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commaai / laika

Simple Python GNSS processing library
MIT License
647 stars 179 forks source link

Great work! Ublox to laika-format converter? #98

Closed marcospanghero closed 2 years ago

marcospanghero commented 2 years ago

Hi! Really cool library! Would it be possible to have a script to dump Ublox raw data (ubx-raw/x) to laika format? I had a look at the 2k19 repo and it seems possible. Would you be able to share a script for that?

Thanks!

gijskoning commented 2 years ago

Hi, great that you found this repo. To answer your question, there are ublox helper functions like the one below that can be used for ubloxGnss msgs from openpilot: https://github.com/commaai/laika/blob/828612e1b8848ccf70072d5513c0b7977f1707da/laika/raw_gnss.py#L233 But that is maybe not the raw data you require. Raw bytes in openpilot are processed using selfdrive/locationd/ubloxd.cc.

I would advice you to check out the notebooks in this repo or laikad in openpilot. They help a lot in understanding how to process the incoming ublox data.