mirror
/
stratux
kopia lustrzana https://github.com/cyoung/stratux
1
0
Forkuj 0
Kod Zgłoszenia Projekty Wydania Wiki Aktywność

Update gps.go 

Added support for Galileo GNSS constellation
pull/585/head
kjablonski 2017-03-26 19:15:31 -05:00 zatwierdzone przez GitHub
rodzic 7e0205be17
commit 0207ede47d
1 zmienionych plików z 4 dodań i 1 usunięć
Pokaż statystyki Ściągnij plik aktualizacji Ściągnij plik porównania Expand all files Collapse all files

5
main/gps.go
Wyświetl plik

@ -276,22 +276,25 @@ func initGPSSerial() bool {
// gpsattitude too much -- without WAAS corrections, the algorithm could get jumpy at higher // gpsattitude too much -- without WAAS corrections, the algorithm could get jumpy at higher
// sampling rates. // sampling rates.
cfgGnss := []byte{0x00, 0x20, 0x20, 0x05} cfgGnss := []byte{0x00, 0x20, 0x20, 0x06}
gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GPS with 8-16 tracking channels gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GPS with 8-16 tracking channels
sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01} // enable SBAS (WAAS) with 2-3 tracking channels sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01} // enable SBAS (WAAS) with 2-3 tracking channels
beidou := []byte{0x03, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01} beidou := []byte{0x03, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01}
qzss := []byte{0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} qzss := []byte{0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01}
glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables GLONASS glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables GLONASS
galileo := []byte{0x02, 0x04, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables Galileo
if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI) if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI)
//log.Printf("UBX8 device detected on USB, or GPS serial connection in use. Attempting GLONASS configuration.\n") //log.Printf("UBX8 device detected on USB, or GPS serial connection in use. Attempting GLONASS configuration.\n")
glonass = []byte{0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables GLONASS with 8-14 tracking channels glonass = []byte{0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables GLONASS with 8-14 tracking channels
galileo = []byte{0x02, 0x04, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables Galileo with 4-16 tracking channels
} }
cfgGnss = append(cfgGnss, gps...) cfgGnss = append(cfgGnss, gps...)
cfgGnss = append(cfgGnss, sbas...) cfgGnss = append(cfgGnss, sbas...)
cfgGnss = append(cfgGnss, beidou...) cfgGnss = append(cfgGnss, beidou...)
cfgGnss = append(cfgGnss, qzss...) cfgGnss = append(cfgGnss, qzss...)
cfgGnss = append(cfgGnss, glonass...) cfgGnss = append(cfgGnss, glonass...)
cfgGnss = append(cfgGnss, galileo...)
p.Write(makeUBXCFG(0x06, 0x3E, uint16(len(cfgGnss)), cfgGnss)) p.Write(makeUBXCFG(0x06, 0x3E, uint16(len(cfgGnss)), cfgGnss))
// SBAS configuration for ublox 6 and higher // SBAS configuration for ublox 6 and higher