From 94ec1545afc41f2d00435b6a9f0ac10cd1d0c26f Mon Sep 17 00:00:00 2001
From: Phil Crump <phil@philcrump.co.uk>
Date: Fri, 21 Feb 2020 18:26:15 +0000
Subject: [PATCH] ubxtool.cc: Add dynamic model configuration.

---
 ubxtool.cc | 49 +++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 49 insertions(+)

diff --git a/ubxtool.cc b/ubxtool.cc
index a1d69cb..eaaf987 100644
--- a/ubxtool.cc
+++ b/ubxtool.cc
@@ -586,6 +586,7 @@ int main(int argc, char** argv)
   unsigned int fuzzPositionMeters=0;
   string owner;
   string remark;
+  int dynamicModel=-1;
 
   app.add_option("--destination,-d", destinations, "Send output to this IPv4/v6 address");
   app.add_flag("--wait", doWait, "Wait a bit, do not try to read init messages");
@@ -606,6 +607,7 @@ int main(int argc, char** argv)
   app.add_option("--fuzz-position,-f", fuzzPositionMeters, "Fuzz position by this many meters");
   app.add_option("--owner,-o", owner, "Name/handle/nick of owner/operator");
   app.add_option("--remark", remark, "Remark for this station");
+  app.add_option("--dynamic-model,-m", dynamicModel, "Dynamic platform model");
   
   int surveyMinSeconds = 0;
   int surveyMinCM = 0;
@@ -922,6 +924,53 @@ int main(int argc, char** argv)
           exit(-1);
         }
       }
+
+      if(dynamicModel != -1) {
+        /* Check dynamic model ID */
+        if(dynamicModel != 0 /* Portable */
+          && dynamicModel != 2 /* Stationary */
+          && dynamicModel != 3 /* Pedestrian */
+          && dynamicModel != 4 /* Automotive */
+          && dynamicModel != 5 /* Sea */
+          && dynamicModel != 6 /* Airborne <1g */
+          && dynamicModel != 7 /* Airborne <2g */
+          && dynamicModel != 8 /* Airborne <4g */
+          && dynamicModel != 9 /* Wrist Watch */
+          && dynamicModel != 10 /* Bike */ ) {
+          cerr<<humanTimeNow()<<" Dynamic Model id is not valid, not configuring."<<endl;
+        }
+        else {
+          /* UBX-CFG-NAV5 */
+          msg = buildUbxMessage(0x06, 0x24, {
+            0x01, 0x00, /* Bitmask of settings to apply: bit 0 = dynamic model only */
+            (unsigned char)((dynamicModel) & 0xFF), /* Dynamic Model */
+            0x00, /* Fix Type */
+            0x00, 0x00, 0x00, 0x00, /* 2D Altitude Value */
+            0x00, 0x00, 0x00, 0x00, /* 2D Altitude Variance */
+            0x00, /* Minimum GNSS Satellite Elevation */
+            0x00, /* Reserved */
+            0x00, 0x00, /* Position DOP Mask */
+            0x00, 0x00, /* Time DOP Mask */
+            0x00, 0x00, /* Position Accuracy Mask */
+            0x00, 0x00, /* Time Accuracy Mask */
+            0x00, /* Static hold threshold */
+            0x00, /* DGNSS Timeout */
+            0x00, /* Min Satellites for Fix */
+            0x00, /* Min C/N0 Threshold for Satellites */
+            0x00, 0x00, /* Reserved */
+            0x00, 0x00, /* Static Hold Distance Threshold */
+            0x00, /* UTC Standard (Automatic) */
+            0x00, 0x00, 0x00, 0x00, 0x00, /* Reserved */
+          });
+
+          if(sendAndWaitForUBXAckNack(fd, 10, msg, 0x06, 0x24)) {
+            cerr<<humanTimeNow()<<" Configured Dynamic Model successfully"<<endl;
+          }
+          else {
+            cerr<<humanTimeNow()<<" Got NACK setting Dynamic Model"<<endl;
+          }
+        }
+      }
       
        
       if(!doKeepNMEA) {