From 515ae0e448d00d77f5ee25fb90d6f94bd82300c9 Mon Sep 17 00:00:00 2001 From: Jonas Date: Thu, 28 Jul 2022 17:54:38 +0200 Subject: [PATCH] decrease timeout from RTK to DGNSS when no RTCM are available --- src/ubx.cpp | 4 +++- src/ubx.h | 1 + 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/src/ubx.cpp b/src/ubx.cpp index ff9e8bc4..3e0af2b9 100644 --- a/src/ubx.cpp +++ b/src/ubx.cpp @@ -520,6 +520,8 @@ int GPSDriverUBX::configureDevice(const GNSSSystemsMask &gnssSystems) cfgValset(UBX_CFG_KEY_NAVSPG_UTCSTANDARD, 3 /* USNO (U.S. Naval Observatory derived from GPS) */, cfg_valset_msg_size); cfgValset(UBX_CFG_KEY_NAVSPG_DYNMODEL, _dyn_model, cfg_valset_msg_size); + // The rover will stop using RTCM corrections that are older than 2 seconds + cfgValset(CFG_NAVSPG_CONSTR_DGNSSTO, 2, cfg_valset_msg_size); // disable odometer & filtering cfgValset(UBX_CFG_KEY_ODO_USE_ODO, 0, cfg_valset_msg_size); @@ -2196,7 +2198,7 @@ GPSDriverUBX::activateRTCMOutput(bool reduce_update_rate) cfgValset(UBX_CFG_KEY_RATE_MEAS, 1000, cfg_valset_msg_size); } - cfgValsetPort(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1005_I2C, 5, cfg_valset_msg_size); + cfgValsetPort(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1005_I2C, 1, cfg_valset_msg_size); cfgValsetPort(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1077_I2C, 1, cfg_valset_msg_size); cfgValsetPort(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1087_I2C, 1, cfg_valset_msg_size); cfgValsetPort(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1230_I2C, 1, cfg_valset_msg_size); diff --git a/src/ubx.h b/src/ubx.h index d51f73dd..bc52689c 100644 --- a/src/ubx.h +++ b/src/ubx.h @@ -311,6 +311,7 @@ #define UBX_CFG_KEY_NAVSPG_FIXMODE 0x20110011 #define UBX_CFG_KEY_NAVSPG_UTCSTANDARD 0x2011001c #define UBX_CFG_KEY_NAVSPG_DYNMODEL 0x20110021 +#define CFG_NAVSPG_CONSTR_DGNSSTO 0x201100c4 #define UBX_CFG_KEY_ODO_USE_ODO 0x10220001 #define UBX_CFG_KEY_ODO_USE_COG 0x10220002