Hi! I have a proposal for extending the original ublox init block.
Code: Select all
#if defined(UBLOX)
/*
Think about the dynamic model of your ublox.
Interesting for us is PEDESTRIAN and may be PORTABLE.
http://www.diydrones.com/forum/topics/ac-2-9-1-vs-2-8-1-gps-accuracy?commentId=705844%3AComment%3A1131867
If you are using http://code.google.com/p/ardupilot-mega/source/browse/libraries/AP_GPS/config/3DR-Ublox.txt?name=ArduPlane-2.50
for ublox configuration, you might want to force the Pdestrian dynamic model here because it is otherwise preset to AIRBORNE_4G.
Here is the chart:
Ublox dynModel Velocity m/s Vertical Velocity m/s Altitude m Position Deviation
PORTABLE = 0 310 50 12000 Medium
STATIONARY = 2 10 6 9000 Small
PEDESTRIAN = 3 30 20 9000 Small
AUTOMOTIVE = 4 84 15 6000 Medium
SEA = 5 25 5 500 Medium
AIRBORNE_1G = 6 100 100 50000 Large
AIRBORNE_2G = 7 250 100 50000 Large
AIRBORNE_4G = 8 500 100 50000 Large
*/
#define ForcePedestrian
prog_char UBLOX_INIT[] PROGMEM = { // PROGMEM array must be outside any function !!!
#ifdef ForcePedestrian
0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x03, 0x03, 0x00,
0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00,
0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x4F, 0x82,
#endif
0xB5,0x62,0x06,0x01,0x03,0x00,0xF0,0x05,0x00,0xFF,0x19, //disable all default NMEA messages
0xB5,0x62,0x06,0x01,0x03,0x00,0xF0,0x03,0x00,0xFD,0x15,
0xB5,0x62,0x06,0x01,0x03,0x00,0xF0,0x01,0x00,0xFB,0x11,
0xB5,0x62,0x06,0x01,0x03,0x00,0xF0,0x00,0x00,0xFA,0x0F,
0xB5,0x62,0x06,0x01,0x03,0x00,0xF0,0x02,0x00,0xFC,0x13,
0xB5,0x62,0x06,0x01,0x03,0x00,0xF0,0x04,0x00,0xFE,0x17,
0xB5,0x62,0x06,0x01,0x03,0x00,0x01,0x02,0x01,0x0E,0x47, //set POSLLH MSG rate
0xB5,0x62,0x06,0x01,0x03,0x00,0x01,0x03,0x01,0x0F,0x49, //set STATUS MSG rate
0xB5,0x62,0x06,0x01,0x03,0x00,0x01,0x06,0x01,0x12,0x4F, //set SOL MSG rate
0xB5,0x62,0x06,0x01,0x03,0x00,0x01,0x12,0x01,0x1E,0x67, //set VELNED MSG rate
0xB5,0x62,0x06,0x16,0x08,0x00,0x03,0x07,0x03,0x00,0x51,0x08,0x00,0x00,0x8A,0x41, //set WAAS to EGNOS
0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0xC8, 0x00, 0x01, 0x00, 0x01, 0x00, 0xDE, 0x6A //set rate to 5Hz
};
#endif