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

10 Hz default UBX config. Enable GLONASS multi-GNSS on UBX8

pull/557/head
Keith Tschohl 2016-12-25 08:36:40 +00:00
rodzic 2b5037eb31
commit 529079368a
1 zmienionych plików z 17 dodań i 10 usunięć
Pokaż statystyki Ściągnij plik aktualizacji Ściągnij plik porównania Expand all files Collapse all files

27
main/gps.go
Wyświetl plik

@ -245,9 +245,11 @@ func initGPSSerial() bool {
log.Printf("Finished writing SiRF GPS config to %s. Opening port to test connection.\n", device)
}
} else {
// Set 5 Hz update. Little endian order.
//p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0x64, 0x00, 0x01, 0x00, 0x01, 0x00})) // 10 Hz
p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0xc8, 0x00, 0x01, 0x00, 0x01, 0x00})) // 5 Hz
// Byte order for UBX configuration is little endian.
// Set 10 Hz update to make gpsattitude more responsive.
p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0x64, 0x00, 0x01, 0x00, 0x01, 0x00})) // 10 Hz
//p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0xc8, 0x00, 0x01, 0x00, 0x01, 0x00})) // 5 Hz
// Set navigation settings.
nav := make([]byte, 36)
@ -260,20 +262,25 @@ func initGPSSerial() bool {
p.Write(makeUBXCFG(0x06, 0x24, 36, nav))
// GNSS configuration CFG-GNSS for ublox 7 higher, p. 125 (v8)
// NOTE: Max position rate = 5 Hz if GPS+GLONASS used.
// TESTING: 5Hz unified GPS + GLONASS
// Disable GLONASS to enable 10 Hz solution rate. GLONASS is not used
// for SBAS (WAAS), so little real-world impact.
// Notes: ublox8 is multi-GNSS capable (simultaneous decoding of GPS and GLONASS, or
// GPS and Galileo) if SBAS (e.g. WAAS) is unavailable. This may provide robustness
// against jamming / interference on one set of frequencies. However, this will drop the
// position reporting rate to 5 Hz during times multi-GNSS is in use. This shouldn't affect
// gpsattitude too much -- without WAAS corrections, the algorithm could get jumpy at higher
// sampling rates.
cfgGnss := []byte{0x00, 0x20, 0x20, 0x05}
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
beidou := []byte{0x03, 0x00, 0x10, 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, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables GLONASS with 8-14 tracking channels
glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables GLONASS
if (device == "/dev/ublox8") || (device == "/dev/ttyAMA0") { // 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")
glonass = []byte{0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables GLONASS with 8-14 tracking channels
}
cfgGnss = append(cfgGnss, gps...)
cfgGnss = append(cfgGnss, sbas...)
cfgGnss = append(cfgGnss, beidou...)