg.consts.GNSS_FIX_RTK_FIXED;
case fpsdk::common::parser::fpa::FpaGnssFix::PPP_FLOAT: return msg.consts.GNSS_FIX_PPP_FLOAT;
case fpsdk::common::parser::fpa::FpaGnssFix::PPP_FIXED: return msg.consts.GNSS_FIX_PPP_FIXED;
}
// clang-format on
return msg.consts.GNSS_FIX_UNSPECIFIED;
Expand All @@ -85,7 +87,9 @@ inline int FpaGnssFixToNavSatStatusStatus(const RosMsgT& msg, const fpsdk::commo
case fpsdk::common::parser::fpa::FpaGnssFix::S3D: /* FALLTHROUGH */
case fpsdk::common::parser::fpa::FpaGnssFix::S3D_DR: return msg.STATUS_FIX;
case fpsdk::common::parser::fpa::FpaGnssFix::RTK_FLOAT: /* FALLTHROUGH */
case fpsdk::common::parser::fpa::FpaGnssFix::RTK_FIXED: return msg.STATUS_GBAS_FIX;
case fpsdk::common::parser::fpa::FpaGnssFix::RTK_FIXED: /* FALLTHROUGH */
case fpsdk::common::parser::fpa::FpaGnssFix::PPP_FLOAT: /* FALLTHROUGH */
case fpsdk::common::parser::fpa::FpaGnssFix::PPP_FIXED: return msg.STATUS_GBAS_FIX;
}
// clang-format on
return msg.STATUS_NO_FIX;
Expand Down Expand Up @@ -218,10 +222,10 @@ inline int FpaGnssStatusToMsg(const RosMsgT& msg, const fpsdk::common::parser::f
case fpsdk::common::parser::fpa::FpaGnssStatus::NO_FIX: return msg.consts.GNSS_STATUS_NO_FIX;
case fpsdk::common::parser::fpa::FpaGnssStatus::SPP: return msg.consts.GNSS_STATUS_SPP;
case fpsdk::common::parser::fpa::FpaGnssStatus::RTK_MB: return msg.consts.GNSS_STATUS_RTK_MB;
case fpsdk::common::parser::fpa::FpaGnssStatus::RESERVED3: return msg.consts.GNSS_STATUS_RESERVED3;
case fpsdk::common::parser::fpa::FpaGnssStatus::PPP_FLOAT: return msg.consts.GNSS_STATUS_PPP_FLOAT;
case fpsdk::common::parser::fpa::FpaGnssStatus::RESERVED4: return msg.consts.GNSS_STATUS_RESERVED4;
case fpsdk::common::parser::fpa::FpaGnssStatus::RTK_FLOAT: return msg.consts.GNSS_STATUS_RTK_FLOAT;
case fpsdk::common::parser::fpa::FpaGnssStatus::RESERVED6: return msg.consts.GNSS_STATUS_RESERVED6;
case fpsdk::common::parser::fpa::FpaGnssStatus::PPP_FIXED: return msg.consts.GNSS_STATUS_PPP_FIXED;
case fpsdk::common::parser::fpa::FpaGnssStatus::RESERVED7: return msg.consts.GNSS_STATUS_RESERVED7;
case fpsdk::common::parser::fpa::FpaGnssStatus::RTK_FIXED: return msg.consts.GNSS_STATUS_RTK_FIXED;
case fpsdk::common::parser::fpa::FpaGnssStatus::RESERVED9: return msg.consts.GNSS_STATUS_RESERVED9;
Expand Down Expand Up @@ -507,20 +511,38 @@ inline int NmeaStatusGllRmcToMsg(const RosMsgT& msg, const fpsdk::common::parser
}

