v2.2.15

src/u-blox_structs.h

@@ -53,6 +53,10 @@
 #define DEF_MAX_NUM_ESF_RAW_REPEATS 10 // The NEO-M8U sends ESF RAW data in blocks / sets of ten readings. (The ZED-F9R sends them one at a time.)
 #endif
 
+#ifndef DEF_MAX_NUM_ESF_MEAS
+#define DEF_MAX_NUM_ESF_MEAS 31 // numMeas is 5 bits, indicating up to 31 groups could be received
+#endif
+
 // Additional flags and pointers that need to be stored with each message type
 struct ubxAutomaticFlags
 {
@@ -2190,7 +2194,8 @@ typedef struct
 
 // UBX-ESF-MEAS (0x10 0x02): External sensor fusion measurements
 // Note: length is variable
-const uint16_t UBX_ESF_MEAS_MAX_LEN = 8 + (4 * DEF_NUM_SENS) + 4;
+// Note: ESF RAW data cannot be polled. It is "Output" only
+const uint16_t UBX_ESF_MEAS_MAX_LEN = 8 + (4 * DEF_MAX_NUM_ESF_MEAS) + 4;
 
 typedef struct
 {
@@ -2222,38 +2227,14 @@ typedef struct
     } bits;
   } flags;
   uint16_t id; // Identification number of data provider
-  UBX_ESF_MEAS_sensorData_t data[DEF_NUM_SENS];
+  UBX_ESF_MEAS_sensorData_t data[DEF_MAX_NUM_ESF_MEAS];
   uint32_t calibTtag; // OPTIONAL: Receiver local time calibrated: ms
 } UBX_ESF_MEAS_data_t;
 
-typedef struct
-{
-  union
-  {
-    uint32_t all;
-    struct
-    {
-      uint32_t all : 1;
-
-      uint32_t timeMarkSent : 1;
-      uint32_t timeMarkEdge : 1;
-      uint32_t calibTtagValid : 1;
-      uint32_t numMeas : 1;
-
-      uint32_t id : 1;
-
-      uint32_t data : DEF_NUM_SENS;
-
-      uint32_t calibTtag : 1;
-    } bits;
-  } moduleQueried;
-} UBX_ESF_MEAS_moduleQueried_t;
-
 typedef struct
 {
   ubxAutomaticFlags automaticFlags;
   UBX_ESF_MEAS_data_t data;
-  UBX_ESF_MEAS_moduleQueried_t moduleQueried;
   void (*callbackPointer)(UBX_ESF_MEAS_data_t);
   void (*callbackPointerPtr)(UBX_ESF_MEAS_data_t *);
   UBX_ESF_MEAS_data_t *callbackData;