diff --git a/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_10Hz.cmd b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_10Hz.cmd new file mode 100644 index 0000000..503649f --- /dev/null +++ b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_10Hz.cmd @@ -0,0 +1,59 @@ +# Based on files from the REACH project (https://github.com/emlid/ReachView/tree/master/rtklib_configs) +# navigation data update rate 1Hz in ms +!UBX CFG-RATE 100 1 1 + +# turn on UBX RXM-RAWX messages on first(UART) interface with the same freq +!UBX CFG-MSG 2 21 0 1 0 0 0 0 +# turn on UBX RXM-SFRBX messages on first(UART) interface with the same freq +!UBX CFG-MSG 2 19 0 1 0 0 0 0 +# turn off UBX TIM TM2 messages on first(UART) interface with the same freq +!UBX CFG-MSG 13 3 0 0 0 0 0 0 + +# GNSS system settings +# set GPS 8-16 channels +!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1 + +# set SBAS 1-3 channels off +!UBX CFG-GNSS 0 32 32 1 1 1 3 0 0 0 1 1 + +# set Galileo 0 channels off +!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1 + +# set BeiDou 8-16 channels off +!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1 + +# set IMES 0-8 channels off +!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1 + +# set QZSS 0-3 channels off +!UBX CFG-GNSS 0 32 32 1 5 0 3 0 0 0 1 1 + +# set GLONASS 8-14 channels off +!UBX CFG-GNSS 0 32 32 1 6 8 14 0 0 0 1 1 + +# change NAV5 stationary mode to airborne <4g +!UBX CFG-NAV5 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + +# turn off extra messages default messages +# NMEA GGA +!UBX CFG-MSG 240 0 0 0 0 0 0 0 +# NMEA GLL +!UBX CFG-MSG 240 1 0 0 0 0 0 0 +# NMEA GSA +!UBX CFG-MSG 240 2 0 0 0 0 0 0 +# NMEA GSV +!UBX CFG-MSG 240 3 0 0 0 0 0 0 +# NMEA RMC +!UBX CFG-MSG 240 4 0 0 0 0 0 0 +# NMEA VTG +!UBX CFG-MSG 240 5 0 0 0 0 0 0 +# NMEA ZDA +!UBX CFG-MSG 240 8 0 0 0 0 0 0 +!UBX CFG-MSG 1 3 0 0 0 0 0 0 +!UBX CFG-MSG 1 3 0 0 0 0 0 0 +!UBX CFG-MSG 1 6 0 0 0 0 0 0 +!UBX CFG-MSG 1 18 0 0 0 0 0 0 +!UBX CFG-MSG 1 34 0 0 0 0 0 0 +!UBX CFG-MSG 1 48 0 0 0 0 0 0 +@ +!UBX CFG-RATE 1000 1 1 diff --git a/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_14Hz.cmd b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_14Hz.cmd new file mode 100644 index 0000000..361175e --- /dev/null +++ b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_14Hz.cmd @@ -0,0 +1,59 @@ +# Based on files from the REACH project (https://github.com/emlid/ReachView/tree/master/rtklib_configs) +# navigation data update rate 1Hz in ms +!UBX CFG-RATE 70 1 1 + +# turn on UBX RXM-RAWX messages on first(UART) interface with the same freq +!UBX CFG-MSG 2 21 0 1 0 0 0 0 +# turn on UBX RXM-SFRBX messages on first(UART) interface with the same freq +!UBX CFG-MSG 2 19 0 1 0 0 0 0 +# turn off UBX TIM TM2 messages on first(UART) interface with the same freq +!UBX CFG-MSG 13 3 0 0 0 0 0 0 + +# GNSS system settings +# set GPS 8-16 channels +!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1 + +# set SBAS 1-3 channels off +!UBX CFG-GNSS 0 32 32 1 1 1 3 0 0 0 1 1 + +# set Galileo 0 channels off +!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1 + +# set BeiDou 8-16 channels off +!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1 + +# set IMES 0-8 channels off +!