ardupilot/libraries/AP_GPS/AP_GPS_MTK_Common.h

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

//
//  DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
//	Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
//
// Common definitions for MediaTek GPS modules.
#pragma once

#define MTK_SET_BINARY		"$PGCMD,16,0,0,0,0,0*6A\r\n"
#define MTK_SET_NMEA		"$PGCMD,16,1,1,1,1,1*6B\r\n"

#define MTK_OUTPUT_1HZ		"$PMTK220,1000*1F\r\n"
#define MTK_OUTPUT_2HZ		"$PMTK220,500*2B\r\n"
#define MTK_OUTPUT_4HZ		"$PMTK220,250*29\r\n"
#define MTK_OUTPUT_5HZ		"$PMTK220,200*2C\r\n"
#define MTK_OUTPUT_10HZ		"$PMTK220,100*2F\r\n"

#define MTK_BAUD_RATE_38400 "$PMTK251,38400*27\r\n"

#define MTK_NAVTHRES_OFF 	"$PMTK397,0*23\r\n"  // Set Nav Threshold (the minimum speed the GPS must be moving to update the position) to 0 m/s

#define SBAS_ON	        	"$PMTK313,1*2E\r\n"
#define SBAS_OFF			"$PMTK313,0*2F\r\n"

#define WAAS_ON         	"$PMTK301,2*2E\r\n"
#define WAAS_OFF        	"$PMTK301,0*2C\r\n"