template <typename RosMsgT>
inline int NmeaModeGllVtgToMsg(const RosMsgT& msg, const fpsdk::common::parser::nmea::NmeaModeGllVtg mode) {
inline int NmeaModeGllToMsg(const RosMsgT& msg, const fpsdk::common::parser::nmea::NmeaModeGll mode) {
// clang-format off
switch (mode)
{
case fpsdk::common::parser::nmea::NmeaModeGllVtg::UNSPECIFIED: return msg.consts.MODE_GLL_VTG_UNSPECIFIED;
case fpsdk::common::parser::nmea::NmeaModeGllVtg::INVALID: return msg.consts.MODE_GLL_VTG_INVALID;
case fpsdk::common::parser::nmea::NmeaModeGllVtg::AUTONOMOUS: return msg.consts.MODE_GLL_VTG_AUTONOMOUS;
case fpsdk::common::parser::nmea::NmeaModeGllVtg::DGNSS: return msg.consts.MODE_GLL_VTG_DGNSS;
case fpsdk::common::parser::nmea::NmeaModeGllVtg::ESTIMATED: return msg.consts.MODE_GLL_VTG_ESTIMATED;
case fpsdk::common::parser::nmea::NmeaModeGllVtg::MANUAL: return msg.consts.MODE_GLL_VTG_MANUAL;
case fpsdk::common::parser::nmea::NmeaModeGllVtg::SIM: return msg.consts.MODE_GLL_VTG_SIM;
case fpsdk::common::parser::nmea::NmeaModeGll::UNSPECIFIED: return msg.consts.MODE_GLL_UNSPECIFIED;
case fpsdk::common::parser::nmea::NmeaModeGll::INVALID: return msg.consts.MODE_GLL_INVALID;
case fpsdk::common::parser::nmea::NmeaModeGll::AUTONOMOUS: return msg.consts.MODE_GLL_AUTONOMOUS;
case fpsdk::common::parser::nmea::NmeaModeGll::DGNSS: return msg.consts.MODE_GLL_DGNSS;
case fpsdk::common::parser::nmea::NmeaModeGll::ESTIMATED: return msg.consts.MODE_GLL_ESTIMATED;
case fpsdk::common::parser::nmea::NmeaModeGll::MANUAL: return msg.consts.MODE_GLL_MANUAL;
case fpsdk::common::parser::nmea::NmeaModeGll::SIM: return msg.consts.MODE_GLL_SIM;
}
// clang-format on
return msg.consts.MODE_GLL_VTG_UNSPECIFIED;
return msg.consts.MODE_GLL_UNSPECIFIED;
}

template <typename RosMsgT>
inline int NmeaModeVtgToMsg(const RosMsgT& msg, const fpsdk::common::parser::nmea::NmeaModeVtg mode) {
// clang-format off
switch (mode)
{
case fpsdk::common::parser::nmea::NmeaModeVtg::UNSPECIFIED: return msg.consts.MODE_VTG_UNSPECIFIED;
case fpsdk::common::parser::nmea::NmeaModeVtg::INVALID: return msg.consts.MODE_VTG_INVALID;
case fpsdk::common::parser::nmea::NmeaModeVtg::AUTONOMOUS: return msg.consts.MODE_VTG_AUTONOMOUS;
case fpsdk::common::parser::nmea::NmeaModeVtg::DGNSS: return msg.consts.MODE_VTG_DGNSS;
case fpsdk::common::parser::nmea::NmeaModeVtg::ESTIMATED: return msg.consts.MODE_VTG_ESTIMATED;
case fpsdk::common::parser::nmea::NmeaModeVtg::MANUAL: return msg.consts.MODE_VTG_MANUAL;
case fpsdk::common::parser::nmea::NmeaModeVtg::SIM: return msg.consts.MODE_VTG_SIM;
case fpsdk::common::parser::nmea::NmeaModeVtg::PRECISE: return msg.consts.MODE_VTG_PRECISE;
}
// clang-format on
return msg.consts.MODE_VTG_UNSPECIFIED;
}

template <typename RosMsgT>
Expand Down
6 changes: 4 additions & 2 deletions fixposition_driver_msgs/msg/FpaConsts.msg
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Expand Up @@ -67,10 +67,10 @@ int8 GNSS_STATUS_UNSPECIFIED = -1 # Unspecified
int8 GNSS_STATUS_NO_FIX = 0 # No fix
int8 GNSS_STATUS_SPP = 1 # Single-point positioning (SPP)
int8 GNSS_STATUS_RTK_MB = 2 # RTK moving baseline
int8 GNSS_STATUS_RESERVED3 = 3 # Reserved
int8 GNSS_STATUS_PPP_FLOAT = 3 # PPP float
int8 GNSS_STATUS_RESERVED4 = 4 # Reserved
int8 GNSS_STATUS_RTK_FLOAT = 5 # RTK float
int8 GNSS_STATUS_RESERVED6 = 6 # Reserved
int8 GNSS_STATUS_PPP_FIXED = 6 # PPP fixed
int8 GNSS_STATUS_RESERVED7 = 7 # Reserved
int8 GNSS_STATUS_RTK_FIXED = 8 # RTK fixed
int8 GNSS_STATUS_RESERVED9 = 9 # Reserved
Expand Down Expand Up @@ -166,6 +166,8 @@ int8 GNSS_FIX_S3D = 5 # Single 3D fix
int8 GNSS_FIX_S3D_DR = 6 # Single 3D fix with dead-reckoning
int8 GNSS_FIX_RTK_FLOAT = 7 # RTK float fix
int8 GNSS_FIX_RTK_FIXED = 8 # RTK fixed fix
int8 GNSS_FIX_PPP_FLOAT = 11 # PPP float fix
int8 GNSS_FIX_PPP_FIXED = 12 # PPP fixed fix

