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Merge pull request #26 from krisklau/pr/ntnu-b2xx/update-1603

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Updates of ntnu-b2xx
This commit is contained in:
Ricardo Martins 2016-03-23 10:41:29 +00:00
commit 7c382bdfaf
14 changed files with 514 additions and 11 deletions
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31
systems/ntnu-b2xx/fs/etc/rc.d/rtklib_rtkrcv
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@ -1,6 +1,35 @@
start() start()
{ {
(cd /opt/lsts/rtklib/ && exec rtkrcv -s -o /etc/rtklib/conf/rtkrcv.conf -d /tmp/ttyC0 < /dev/null > /opt/lsts/rtklib/startlog.log 2>&1 &) localBackupPath="/opt/lsts/rtklib/rtklib_cmdfile.cmd"
cfgPath="/etc/rtklib/conf/rtkrcv.conf"
cfgPathUse="/opt/lsts/rtklib/conf_use.conf"
# First, try to get the configuration
cmdFile=`wget -q -O - 10.0.60.51:8080/rtklib_cmdfile.cmd`
res=$?
if [ $res -ne 0 ]; then
#echo "Could not find file. Trying to read backup."
if [ -f $localBackupPath ]; then
echo "Error connecting to server. Reading from backup path."
cmdFile=`cat ${localBackupPath}`
else
echo "Error connecting to server. No local backup file. Using default. "
cmdFile="GPS_5Hz.cmd"
fi
fi
echo "Using cmd file: ${cmdFile}"
#echo "Storing in last used file. "
echo ${cmdFile} > ${localBackupPath}
cfgFileContent=`cat ${cfgPath}`
cp ${cfgPath} ${cfgPathUse}
echo "file-cmdfile1 =/etc/rtklib/cmd/${cmdFile}" >> ${cfgPathUse}
(cd /opt/lsts/rtklib/ && exec rtkrcv -s -o ${cfgPathUse} -d /tmp/ttyC0 < /dev/null > /opt/lsts/rtklib/startlog.log 2>&1 &)
} }
stop() stop()

27
systems/ntnu-b2xx/fs/etc/rc.d/rtklib_single Normal file
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@ -0,0 +1,27 @@
start()
{
(cd /opt/lsts/rtklib/ && exec rtkrcv -s -o /etc/rtklib/conf/rtkrcv_single.conf -d /tmp/ttyC0 < /dev/null > /opt/lsts/rtklib/startlog.log 2>&1 &)
}
stop()
{
while [ 1 ]; do
echo "* Stopping process..."
killall rtkrcv > /dev/null 2>&1
for r in 0 1 2 3 4 5 6 7 8 9; do
if [ -n "$(pidof rtkrcv)" ]; then
echo "* Waiting for process to exit ($r)..."
sleep 1
else
echo "* Process not running."
return 1
fi
done
echo "* Forcing exit..."
killall -9 rtkrcv > /dev/null 2>&1
sleep 1
done
}

16
systems/ntnu-b2xx/fs/etc/rc.d/rtklib_str2str
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@ -1,6 +1,20 @@
start() start()
{ {
str2str -in serial://uart/2:9600:8:n:1:off -c /etc/rtklib/data/ubx_raw_10hz.cmd -out tcpsvr://:50022 < /dev/null > /dev/null 2>&1 & cmdFilePath="/opt/lsts/dune/www/rtklib_cmdfile.cmd"
# Exists?
if [ ! -f ${cmdFilePath} ]; then
echo "No commandfile found. Creating default."
echo "GPS_5Hz.cmd" >> ${cmdFilePath}
fi
cmdFile=$(<${cmdFilePath})
cmdFile=`cat ${cmdFilePath}`
echo "Starting str2str server with command file: ${cmdFile}"
str2str -in serial://uart/2:115200:8:n:1:off -c /etc/rtklib/cmd/${cmdFile} -out tcpsvr://:50022 < /dev/null > /dev/null 2>&1 &
} }
stop() stop()

59
systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_10Hz.cmd Normal file
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@ -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

59
systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_14Hz.cmd Normal file
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@ -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

59
systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_5Hz.cmd Normal file
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@ -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

59
systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_5Hz.cmd Normal file
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@ -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

59
systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_8Hz.cmd Normal file
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@ -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

