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Changed gps.c to have gps_auto_config set mode to "airborne <2g" instead of "pedestrian"

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I am new to this... terminology is foreign, please bear with me :/
Using a ublox M8N gps receiver on my BFF3, velocity readings were very laggy and inaccurate; readings were unusable. After researching, I compiled a hex where the gps_auto_config sets the "dynamic platform model" to the airborne <2g mode. Once done, I compared osd velocity readings to my car with excellent results and response time. I have flown about a dozen times since and the difference is astounding (sample video: https://youtu.be/CLArfxTj15M).
From the ublox documentation:
"7.1 Platform settings
u-blox receivers support different dynamic platform models (see table below) to adjust the navigation engine to
the expected application environment. These platform settings can be changed dynamically without performing
a power cycle or reset. The settings improve the receiver's interpretation of the measurements and thus provide
a more accurate position output. Setting the receiver to an unsuitable platform model for the given application
environment is likely to result in a loss of receiver performance and position accuracy."
link: https://www.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_%28UBX-13003221%29_Public.pdf
This commit is contained in:
Phanny-P 2017-05-17 23:36:15 -04:00 • committed by GitHub
parent d8c4953bb5
commit 0cf8901e0e
1 changed files with 3 additions and 3 deletions
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6
src/main/io/gps.c
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@ -123,9 +123,9 @@ static const gpsInitData_t gpsInitData[] = {
static const uint8_t ubloxInit[] = {
0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x03, 0x03, 0x00, // CFG-NAV5 - Set engine settings
0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, // Collected by resetting a GPS unit to defaults. Changing mode to Pedistrian and
0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00, // capturing the data from the U-Center binary console.
0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x07, 0x03, 0x00, // CFG-NAV5 - Set engine settings
0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, // Collected by resetting a GPS unit to defaults. Changing mode to Airborne with
0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00, // <2g acceleration and capturing the data from the U-Center binary console.
0x00, 0xC8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xC2,
// DISABLE NMEA messages