From ff9806e7a8f3dc4f29e5b6734b0c604eb3fe32d0 Mon Sep 17 00:00:00 2001 From: Dominic Clifton Date: Sat, 13 Dec 2014 02:15:53 +0000 Subject: [PATCH] GPS - send UBlox SVINFO only once every 5 cycles (1hz) to reduce load on the FC. --- docs/Gps.md | 5 ++++- src/main/io/gps.c | 3 ++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/docs/Gps.md b/docs/Gps.md index 3fd295eec..d0754d5fb 100644 --- a/docs/Gps.md +++ b/docs/Gps.md @@ -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. diff --git a/src/main/io/gps.c b/src/main/io/gps.c index 69e2e1b88..bdcd42ae3 100644 --- a/src/main/io/gps.c +++ b/src/main/io/gps.c @@ -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)