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Add flag to set ublox dynamic platform model. #71

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Add flag to set ublox dynamic platform model. #71

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49 changes: 49 additions & 0 deletions ubxtool.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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");
Expand All @@ -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;
Expand Down Expand Up @@ -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) {
Expand Down