4
systems/ntnu-b2xx/fs/etc/rtklib/conf/rtkrcv.conf
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@ -20,7 +20,7 @@ pos1-posopt3 =off # (0:off,1:on)
pos1-posopt4 =off # (0:off,1:on) pos1-posopt4 =off # (0:off,1:on)
pos1-posopt5 =off # (0:off,1:on) pos1-posopt5 =off # (0:off,1:on)
pos1-exclsats = # (prn ...) pos1-exclsats = # (prn ...)
pos1-navsys =1 # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp) pos1-navsys =7 # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
pos2-armode =fix-and-hold # (0:off,1:continuous,2:instantaneous,3:fix-and-hold) pos2-armode =fix-and-hold # (0:off,1:continuous,2:instantaneous,3:fix-and-hold)
pos2-gloarmode =off # (0:off,1:on,2:autocal) pos2-gloarmode =off # (0:off,1:on,2:autocal)
pos2-bdsarmode =off # (0:off,1:on) pos2-bdsarmode =off # (0:off,1:on)
@ -42,7 +42,7 @@ out-solformat =llh # (0:llh,1:xyz,2:enu,3:nmea)
out-outhead =off # (0:off,1:on) out-outhead =off # (0:off,1:on)
out-outopt =off # (0:off,1:on) out-outopt =off # (0:off,1:on)
out-timesys =gpst # (0:gpst,1:utc,2:jst) out-timesys =gpst # (0:gpst,1:utc,2:jst)
out-timeform =hms # (0:tow,1:hms) out-timeform =tow # (0:tow,1:hms)
out-timendec =3 out-timendec =3
out-degform =deg # (0:deg,1:dms) out-degform =deg # (0:deg,1:dms)
out-fieldsep = out-fieldsep =

139
systems/ntnu-b2xx/fs/etc/rtklib/conf/rtkrcv_single.conf Normal file
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@ -0,0 +1,139 @@
# RTKNAVI options (2015/10/30 13:05:07, v.2.4.2)
pos1-posmode =single # (0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static)
pos1-frequency =l1 # (1:l1,2:l1+l2,3:l1+l2+l5,4:l1+l2+l5+l6,5:l1+l2+l5+l6+l7)
pos1-soltype =forward # (0:forward,1:backward,2:combined)
pos1-elmask =10 # (deg)
pos1-snrmask_r =off # (0:off,1:on)
pos1-snrmask_b =off # (0:off,1:on)
pos1-snrmask_L1 =0,0,0,0,0,0,0,0,0
pos1-snrmask_L2 =0,0,0,0,0,0,0,0,0
pos1-snrmask_L5 =0,0,0,0,0,0,0,0,0
pos1-dynamics =on # (0:off,1:on)
pos1-tidecorr =off # (0:off,1:on,2:otl)
pos1-ionoopt =brdc # (0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec,5:ionex-tec,6:qzs-brdc,7:qzs-lex,8:vtec_sf,9:vtec_ef,10:gtec)
pos1-tropopt =saas # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad)
pos1-sateph =brdc # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)
pos1-posopt1 =off # (0:off,1:on)
pos1-posopt2 =off # (0:off,1:on)
pos1-posopt3 =off # (0:off,1:on)
pos1-posopt4 =off # (0:off,1:on)
pos1-posopt5 =off # (0:off,1:on)
pos1-exclsats = # (prn ...)
pos1-navsys =7 # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
pos2-armode =fix-and-hold # (0:off,1:continuous,2:instantaneous,3:fix-and-hold)
pos2-gloarmode =off # (0:off,1:on,2:autocal)
pos2-bdsarmode =off # (0:off,1:on)
pos2-arthres =3
pos2-arlockcnt =0
pos2-arelmask =0 # (deg)
pos2-arminfix =10
pos2-elmaskhold =0 # (deg)
pos2-aroutcnt =5
pos2-maxage =30 # (s)
pos2-syncsol =on # (0:off,1:on)
pos2-slipthres =0.05 # (m)
pos2-rejionno =30 # (m)
pos2-rejgdop =30
pos2-niter =1
pos2-baselen =0 # (m)
pos2-basesig =0 # (m)
out-solformat =llh # (0:llh,1:xyz,2:enu,3:nmea)
out-outhead =off # (0:off,1:on)
out-outopt =off # (0:off,1:on)
out-timesys =gpst # (0:gpst,1:utc,2:jst)
out-timeform =tow # (0:tow,1:hms)
out-timendec =3
out-degform =deg # (0:deg,1:dms)
out-fieldsep =
out-height =ellipsoidal # (0:ellipsoidal,1:geodetic)
out-geoid =internal # (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000)
out-solstatic =all # (0:all,1:single)
out-nmeaintv1 =0 # (s)
out-nmeaintv2 =0 # (s)
out-outstat =state # (0:off,1:state,2:residual)
stats-eratio1 =100
stats-eratio2 =100
stats-errphase =0.003 # (m)
stats-errphaseel =0.003 # (m)
stats-errphasebl =0 # (m/10km)
stats-errdoppler =1 # (Hz)
stats-stdbias =30 # (m)
stats-stdiono =0.03 # (m)
stats-stdtrop =0.3 # (m)
stats-prnaccelh =10 # (m/s^2)
stats-prnaccelv =10 # (m/s^2)
stats-prnbias =0.0001 # (m)
stats-prniono =0.001 # (m)
stats-prntrop =0.0001 # (m)
stats-clkstab =5e-12 # (s/s)
ant1-postype =llh # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
ant1-pos1 =90 # (deg|m)
ant1-pos2 =0 # (deg|m)
ant1-pos3 =-6335367.6285 # (m|m)
ant1-anttype =
ant1-antdele =0 # (m)
ant1-antdeln =0 # (m)
ant1-antdelu =0 # (m)
ant2-postype =llh # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
ant2-pos1 =90 # (deg|m)
ant2-pos2 =0 # (deg|m)
ant2-pos3 =-6335367.6285 # (m|m)
ant2-anttype =
ant2-antdele =0 # (m)
ant2-antdeln =0 # (m)
ant2-antdelu =0 # (m)
misc-timeinterp =off # (0:off,1:on)
misc-sbasatsel =0 # (0:all)
misc-rnxopt1 =
misc-rnxopt2 =
file-satantfile =
file-rcvantfile =
file-staposfile =
file-geoidfile =
file-ionofile =
file-dcbfile =
file-eopfile =
file-blqfile =
file-tempdir =/tmp/
file-geexefile =
file-solstatfile =
file-tracefile =
#
inpstr1-type =tcpcli # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
inpstr2-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
inpstr3-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
inpstr1-path =:@127.0.0.1:50022/:
inpstr2-path =
inpstr3-path =
inpstr1-format =ubx # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,15:sp3)
inpstr2-format =ubx # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,15:sp3)
inpstr3-format =rtcm2 # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,15:sp3)
inpstr2-nmeareq =off # (0:off,1:latlon,2:single)
inpstr2-nmealat =0 # (deg)
inpstr2-nmealon =0 # (deg)
outstr1-type =serial # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
outstr2-type =file # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
outstr1-path =../tmp/ttyV0:115200:8:n:1:off
outstr2-path =/opt/lsts/rtklib/log/rtklib_output_single%Y%m%d%h%M.pos
outstr1-format =llh # (0:llh,1:xyz,2:enu,3:nmea)
outstr2-format =llh # (0:llh,1:xyz,2:enu,3:nmea)
logstr1-type =file # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
logstr2-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
logstr3-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
logstr1-path =/opt/lsts/rtklib/log/rtklib_ubxstream_x8_single_log%Y%m%d%h%M.ubx
logstr2-path =
logstr3-path =
misc-svrcycle =50 # (ms)
misc-timeout =30000 # (ms)
misc-reconnect =30000 # (ms)
misc-nmeacycle =5000 # (ms)
misc-buffsize =32768 # (bytes)
misc-navmsgsel =all # (0:all,1:rover,2:base,3:corr)
misc-proxyaddr =
misc-fswapmargin =30 # (s)
#misc-startcmd =./rtkstart.sh
#misc.startcmd =./rtkshut.sh
#file-cmdfile1 =/etc/rtklib/data/ubx_raw_10hz.cmd
#file-cmdfile2 =/etc/rtklib/data/ubx_raw_10hz.cmd

