gnss_conf.pb.txt

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data {
    # format optional: NOVATEL_BINARY, HUACE_TEXT, ASENSING_BINARY, BROADGNSS_TEXT
    format: NOVATEL_BINARY
 
    # protocol optional: serial, tcp, udp, ntrip, can_card_parameter
    serial {
        device: "/dev/ttyACM0"
        baud_rate: 115200
    }
 
    # tcp, udp: e.g.
    #tcp {
    #    address: "192.168.10.100"
    #    port: 9904
    #}
 
    # can_card_parameter: e.g.
    #can_card_parameter {
    #    brand: SOCKET_CAN_RAW
    #    type: PCI_CARD
    #    channel_id: CHANNEL_ID_ZERO
    #    interface: NATIVE
    #}
}
 
#rtk_from {
#    format: RTCM_V3
#    ntrip {
        #address: "111.111.111.11"
        #port: 0000
        #mount_point: "yourport"
        #user: "username"
        #password: "password"
        #timeout_s: 5
#    }
#    push_location: true
#}
 
rtk_to {
    format: NOVATEL_BINARY
    serial {
        device: "/dev/ttyACM1"
        baud_rate: 115200
    }
}
 
command {
    format: NOVATEL_BINARY
    serial {
        device: "/dev/ttyACM2"
        baud_rate: 115200
    }
}
 
rtk_solution_type: RTK_RECEIVER_SOLUTION
imu_type: CPT_XW5651
proj4_text: "+proj=utm +zone=50 +ellps=WGS84 +towgs84=0,0,0,0,0,0,0 +units=m +no_defs"
 
tf {
    frame_id: "world"
    child_frame_id: "imu"
    enable: true
}
 
# If given, the driver will send velocity info into novatel one time per second
wheel_parameters: "SETWHEELPARAMETERS 100 1 1\r\n"
 
gpsbin_folder: "data/gpsbin"
 
#########################################################################
# notice: only for debug, won't configure device through driver online!!!
#########################################################################
# login_commands: "UNLOGALL THISPORT\r\n"
# login_commands: "LOG COM2 GPRMC ONTIME 1.0 0.25\r\n"
# login_commands: "EVENTOUTCONTROL MARK2 ENABLE POSITIVE 999999990 10\r\n"
# login_commands: "EVENTOUTCONTROL MARK1 ENABLE POSITIVE 500000000 500000000\r\n"
# login_commands: "LOG GPGGA ONTIME 1.0\r\n"
 
# login_commands: "log bestgnssposb ontime 1\r\n"
# login_commands: "log bestgnssvelb ontime 1\r\n"
# login_commands: "log bestposb ontime 1\r\n"
# login_commands: "log INSPVAXB ontime 0.5\r\n"
# login_commands: "log INSPVASB ontime 0.01\r\n"
# login_commands: "log CORRIMUDATASB ontime 0.01\r\n"
# login_commands: "log RAWIMUSXB onnew 0 0\r\n"
# login_commands: "log INSCOVSB ontime 1\r\n"
# login_commands: "log mark1pvab onnew\r\n"
 
# login_commands: "log rangeb ontime 0.2\r\n"
# login_commands: "log bdsephemerisb\r\n"
# login_commands: "log gpsephemb\r\n"
# login_commands: "log gloephemerisb\r\n"
# login_commands: "log bdsephemerisb ontime 15\r\n"
# login_commands: "log gpsephemb ontime 15\r\n"
# login_commands: "log gloephemerisb ontime 15\r\n"
 
# login_commands: "log imutoantoffsetsb once\r\n"
# login_commands: "log vehiclebodyrotationb onchanged\r\n"
 
logout_commands: "EVENTOUTCONTROL MARK2 DISABLE\r\n"
logout_commands: "EVENTOUTCONTROL MARK1 DISABLE\r\n"
 
use_gnss_time: true