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ublox 9: use UBX-CFG, except for GNSS CFG use ublox 9 default settings

pull/827/merge^2
VirusPilot 2019-06-23 21:30:34 +02:00
rodzic cc4b931009
commit 2a65adaaa7
1 zmienionych plików z 3 dodań i 3 usunięć
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6
main/gps.go
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@ -302,9 +302,9 @@ func initGPSSerial() bool {
p.Write(makeUBXCFG(0x06, 0x09, 13, []byte{0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x17})) p.Write(makeUBXCFG(0x06, 0x09, 13, []byte{0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x17}))
time.Sleep(100* time.Millisecond) // pause and wait for the GPS to finish configuring itself before closing / reopening the port time.Sleep(100* time.Millisecond) // pause and wait for the GPS to finish configuring itself before closing / reopening the port
if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UBX9) || (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)
if globalSettings.DEBUG { if globalSettings.DEBUG {
log.Printf("UBX8/9/unknown device detected on USB, or GPS serial connection in use. Attempting GLONASS and Galelio configuration.\n") log.Printf("ublox 8 or unknown device detected on USB, or GPS serial connection in use. Attempting GLONASS and Galelio configuration.\n")
} }
cfgGnss := []byte{0x00, 0x20, 0x20, 0x06} 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
@ -323,7 +323,7 @@ func initGPSSerial() bool {
p.Write(makeUBXCFG(0x06, 0x3E, uint16(len(cfgGnss)), cfgGnss)) p.Write(makeUBXCFG(0x06, 0x3E, uint16(len(cfgGnss)), cfgGnss))
p.Write(makeUBXCFG(0x06, 0x16, 8, []byte{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // SBAS off p.Write(makeUBXCFG(0x06, 0x16, 8, []byte{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // SBAS off
// p.Write(makeUBXCFG(0x06, 0x16, 8, []byte{0x01, 0x07, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00})) // SBAS on & Auto Mode // p.Write(makeUBXCFG(0x06, 0x16, 8, []byte{0x01, 0x07, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00})) // SBAS on & Auto Mode
} else { // ublox 6,7 } else if (globalStatus.GPS_detected_type == GPS_TYPE_UBX7) || (globalStatus.GPS_detected_type == GPS_TYPE_UBX6) { // ublox 6,7
cfgGnss := []byte{0x00, 0x20, 0x20, 0x06} 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 with 2-3 tracking channels sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01} // enable SBAS with 2-3 tracking channels