mirror of
https://github.com/OSURoboticsClub/Rover_2017_2018.git
synced 2025-11-09 10:41:15 +00:00
Added package for the current testing gps. Also added a testing launcher folder
This commit is contained in:
72
rover/ublox-master/ublox_gps/config/c94_m8p_base.yaml
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72
rover/ublox-master/ublox_gps/config/c94_m8p_base.yaml
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# Configuration Settings for C94-M8P device
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debug: 1 # Range 0-4 (0 means no debug statements will print)
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save:
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mask: 3103 # Save I/O, Message, INF Message, Nav, Receiver
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# Manager, Antenna, and Logging Configuration
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device: 4 # Save to EEPROM
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device: /dev/ttyACM0
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frame_id: gps_base
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dynamic_model: stationary # Velocity restricted to 0 m/s. Zero dynamics
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# assumed.
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fix_mode: auto
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dr_limit: 0
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enable_ppp: false # Not supported by C94-M8P
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rate: 4 # Measurement rate in Hz
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nav_rate: 4 # in number of measurement cycles
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uart1:
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baudrate: 19200 # C94-M8P specific
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in: 0 # No UART in for base
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out: 32 # RTCM 3
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# TMODE3 Config
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tmode3: 1 # Survey-In Mode
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sv_in:
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reset: false # True: disables and re-enables survey-in (resets)
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# False: Disables survey-in only if TMODE3 is
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# disabled
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min_dur: 300 # Survey-In Minimum Duration [s]
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acc_lim: 3.0 # Survey-In Accuracy Limit [m]
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# RTCM out config
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rtcm:
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ids: [5, 87, 77, 230] # RTCM Messages to configure for Base station
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# Enabled: GPS MSM7, GLONASS MSM7,
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# GLONASS CP bias, Stationary RTK ref
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# 0xF5 0x05 Stationary RTK reference station
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# ARP
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# 0xF5 0x4A GPS MSM4
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# 0xF5 0x4D GPS MSM7
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# 0xF5 0x54 GLONASS MSM4
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# 0xF5 0x57 GLONASS MSM7
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# 0xF5 0x7C BeiDou MSM4
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# 0xF5 0x7F BeiDou MSM7
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# 0xF5 0xE6 GLONASS code-phase biases
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# 0xF5 0xFE Reference station PVT
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#(u-blox proprietary RTCM Message)
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rates: [1, 1, 1, 10] # in number of navigation solutions, must match
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# nav_rate, except for 0xE6
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dat:
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set: false
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# GNSS Config
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gnss:
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glonass: true # Supported by C94-M8P
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beidou: false # Supported by C94-M8P
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qzss: false # Supported by C94-M8P
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inf:
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all: true # Whether to display all INF messages in console
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# Enable u-blox message publishers
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publish:
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all: true
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aid:
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hui: false
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nav:
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posecef: false
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46
rover/ublox-master/ublox_gps/config/c94_m8p_rover.yaml
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46
rover/ublox-master/ublox_gps/config/c94_m8p_rover.yaml
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# Configuration Settings for C94-M8P device
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debug: 1 # Range 0-4 (0 means no debug statements will print)
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save:
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mask: 3103 # Save I/O, Message, INF Message, Nav, Receiver
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# Manager, Antenna, and Logging Configuration
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device: 4 # Save to EEPROM
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device: /dev/ttyACM1
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frame_id: gps
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rate: 4 # in Hz
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nav_rate: 4 # [# of measurement cycles], recommended 1 Hz, may
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# be either 5 Hz (Dual constellation) or
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# 8 Hz (GPS only)
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dynamic_model: airborne2 # Airborne < 2G, 2D fix not supported (3D only),
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# Max Alt: 50km
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# Max Horizontal Velocity: 250 m/s,
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# Max Vertical Velocity: 100 m/s
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fix_mode: auto
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enable_ppp: false # Not supported by C94-M8P
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dr_limit: 0
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uart1:
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baudrate: 19200 # C94-M8P specific
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in: 32 # RTCM 3
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out: 0 # No UART out for rover
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gnss:
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glonass: true # Supported by C94-M8P
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beidou: false # Supported by C94-M8P
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qzss: false # Supported by C94-M8P
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dgnss_mode: 3 # Fixed mode
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inf:
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all: true # Whether to display all INF messages in console
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# Enable u-blox message publishers
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publish:
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all: true
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aid:
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hui: false
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nav:
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posecef: false
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46
rover/ublox-master/ublox_gps/config/m8n_rover.yaml
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46
rover/ublox-master/ublox_gps/config/m8n_rover.yaml
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# Configuration Settings for C94-M8P device
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debug: 1 # Range 0-4 (0 means no debug statements will print)
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save:
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mask: 3103 # Save I/O, Message, INF Message, Nav, Receiver
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# Manager, Antenna, and Logging Configuration
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device: 4 # Save to EEPROM
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device: /dev/ttyUSB3
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frame_id: gps
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rate: 4 # in Hz
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nav_rate: 4 # [# of measurement cycles], recommended 1 Hz, may
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# be either 5 Hz (Dual constellation) or
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# 8 Hz (GPS only)
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dynamic_model: airborne2 # Airborne < 2G, 2D fix not supported (3D only),
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# Max Alt: 50km
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# Max Horizontal Velocity: 250 m/s,
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# Max Vertical Velocity: 100 m/s
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fix_mode: auto
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enable_ppp: false # Not supported by C94-M8P
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dr_limit: 0
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uart1:
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baudrate: 9600 # C94-M8P specific
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in: 32 # RTCM 3
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out: 0 # No UART out for rover
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gnss:
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glonass: true # Supported by C94-M8P
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beidou: false # Supported by C94-M8P
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qzss: false # Supported by C94-M8P
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dgnss_mode: 3 # Fixed mode
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inf:
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all: true # Whether to display all INF messages in console
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# Enable u-blox message publishers
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publish:
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all: true
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aid:
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hui: false
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nav:
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posecef: false
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31
rover/ublox-master/ublox_gps/config/nmea.yaml
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31
rover/ublox-master/ublox_gps/config/nmea.yaml
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# Sample NMEA parameter configuration
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device: /dev/ttyUSB4
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uart1:
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baudrate: 9600 # C94-M8P specific
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nmea:
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set: true
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version: 65
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num_sv: 8
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sv_numbering: 1
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compat: true
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consider: true
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limit82: true
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high_prec: false
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filter:
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pos: true
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msk_pos: true
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time: true
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date: true
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gps_only: true
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track: true
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gnssToFilter:
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gps: false
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sbas: true
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qzss: true
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glonass: false
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beidou: true
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main_talker_id: 1
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gsv_talker_id: 1
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bds_talker_id: [0,0]
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