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| author | Julian Oes <joes@student.ethz.ch> | 2012-12-16 19:30:43 -0800 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2013-01-17 16:54:32 -0800 |
| commit | c5ecf88bfba7e359717df1977c920d2d29a90b3f (patch) | |
| tree | 45279780308063dd9a87d64e82d5f5cb1d24dfd8 | |
| parent | 7d7c352fb44b718cb96096a624a19b5225e39f92 (diff) | |
| download | px4-firmware-c5ecf88bfba7e359717df1977c920d2d29a90b3f.tar.gz px4-firmware-c5ecf88bfba7e359717df1977c920d2d29a90b3f.tar.bz2 px4-firmware-c5ecf88bfba7e359717df1977c920d2d29a90b3f.zip | |
Added ubx configuration CFG-NAV5 to airborne with less than 2g acceleration (compiling, not tested)
| -rw-r--r-- | apps/gps/ubx.c | 10 |
1 files changed, 8 insertions, 2 deletions
diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c index e15ed4e00..01d098871 100644 --- a/apps/gps/ubx.c +++ b/apps/gps/ubx.c @@ -76,6 +76,11 @@ uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_SOL[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_VELNED[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x12, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00}; uint8_t UBX_CONFIG_MESSAGE_MSG_RXM_SVSI[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x02, 0x20, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00}; +// Set dynamic model to 7: Airborne with <2g Acceleration +uint8_t UBX_CONFIG_MESSAGE_MSG_CFG_NAV5[] = {0xB5, 0x62, 0x00, 0x01, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; + + + void ubx_decode_init(void) { ubx_state->ck_a = 0; @@ -587,7 +592,10 @@ int configure_gps_ubx(int *fd) //TODO: write this in a loop once it is tested //UBX_CFG_PRT_PART: write_config_message_ubx(UBX_CONFIG_MESSAGE_PRT, sizeof(UBX_CONFIG_MESSAGE_PRT) / sizeof(uint8_t) , *fd); + usleep(100000); + //CFG_NAV5 + write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_CFG_NAV5, sizeof(UBX_CONFIG_MESSAGE_MSG_CFG_NAV5) / sizeof(uint8_t), *fd); usleep(100000); //NAV_POSLLH: @@ -606,7 +614,6 @@ int configure_gps_ubx(int *fd) write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SOL, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SOL) / sizeof(uint8_t) , *fd); usleep(100000); - //NAV_SVINFO: write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO) / sizeof(uint8_t) , *fd); usleep(100000); @@ -615,7 +622,6 @@ int configure_gps_ubx(int *fd) write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED) / sizeof(uint8_t) , *fd); usleep(100000); - //RXM_SVSI: write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI, sizeof(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI) / sizeof(uint8_t) , *fd); usleep(100000); |