4
systems/ntnu-b2xx/ntnu-hexa-003.cfg
View File

@ -5,5 +5,5 @@ cfg_eth_ext_mk='255.255.0.0'
cfg_eth_ext_gw='10.0.60.1' cfg_eth_ext_gw='10.0.60.1'
cfg_ptpd_interface='eth0' cfg_ptpd_interface='eth0'
cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb' cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb'
cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libphidget ethtool' cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux rtklib libphidget ethtool socat'
cfg_services1='rtc-ds3231 force_10mbit' cfg_services1='vsp_pair rtc-ds3231 force_10mbit rtklib_rtkrcv'

4
systems/ntnu-b2xx/ntnu-hexa-004.cfg
View File

@ -5,5 +5,5 @@ cfg_eth_ext_mk='255.255.0.0'
cfg_eth_ext_gw='10.0.60.1' cfg_eth_ext_gw='10.0.60.1'
cfg_ptpd_interface='eth0' cfg_ptpd_interface='eth0'
cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb' cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb'
cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libphidget ethtool' cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux rtklib libphidget ethtool socat'
cfg_services1='rtc-ds3231 force_10mbit' cfg_services1='vsp_pair rtc-ds3231 force_10mbit rtklib_rtkrcv'

2
systems/ntnu-b2xx/ntnu-nest-02.cfg
View File

@ -6,4 +6,4 @@ cfg_eth_ext_gw='10.0.60.1'
cfg_ptpd_interface='eth0' cfg_ptpd_interface='eth0'
cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb' cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb'
cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux rtklib' cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux rtklib'
cfg_services1='rtklib_str2str' cfg_services1='vsp_pair rtklib_str2str rtklib_single'

3
systems/ntnu-b2xx/ntnu-x8-002.cfg
View File

@ -1,5 +1,4 @@
# ntnu-x8-00x # ntnu-x8-00x
# Adds libav package.
cfg_hostname='ntnu-x8-002' cfg_hostname='ntnu-x8-002'
cfg_eth_ext_ip='10.0.60.105' cfg_eth_ext_ip='10.0.60.105'
cfg_eth_ext_mk='255.255.0.0' cfg_eth_ext_mk='255.255.0.0'
@ -7,4 +6,4 @@ cfg_eth_ext_gw='10.0.60.1'
cfg_ptpd_interface='eth0' cfg_ptpd_interface='eth0'
cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb' cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb'
cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux rtklib libphidget ethtool socat' cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux rtklib libphidget ethtool socat'
cfg_services1='vsp_pair rtc-ds3231 force_10mbit rtklib_rtkrcv' cfg_services1='vsp_pair rtc-ds3231 rtklib_rtkrcv'