Commit fb02d2d2 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Added new configuration commands to:

  - change the estimation dynamics to moderate instead of high.
  - Ignore all satellites except the GPS ones.
parent 7d9ab37d
......@@ -402,7 +402,7 @@ void *CasteRx1::gps_process_data_thread(void *params)
}
void CasteRx1::process_block(unsigned char *data,unsigned short int length)
{
{
switch(this->current_header.id.id)
{
case PVTCartesian_ID: //std::cout << "PVTCartesian_ID" << std::endl;
......@@ -1210,6 +1210,10 @@ void CasteRx1::configureStreams(void)
this->sendCommand("setSBFOutput,all,USB1,none\n");
//enables septentrio binary format (SBF) as output at USB1
this->sendCommand("setDataInOut,USB1,CMD,SBF\n");
//enables ony the tracking of GPS sattelites
this->sendCommand("setSatelliteTracking,GPS\n");
//set the receiver dynamics
this->sendCommand("setReceiverDynamics,Moderate\n");
// create group 1 blocks (PVTCartesian,PosCovCartesian,DOP,PVTGeodetic)
this->sendCommand("setSBFGroups,Group1,PVTCartesian+PosCovCartesian+VelCovCartesian+DOP+PVTGeodetic+PosCovGeodetic+VelCovGeodetic+EndOfPVT\n");
// create group 2 blocks (GPSNav,GPSAlm,GPSIon,GPSUtc)
......
......@@ -63,7 +63,7 @@ std::ostream& operator<< (std::ostream& out, TMeasEpoch &meas_epoch)
}
}
}
return out;
}
......
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