Added SBAS attempt and enabled messages.

parsers/sensors/ublox.py

@@ -141,8 +141,6 @@ class UbloxPackageRxmMeasX(UbloxPackage):
             for list_ix, u in enumerate(unpacked):
                 lists[list_ix][i] = u
 
-
-
 class UbloxPackageNavPosLLH(UbloxPackage):
     ubx_name = 'NAV-POSLLH'
     ubx_id = b'\x01\x02'
@@ -218,9 +216,26 @@ class UbloxPackageNavClock(UbloxPackage):
         values = struct.unpack('I2i2I', self.package)
         self._dict.update(dict(zip(names, values)))
 
+class UbloxPackageSBAS(UbloxPackage):
+    ubx_name = 'NAV-SBAS'
+    ubx_id = b'\x01\x32'
+
+    def __init__(self, ubx_id, tov, package, toa, tot, timestamp):
+        UbloxPackage.__init__(self, ubx_id, tov, package, toa, tot, timestamp)
+
+        names = ('iTow', 'geo', 'mode', 'sys', 'service', 'cnt', 'res1', 'res2', 'res3')
+        self._dict.update(names, struct.unpack_from('I2Bb5B', self.package, 0))
+
+        cnt = self._dict['cnt']
+        sbas_data = [{} for _ in range(cnt)]
+        for ix, data in enumerate(sbas_data):
+            names = ('svid', 'flags', 'udre', 'svService', 'reserved2', 'prc', 'reserved3', 'ic')
+            data.update(names, struct.unpack_from('6BhHh', self.package, 12 + 12*ix))
+
 
 MSG_TYPES = [UbloxPackageRxmRawX, UbloxPackageNavPosLLH, UbloxPackageRxmSfrbX,
-             UbloxPackageNavPosECEF, UbloxPackageNavVelEcef]
+             UbloxPackageNavPosECEF, UbloxPackageNavVelEcef, UbloxPackageNavVelNED,
+             UbloxPackagePVT, UbloxPackageNavClock, UbloxPackageSBAS]
 
 UBX_MSG_TYPES = dict([(t.ubx_id, t) for t in MSG_TYPES])