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Updated the MediaTek configuration

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to set the minimum speed the GPS must be moving to update the position to 0 m/s.
to enable SBAS / WAAS / DGPS position fixes.
This commit is contained in:
Craig@3DR 2012-12-11 15:35:52 -08:00
parent 52177c63f7
commit 2586c7a32a
3 changed files with 12 additions and 4 deletions
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3
libraries/AP_GPS/AP_GPS_MTK.cpp
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@ -37,6 +37,9 @@ AP_GPS_MTK::init(enum GPS_Engine_Setting nav_setting)
// set WAAS on // set WAAS on
_port->print(WAAS_ON); _port->print(WAAS_ON);
// Set Nav Threshold to 0 m/s
_port->print(MTK_NAVTHRES_OFF);
// set initial epoch code // set initial epoch code
_epoch = TIME_OF_DAY; _epoch = TIME_OF_DAY;

3
libraries/AP_GPS/AP_GPS_MTK16.cpp
View File

@ -44,6 +44,9 @@ AP_GPS_MTK16::init(enum GPS_Engine_Setting nav_setting)
// set WAAS on // set WAAS on
_port->print(WAAS_ON); _port->print(WAAS_ON);
// Set Nav Threshold to 0 m/s
_port->print(MTK_NAVTHRES_OFF);
// set initial epoch code // set initial epoch code
_epoch = TIME_OF_DAY; _epoch = TIME_OF_DAY;
_time_offset = 0; _time_offset = 0;

10
libraries/AP_GPS/AP_GPS_MTK_Common.h
View File

@ -24,10 +24,12 @@
#define MTK_BAUD_RATE_38400 "$PMTK251,38400*27\r\n" #define MTK_BAUD_RATE_38400 "$PMTK251,38400*27\r\n"
#define SBAS_ON "$PMTK313,1*2E\r\n" #define MTK_NAVTHRES_OFF "$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_OFF "$PMTK313,0*2F\r\n"
#define WAAS_ON "$PSRF151,1*3F\r\n" #define SBAS_ON "$PMTK313,1*2E\r\n"
#define WAAS_OFF "$PSRF151,0*3E\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"
#endif // AP_GPS_MTK_Common_h #endif // AP_GPS_MTK_Common_h