rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

GPS - send UBlox SVINFO only once every 5 cycles (1hz) to reduce load on 

the FC.
This commit is contained in:
Dominic Clifton 2014-12-13 02:15:53 +00:00
parent 62134057f0
commit ff9806e7a8
2 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
docs/Gps.md
View File

@ -81,9 +81,12 @@ Next, to ensure the FC doesn't waste time processing messages it does not need y
NAV-SOL
NAV-VELNED
NAV-TIMEUTC
The above messages should each be enabled with a rate of `1`.
NAV-SVINFO
The above messages should each be enabled with a rate of '1`.
The above messages should each be enabled with a rate of `5` to reduce bandwidth and load on the FC.
When changing message target and rates remember to click `Send` after changing each message.

3
src/main/io/gps.c
View File

@ -135,7 +135,8 @@ static const uint8_t ubloxInit[] = {
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, 0x30, 0x01, 0x3C, 0xA3, // set SVINFO MSG rate
//0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x30, 0x01, 0x3C, 0xA3, // set SVINFO MSG rate (every cycle - high bandwidth)
0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x30, 0x05, 0x40, 0xA7, // set SVINFO MSG rate (evey 5 cycles - low bandwidth)
0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x12, 0x01, 0x1E, 0x67, // set VELNED MSG rate
0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0xC8, 0x00, 0x01, 0x00, 0x01, 0x00, 0xDE, 0x6A, // set rate to 5Hz (measurement period: 200ms, navigation rate: 1 cycle)