# FpaTextLevel
int8 TEXT_LEVEL_UNSPECIFIED = -1 # Unspecified
Expand Down
26 changes: 18 additions & 8 deletions fixposition_driver_msgs/msg/NmeaConsts.msg
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Expand Up @@ -31,14 +31,24 @@ int8 STATUS_GLL_RMC_UNSPECIFIED = -1 # Unspecified
int8 STATUS_GLL_RMC_INVALID = 0 # Data invalid
int8 STATUS_GLL_RMC_VALID = 1 # Data valid

# NmeaModeGllVtg
int8 MODE_GLL_VTG_UNSPECIFIED = -1 # Unspecified
int8 MODE_GLL_VTG_INVALID = 0 # Invalid (no fix)
int8 MODE_GLL_VTG_AUTONOMOUS = 1 # Autonomous mode (SPP)
int8 MODE_GLL_VTG_DGNSS = 2 # Differential GNSS fix
int8 MODE_GLL_VTG_ESTIMATED = 3 # Estimated (dead reckoning only)
int8 MODE_GLL_VTG_MANUAL = 4 # Manual input mode
int8 MODE_GLL_VTG_SIM = 5 # Simulator mode
# NmeaModeGll
int8 MODE_GLL_UNSPECIFIED = -1 # Unspecified
int8 MODE_GLL_INVALID = 0 # Invalid (no fix)
int8 MODE_GLL_AUTONOMOUS = 1 # Autonomous mode (SPP)
int8 MODE_GLL_DGNSS = 2 # Differential GNSS fix
int8 MODE_GLL_ESTIMATED = 3 # Estimated (dead reckoning only)
int8 MODE_GLL_MANUAL = 4 # Manual input mode
int8 MODE_GLL_SIM = 5 # Simulator mode

# NmeaModeVtg
int8 MODE_VTG_UNSPECIFIED = -1 # Unspecified
int8 MODE_VTG_INVALID = 0 # Invalid (no fix)
int8 MODE_VTG_AUTONOMOUS = 1 # Autonomous mode (SPP)
int8 MODE_VTG_DGNSS = 2 # Differential GNSS fix
int8 MODE_VTG_ESTIMATED = 3 # Estimated (dead reckoning only)
int8 MODE_VTG_MANUAL = 4 # Manual input mode
int8 MODE_VTG_SIM = 5 # Simulator mode
int8 MODE_VTG_PRECISE = 6 # Precise

# NmeaModeRmcGns
int8 MODE_RMC_GNS_UNSPECIFIED = -1 # Unspecified
Expand Down
3 changes: 2 additions & 1 deletion fixposition_driver_msgs/msg/NmeaEpoch.msg
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Expand Up @@ -18,7 +18,8 @@ float32 time_s # Time seconds
int8 status # Positioning system status, see consts.STATUS_GLL_RMC_...
int8 navstatus # Navigational status (optional), see consts.NAV_STATUS_RMC_...
int8 mode1 # Positioning system mode indicator, see consts.MODE_RMC_GNS_...
int8 mode2 # Positioning system mode, see consts.MODE_GLL_VTG_...
int8 mode2 # Positioning system mode, see consts.MODE_GLL_...
int8 mode3 # Positioning system mode, see consts.MODE_VTG_...
int8 quality # Fix quality, see consts.QUALITY_GGA_...
int8 opmode # Operation mode, see consts.OP_MODE_GSA_...
int8 navmode # Nav mode, see consts.NAV_MODE_GSA_...
Expand Down
2 changes: 1 addition & 1 deletion fixposition_driver_msgs/msg/NmeaGll.msg
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Expand Up @@ -14,6 +14,6 @@ float64 latitude # Latitude [deg], NaN if not available
float64 longitude # Longitude [deg], NaN if not available

int8 status # Positioning system status, see consts.STATUS_GLL_RMC_...
int8 mode # Positioning system mode, see consts.MODE_GLL_VTG_...
int8 mode # Positioning system mode, see consts.MODE_GLL_...

fixposition_driver_msgs/NmeaConsts consts # Constants for enums used in NMEA
2 changes: 1 addition & 1 deletion fixposition_driver_msgs/msg/NmeaVtg.msg
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Expand Up @@ -10,6 +10,6 @@ float32 cogm # Course over ground (magnetic) [deg], NaN if
float32 sogn # Speed over ground [knots], NaN if not available
float32 sogk # Speed over ground [km/h], NaN if not available

int8 mode # Positioning system mode, see consts.MODE_GLL_VTG_...
int8 mode # Positioning system mode, see consts.MODE_VTG_...

