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decrease timeout from RTK to DGNSS when no RTCM are available #109

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decrease timeout from RTK to DGNSS when no RTCM are available #109

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4 changes: 3 additions & 1 deletion src/ubx.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -520,6 +520,8 @@ int GPSDriverUBX::configureDevice(const GNSSSystemsMask &gnssSystems)
cfgValset<uint8_t>(UBX_CFG_KEY_NAVSPG_UTCSTANDARD, 3 /* USNO (U.S. Naval Observatory derived from GPS) */,
cfg_valset_msg_size);
cfgValset<uint8_t>(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<uint8_t>(CFG_NAVSPG_CONSTR_DGNSSTO, 2, cfg_valset_msg_size);
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Probably ok, but it means it will also fall out of RTK with base station quite quickly

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@JonasPerolini JonasPerolini Aug 3, 2022 •
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From your experience, the RTCM data does not arrive at 1Hz?

The other options that I see are:

  • set it to a higher value i.e. 3 (which is already much better than 60s)
  • create a parameter for CFG_NAVSPG_CONSTR_DGNSSTO and let the user chose.

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From your experience, the RTCM data does not arrive at 1Hz?

Yes but the datalink might not always have perfect connectivity.

We can set it to 3. The other option would be to just set it to the one that gets the heading corrections (it does not get the RTK base station corrections at the same time).


// disable odometer & filtering
cfgValset<uint8_t>(UBX_CFG_KEY_ODO_USE_ODO, 0, cfg_valset_msg_size);
Expand Down Expand Up @@ -2196,7 +2198,7 @@ GPSDriverUBX::activateRTCMOutput(bool reduce_update_rate)
cfgValset<uint16_t>(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);
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How much does this affect bandwidth?

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Could you please test it? @bkueng (I won't have access to the F9P until September)

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I might be able to test it.

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);
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1 change: 1 addition & 0 deletions src/ubx.h
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Expand Up @@ -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
Expand Down