Changed default serial port paths, and added example udev rule file.

tx/99-usb-serial.rules

@@ -0,0 +1,8 @@
+# Assuming the BNO055 is connected via a FTDI USB-UART cable.
+# Note: Plugging in more than one FTDI Cable will cause the symlink to jump to the newest device.
+# This can be fixed by determining the specific cables serial number, and adding a 
+# ATTRS{serial}=="serialnumberhere" argument to the udev line.
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", SYMLINK+="bno"
+
+# uBlox-7 GPS unit (Gmouse VK-102 unit purchased on ebay, using a uBlox G7020 chip.)
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a7", SYMLINK+="ublox"

tx/BNO055.py

@@ -760,7 +760,7 @@ class WenetBNO055(object):
     bno = None
 
     def __init__(self,
-        port='/dev/ttyUSB0',
+        port='/dev/bno',
         update_rate_hz = 10,
         callback = None,
         callback_decimation = 10,
@@ -771,6 +771,7 @@ class WenetBNO055(object):
 
         Keyword Arguments:
         port:   Serial port where the BNO055 is connected. The default baud rate of 115200 baud will be used.
+                See 99-usb-serial.rules for suitable udev rules to make a /dev/bno symlink.
         update_rate_hz: The rate at which the internal state vector is updated, in Hz.
 
         callback: reference to a callback function that will be passed a copy of the above
@@ -968,7 +969,8 @@ class WenetBNO055(object):
                 self.bno.close()
                 self.bno = None
                 # Attempt to re-connect to BNO055. This will loop until it connects.
-                self.init()
+                # Don't reset the BNO055 upon reconnection.
+                self.init(reset=False)
                 # Push in saved calibration data, if we have it.
                 if self.calibration_data != None:
                     self.bno.set_calibration(self.calibration_data)

tx/ublox.py

@@ -921,7 +921,7 @@ class UBloxGPS(object):
     state_writelock = False
     state_readlock = False
 
-    def __init__(self,port='/dev/ttyACM0', baudrate=115200, timeout=2,
+    def __init__(self,port='/dev/ublox', baudrate=115200, timeout=2,
             callback=None,
             update_rate_ms=500,
             dynamic_model=DYNAMIC_MODEL_AIRBORNE1G,