Module base 

RTK base state machine: off → surveying → fixed | failed.

The machine is pure: Base::apply returns the bytes to write to the receiver, and receiver reports (NAV-SVIN, ACK, MON-VER) advance it. Nothing is reported as progress until the receiver itself reports it.

Structs

Base

The base machine.

BaseView

A serializable snapshot of the base machine.

Capability

What the base receiver can do.

Llh

Geodetic position, WGS84.

Enums

BaseMode

A requested base mode.

BaseState

Base machine state, serialized in snake case.

Constants

BASE_MODULES

Modules with the RTK base function (CFG-TMODE survey-in and fixed mode plus RTCM3 base output), as the MON-VER MOD= extension names them. The ZED-F9R (a sensor-fusion rover) and the ZED-F9T (a timing receiver whose time mode emits no RTCM3 base messages) are not bases.

CONFIRM_TIMEOUT_NS

How long the receiver has to confirm a base command (survey-in running, or the fixed-mode VALSET acknowledged).

E_UNSUPPORTED

Failure reason recorded when the receiver cannot act as a base.

Functions

ecef_to_llh

WGS84 ECEF (m) to geodetic (Bowring, iterated).

survey_capable

A model string (u-blox ZED-F9P, or the bare ZED-F9P) names a module in BASE_MODULES: one whitespace-separated word must equal an entry, ignoring case.