fixposition_driver_msgs/NmeaConsts consts # Constants for enums used in NMEA
7 changes: 4 additions & 3 deletions fixposition_driver_ros1/src/data_to_ros1.cpp
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Expand Up @@ -589,7 +589,7 @@ void PublishNmeaGll(const fpsdk::common::parser::nmea::NmeaGllPayload& payload,
msg.latitude = (payload.ll.latlon_valid ? payload.ll.lat : NAN);
msg.longitude = (payload.ll.latlon_valid ? payload.ll.lon : NAN);
msg.status = NmeaStatusGllRmcToMsg(msg, payload.status);
msg.mode = NmeaModeGllVtgToMsg(msg, payload.mode);
msg.mode = NmeaModeGllToMsg(msg, payload.mode);
pub.publish(msg);
}
}
Expand Down Expand Up @@ -715,7 +715,7 @@ void PublishNmeaVtg(const fpsdk::common::parser::nmea::NmeaVtgPayload& payload,
msg.cogm = (payload.cogm.valid ? payload.cogm.value : NAN);
msg.sogn = (payload.sogn.valid ? payload.sogn.value : NAN);
msg.sogk = (payload.sogk.valid ? payload.sogk.value : NAN);
msg.mode = NmeaModeGllVtgToMsg(msg, payload.mode);
msg.mode = NmeaModeVtgToMsg(msg, payload.mode);
pub.publish(msg);
}
}
Expand Down Expand Up @@ -781,7 +781,8 @@ void PublishNmeaEpochData(const NmeaEpochData& data, ros::Publisher& pub) {
msg.status = NmeaStatusGllRmcToMsg(msg, data.status_);
msg.navstatus = NmeaNavStatusRmcToMsg(msg, data.navstatus_);
msg.mode1 = NmeaModeRmcGnsToMsg(msg, data.mode1_);
msg.mode2 = NmeaModeGllVtgToMsg(msg, data.mode2_);
msg.mode2 = NmeaModeGllToMsg(msg, data.mode2_);
msg.mode3 = NmeaModeVtgToMsg(msg, data.mode3_);
msg.quality = NmeaQualityGgaToMsg(msg, data.quality_);
msg.opmode = NmeaOpModeGsaToMsg(msg, data.opmode_);
msg.navmode = NmeaNavModeGsaToMsg(msg, data.navmode_);
Expand Down
7 changes: 4 additions & 3 deletions fixposition_driver_ros2/src/data_to_ros2.cpp
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Expand Up @@ -601,7 +601,7 @@ void PublishNmeaGll(const fpsdk::common::parser::nmea::NmeaGllPayload& payload,
msg.latitude = (payload.ll.latlon_valid ? payload.ll.lat : NAN);
msg.longitude = (payload.ll.latlon_valid ? payload.ll.lon : NAN);
msg.status = NmeaStatusGllRmcToMsg(msg, payload.status);
msg.mode = NmeaModeGllVtgToMsg(msg, payload.mode);
msg.mode = NmeaModeGllToMsg(msg, payload.mode);
pub->publish(msg);
}
}
Expand Down Expand Up @@ -733,7 +733,7 @@ void PublishNmeaVtg(const fpsdk::common::parser::nmea::NmeaVtgPayload& payload,
msg.cogm = (payload.cogm.valid ? payload.cogm.value : NAN);
msg.sogn = (payload.sogn.valid ? payload.sogn.value : NAN);
msg.sogk = (payload.sogk.valid ? payload.sogk.value : NAN);
msg.mode = NmeaModeGllVtgToMsg(msg, payload.mode);
msg.mode = NmeaModeVtgToMsg(msg, payload.mode);
pub->publish(msg);
}
}
Expand Down Expand Up @@ -801,7 +801,8 @@ void PublishNmeaEpochData(const NmeaEpochData& data, rclcpp::Publisher<fpmsgs::N
msg.status = NmeaStatusGllRmcToMsg(msg, data.status_);
msg.navstatus = NmeaNavStatusRmcToMsg(msg, data.navstatus_);
msg.mode1 = NmeaModeRmcGnsToMsg(msg, data.mode1_);
msg.mode2 = NmeaModeGllVtgToMsg(msg, data.mode2_);
msg.mode2 = NmeaModeGllToMsg(msg, data.mode2_);
msg.mode3 = NmeaModeVtgToMsg(msg, data.mode3_);
msg.quality = NmeaQualityGgaToMsg(msg, data.quality_);
msg.opmode = NmeaOpModeGsaToMsg(msg, data.opmode_);
msg.navmode = NmeaNavModeGsaToMsg(msg, data.navmode_);
Expand Down
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