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1 + +# set QZSS 0-3 channels off +!UBX CFG-GNSS 0 32 32 1 5 0 3 0 0 0 1 1 + +# set GLONASS 8-14 channels off +!UBX CFG-GNSS 0 32 32 1 6 8 14 0 0 0 1 1 + +# change NAV5 stationary mode to airborne <4g +!UBX CFG-NAV5 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + +# turn off extra messages default messages +# NMEA GGA +!UBX CFG-MSG 240 0 0 0 0 0 0 0 +# NMEA GLL +!UBX CFG-MSG 240 1 0 0 0 0 0 0 +# NMEA GSA +!UBX CFG-MSG 240 2 0 0 0 0 0 0 +# NMEA GSV +!UBX CFG-MSG 240 3 0 0 0 0 0 0 +# NMEA RMC +!UBX CFG-MSG 240 4 0 0 0 0 0 0 +# NMEA VTG +!UBX CFG-MSG 240 5 0 0 0 0 0 0 +# NMEA ZDA +!UBX CFG-MSG 240 8 0 0 0 0 0 0 +!UBX CFG-MSG 1 3 0 0 0 0 0 0 +!UBX CFG-MSG 1 3 0 0 0 0 0 0 +!UBX CFG-MSG 1 6 0 0 0 0 0 0 +!UBX CFG-MSG 1 18 0 0 0 0 0 0 +!UBX CFG-MSG 1 34 0 0 0 0 0 0 +!UBX CFG-MSG 1 48 0 0 0 0 0 0 +@ +!UBX CFG-RATE 1000 1 1 diff --git a/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_5Hz.cmd b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_5Hz.cmd new file mode 100644 index 0000000..00ff7aa --- /dev/null +++ b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_5Hz.cmd @@ -0,0 +1,59 @@ +# Based on files from the REACH project (https://github.com/emlid/ReachView/tree/master/rtklib_configs) +# navigation data update rate 1Hz in ms +!UBX CFG-RATE 200 1 1 + +# turn on UBX RXM-RAWX messages on first(UART) interface with the same freq +!UBX CFG-MSG 2 21 0 1 0 0 0 0 +# turn on UBX RXM-SFRBX messages on first(UART) interface with the same freq +!UBX CFG-MSG 2 19 0 1 0 0 0 0 +# turn off UBX TIM TM2 messages on first(UART) interface with the same freq +!UBX CFG-MSG 13 3 0 0 0 0 0 0 + +# GNSS system settings +# set GPS 8-16 channels +!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1 + +# set SBAS 1-3 channels off +!UBX CFG-GNSS 0 32 32 1 1 1 3 0 0 0 1 1 + +# set Galileo 0 channels off +!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1 + +# set BeiDou 8-16 channels off +!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1 + +# set IMES 0-8 channels off +!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1 + +# set QZSS 0-3 channels off +!UBX CFG-GNSS 0 32 32 1 5 0 3 0 0 0 1 1 + +# set GLONASS 8-14 channels off +!UBX CFG-GNSS 0 32 32 1 6 8 14 0 0 0 1 1 + +# change NAV5 stationary mode to airborne <4g +!UBX CFG-NAV5 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + +# turn off extra messages default messages +# NMEA GGA +!UBX CFG-MSG 240 0 0 0 0 0 0 0 +# NMEA GLL +!UBX CFG-MSG 240 1 0 0 0 0 0 0 +# NMEA GSA +!UBX CFG-MSG 240 2 0 0 0 0 0 0 +# NMEA GSV +!UBX CFG-MSG 240 3 0 0 0 0 0 0 +# NMEA RMC +!UBX CFG-MSG 240 4 0 0 0 0 0 0 +# NMEA VTG +!UBX CFG-MSG 240 5 0 0 0 0 0 0 +# NMEA ZDA +!UBX CFG-MSG 240 8 0 0 0 0 0 0 +!UBX CFG-MSG 1 3 0 0 0 0 0 0 +!UBX CFG-MSG 1 3 0 0 0 0 0 0 +!UBX CFG-MSG 1 6 0 0 0 0 0 0 +!UBX CFG-MSG 1 18 0 0 0 0 0 0 +!UBX CFG-MSG 1 34 0 0 0 0 0 0 +!UBX CFG-MSG 1 48 0 0 0 0 0 0 +@ +!UBX CFG-RATE 1000 1 1 diff --git a/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_5Hz.cmd b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_5Hz.cmd new file mode 100644 index 0000000..e74c81c --- /dev/null +++ b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_5Hz.cmd @@ -0,0 +1,59 @@ +# Based on files from the REACH project (https://github.com/emlid/ReachView/tree/master/rtklib_configs) +# navigation data update rate 1Hz in ms +!UBX CFG-RATE 200 1 1 + +# turn on UBX RXM-RAWX messages on first(UART) interface with the same freq +!UBX CFG-MSG 2 21 0 1 0 0 0 0 +# turn on UBX RXM-SFRBX messages on first(UART) interface with the same freq +!UBX CFG-MSG 2 19 0 1 0 0 0 0 +# turn off UBX TIM TM2 messages on first(UART) interface with the same freq +!UBX CFG-MSG 13 3 0 0 0 0 0 0 + +# GNSS system settings +# set GPS 8-16 channels +!