61: GPS Diagnostics

Runtime GPS-module and RTCM diagnostic state. GET returns NotSupported when GPS diagnostics are unavailable on the device. RTCM fields 10-12 are omitted when RTK is disabled. Omitted fields are not zero readings.

Header

Field	Name	Description	Type
5	Method	Request a service to be perform an action Possible values: 1: SET— Set one or more values that are provided in the message payload. 2: GET— Get values for the associated message type. 3: SUBSCRIBE— Subscribe to values for the associated message type. Can be used in conjunction with other header fields to define the subscription parameters, such as Interval, Duration, Timeout, Storage Level and Message Level. If no interval is provided, messages will be sent as and when new data is available. Some data, such as GPS position, may require a set interval to be provided. 5: UNSUBSCRIBE— Unsubscribe from a previous subscription.	uint8

This is an extract of header fields that are relevant to this message type, you can find them all documented in the Headers section.

Payload

Field	Name	Description	Type	Unit
1	GPS Module State	Possible values: 0: Off 1: Waiting for Fix 2: Stabilizing 3: Locked In	uint8
2	GPS Locked	Whether the GPS module is currently locked in	bool
10	RTCM Last Received Age	Time since RTCM correction data was last received; zero also indicates that no RTCM data has been received	uint32	ms
11	RTCM Receive Count	Number of RTCM messages received since boot	uint32
12	RTCM Remote Age	Moving-average lag between received RTCM data and the receiver epoch; zero indicates no measurement	uint32	ms

Code

For convenience, the following constants can be used to reference this message type.