From fb02d2d2737e6493b144eb2c43d45dec92403b4b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Mon, 7 Mar 2016 08:52:06 +0000
Subject: [PATCH] Added new configuration commands to: - change the
estimation dynamics to moderate instead of high. - Ignore all satellites
except the GPS ones.
---
src/asterx1_gps.cpp | 6 +++++-
src/stream_gps.cpp | 2 +-
2 files changed, 6 insertions(+), 2 deletions(-)
diff --git a/src/asterx1_gps.cpp b/src/asterx1_gps.cpp
index 79f4b92..605a785 100644
--- a/src/asterx1_gps.cpp
+++ b/src/asterx1_gps.cpp
@@ -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)
diff --git a/src/stream_gps.cpp b/src/stream_gps.cpp
index f2d69ac..739dcc0 100644
--- a/src/stream_gps.cpp
+++ b/src/stream_gps.cpp
@@ -63,7 +63,7 @@ std::ostream& operator<< (std::ostream& out, TMeasEpoch &meas_epoch)
}
}
}
-
+
return out;
}
--
GitLab