update rinexconv

Author: semuadmin

README.md

@@ -501,9 +501,9 @@ A command line utility and Python class `RinexConverter` to convert binary GNSS
 
 **NB: This ALPHA preview release is limited to the following experimental functionality:**
 
-1. [RINEX version 3.05](https://files.igs.org/pub/data/format/rinex305.pdf).
+1. RINEX versions 3.04 and 4.02.
 1. Convert binary UBX RXM-RAW or RXM-RAWX (raw observation) data from u-blox receivers (e.g. ZED-F9P) to RINEX Observation file format.
-1. Convert binary RXM-SFRBX (navigation subframe) data from u-blox receivers to RINEX Navigation file format. **Currently only GPS LNAV data is supported**, but the underlying `RinexConverterNavigation` class is readily extensible.
+1. Convert binary RXM-SFRBX (navigation subframe) data from u-blox receivers to RINEX Navigation file format. **Currently only GPS LNAV and CNAV data is supported**, but the underlying `RinexConverterNavigation` class is readily extensible.
 1. Convert RTCM3 Ephemerides messages (1019, 1020, 1041-1046) from any source (including NTRIP caster or RTK base station receiver) to RINEX Navigation file format.
 1. Convert NMEA MWD (wind speed and direction) and XDR (temperature and pressure) sensor data to RINEX Meteorology file format.
 

src/pygnssutils/rawnav.py

@@ -8,6 +8,23 @@
 etc.) of one or more raw GNSS NAV subframe messages, as a
 precursor to RINEX conversion.
 
+Once a RawNav object is instantiated, the `parse` function can
+be invoked repeatedly to collate data from separate sequential
+subframes e.g. for GPS LNAV, subframe 1 contains clock corrections,
+subframes 2 & 3 contain ephemerides and subframe 4 page 18 contains
+ionospheric corrections.
+
+An `sfracq` bitfield signifies which subframe IDs have been acquired,
+and hence whether or not the RawNav object contains sufficient
+information to be converted to a NAV record.
+
+A boolean `sequence` argument determines whether subframes are
+processed as a sequence e.g. for GNSS where MSB and LSB attributes
+are in separate, sequential (but not necessarily contiguous) subframes.
+
+Static methods are provided to facilitate acquisition of NAV subframe data
+from UBX RXM-SFRBX messages.
+
 The objective is to handle any GNSS subframe format for which:
 
  - data is available as a raw, unpadded little-endian integer.
@@ -18,13 +35,6 @@
    signed int and IEEE 754 float) have been defined and implemented
    in `bits2val`.
 
-Once a RawNav object is instantiated, the `parse` function can
-be invoked repeatedly to collate data from separate sequential
-subframes e.g. for GPS LNAV, subframe 1 contains clock corrections,
-subframes 2 & 3 contain ephemerides and subframe 4 page 18 contains
-ionospheric corrections. An `sfracq` bitfield signifies which
-subframe IDs have been acquired.
-
 Format of data definition dictionary::
 
    dict[field_name, tuple[offset, length, encoding, scaling]
@@ -35,13 +45,6 @@
 MSB and LSB field names MUST be suffixed "_msb" and "_lsb"
 respectively - the `parse` function will automatically combine them.
 
-A boolean `sequence` argument determines whether subframes are
-processed as a sequence e.g. for GNSS where MSB and LSB attributes
-are in separate, sequential (but not necessarily contiguous) subframes.
-
-Static methods are provided to facilitate acquisition of NAV subframe data
-from UBX RXM-SFRBX messages (currently for GPS LNAV only).
-
 Created on 20 Apr 2026
 
 :author: semuadmin (Steve Smith)
@@ -122,7 +125,7 @@ def parse(
         self,
         data: int,
         definition: dict[str, tuple[int, int, str, int]],
-        sfrmap: dict = {},
+        sfrmap: dict | NoneType = None,
         sequence: bool = False,
     ):
         """
@@ -131,14 +134,16 @@ def parse(
         :param int data: raw, unpadded input data
         :param dict[str, tuple[int, int, str, int]] def: subframe definition dictionary \
             (from GNSS ICD)
-        :param dict sfrmap: map of subframe ids to sfracq bitmask ({})
+        :param dict | NoneType sfrmap: map of subframe ids to sfracq bitmask (None)
         :param bool sequence: process subframe as part of a contiguous sequence (False)
         :raises: RINEXProcessingError
         """
         # pylint: disable=too-many-locals
 
         try:
 
+            if sfrmap is None:
+                sfrmap = {}
             # get exemplary preamble value if one is available
             valpre = definition.pop(VALPREAMBLE, 0)
 
@@ -186,9 +191,6 @@ def parse(
 
             # update epoch with last acquisition timestamp
             # TODO is toc the correction value to use here?
-            # doesn't seem to reflect actual UTC time and
-            # doesn't appear to increment by seconds like
-            # the tow in HOW???
             self._epoch = wnotow2utc(
                 wno=int(getattr(self, WN)),
                 tow=int(getattr(self, TOC) * 1000),
@@ -354,6 +356,9 @@ def process_rxm_sfrbx(data: UBXMessage) -> dict[str, str | int | float | NoneTyp
         """
         Reassemble individual subframe from UBX RXM-SFRBX dwrds.
 
+        CURRENTLY ONLY GPS LNAV & CNAV IMPLEMENTED BUT METHOD
+        READILY EXTENSIBLE.
+
         :param UBXMessage data: parsed UBX RXM-SFRBX message
         :return: dict of subframe attributes
         :rtype: dict[str, str | int | float | NoneType]
@@ -402,7 +407,7 @@ def process_rxm_sfrbx(data: UBXMessage) -> dict[str, str | int | float | NoneTyp
             if subframeid in (4, 5):
                 output["dataid"] = subframe >> 234 & 0x3
                 output["svcode"] = subframe >> 232 & 0x3F
-        # for GPS LNAV, subframe = 3 * 100 bits, final 20 bits of 320 bit dwrd is padding
+        # for GPS CNAV, subframe = 3 * 100 bits, final 20 bits of 320 bit dwrd is padding
         elif gnss == GPS and sigid in ("2L", "2S", "5I", "5Q"):  # GPS CNAV
             for i in range(numw):
                 wrd = getattr(data, f"dwrd_{i+1:02d}")

src/pygnssutils/rinex_conv_cli.py

@@ -45,10 +45,7 @@ def main():
 
     ap = ArgumentParser(
         epilog=EPILOG,
-        description=(
-            "NB: %(prog)s is currently an experimental facility with "
-            "limited functionality. NOT FOR PRODUCTION USE."
-        ),
+        description=("NB: %(prog)s is currently an experimental facility."),
         formatter_class=ArgumentDefaultsHelpFormatter,
     )
     ap.add_argument(
@@ -95,7 +92,7 @@ def main():
     ap.add_argument(
         "--obsfilter",
         required=False,
-        help="Comma-separated list of observation codes to process, or blank for all e.g '1C,2B'",
+        help="Comma-separated list of observation codes to process, or blank for all e.g '1C,2S'",
         type=str,
         default="",
     )