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1 + +# set SBAS 1-3 channels off +!UBX CFG-GNSS 0 32 32 1 1 1 3 0 0 0 1 1 + +# set Galileo 0 channels off +!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1 + +# set BeiDou 8-16 channels off +!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1 + +# set IMES 0-8 channels off +!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1 + +# set QZSS 0-3 channels off +!UBX CFG-GNSS 0 32 32 1 5 0 3 0 0 0 1 1 + +# set GLONASS 8-14 channels +!UBX CFG-GNSS 0 32 32 1 6 8 14 0 1 0 1 1 + +# change NAV5 stationary mode to airborne <4g +!UBX CFG-NAV5 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + +# turn off extra messages default messages +# NMEA GGA +!UBX CFG-MSG 240 0 0 0 0 0 0 0 +# NMEA GLL +!UBX CFG-MSG 240 1 0 0 0 0 0 0 +# NMEA GSA +!UBX CFG-MSG 240 2 0 0 0 0 0 0 +# NMEA GSV +!UBX CFG-MSG 240 3 0 0 0 0 0 0 +# NMEA RMC +!UBX CFG-MSG 240 4 0 0 0 0 0 0 +# NMEA VTG +!UBX CFG-MSG 240 5 0 0 0 0 0 0 +# NMEA ZDA +!UBX CFG-MSG 240 8 0 0 0 0 0 0 +!UBX CFG-MSG 1 3 0 0 0 0 0 0 +!UBX CFG-MSG 1 3 0 0 0 0 0 0 +!UBX CFG-MSG 1 6 0 0 0 0 0 0 +!UBX CFG-MSG 1 18 0 0 0 0 0 0 +!UBX CFG-MSG 1 34 0 0 0 0 0 0 +!UBX CFG-MSG 1 48 0 0 0 0 0 0 +@ +!UBX CFG-RATE 1000 1 1 diff --git a/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_8Hz.cmd b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_8Hz.cmd new file mode 100644 index 0000000..f7af756 --- /dev/null +++ b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_8Hz.cmd @@ -0,0 +1,59 @@ +# Based on files from the REACH project (https://github.com/emlid/ReachView/tree/master/rtklib_configs) +# navigation data update rate 1Hz in ms +!UBX CFG-RATE 125 1 1 + +# turn on UBX RXM-RAWX messages on first(UART) interface with the same freq +!UBX CFG-MSG 2 21 0 1 0 0 0 0 +# turn on UBX RXM-SFRBX messages on first(UART) interface with the same freq +!UBX CFG-MSG 2 19 0 1 0 0 0 0 +# turn off UBX TIM TM2 messages on first(UART) interface with the same freq +!UBX CFG-MSG 13 3 0 0 0 0 0 0 + +# GNSS system settings +# set GPS 8-16 channels +!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1 + +# set SBAS 1-3 channels off +!UBX CFG-GNSS 0 32 32 1 1 1 3 0 0 0 1 1 + +# set Galileo 0 channels off +!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1 + +# set BeiDou 8-16 channels off +!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1 + +# set IMES 0-8 channels off +!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1 + +# set QZSS 0-3 channels off +!UBX CFG-GNSS 0 32 32 1 5 0 3 0 0 0 1 1 + +# set GLONASS 8-14 channels +!UBX CFG-GNSS 0 32 32 1 6 8 14 0 1 0 1 1 + +# change NAV5 stationary mode to airborne <4g +!UBX CFG-NAV5 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + +# turn off extra messages default messages +# NMEA GGA +!UBX CFG-MSG 240 0 0 0 0 0 0 0 +# NMEA GLL +!UBX CFG-MSG 240 1 0 0 0 0 0 0 +# NMEA GSA +!UBX CFG-MSG 240 2 0 0 0 0 0 0 +# NMEA GSV +!UBX CFG-MSG 240 3 0 0 0 0 0 0 +# NMEA RMC +!UBX CFG-MSG 240 4 0 0 0 0 0 0 +# NMEA VTG +!UBX CFG-MSG 240 5 0 0 0 0 0 0 +# NMEA ZDA +!UBX CFG-MSG 240 8 0 0 0 0 0 0 +!UBX CFG-MSG 1 3 0 0 0 0 0 0 +!UBX CFG-MSG 1 3 0 0 0 0 0 0 +!UBX CFG-MSG 1 6 0 0 0 0 0 0 +!UBX CFG-MSG 1 18 0 0 0 0 0 0 +!UBX CFG-MSG 1 34 0 0 0 0 0 0 +!UBX CFG-MSG 1 48 0 0 0 0 0 0 +@ +!UBX CFG-RATE 1000 1 1