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Upgrade to ReachView v2.24.0

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This commit is contained in:
wpetit
2020-11-23 11:15:30 +01:00
parent b8a07953dd
commit e06aa5129a
16 changed files with 260 additions and 103 deletions
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137
cmd/configurator/main.go
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@ -76,7 +76,7 @@ func configureRover() {
config.RTKSettings.GPSARMode = reachview.GPSARModeFixAndHold
config.RTKSettings.GLONASSARMode = reachview.On
config.RTKSettings.PositionningMode = reachview.PositionningModeKinematic
config.RTKSettings.UpdateRate = reachview.String("5")
config.RTKSettings.UpdateRate = reachview.Float(5)
config.CorrectionInput = &reachview.CorrectionInput{
Input2: &reachview.Input2{
Input: reachview.Input{
@ -105,56 +105,25 @@ func configureBase() {
log.Println("configuring module as base")
config := getCommonConfiguration()
config.RTKSettings.UpdateRate = reachview.String("1")
config.BaseMode = &reachview.BaseMode{
Output: &reachview.Output{
Enabled: reachview.True,
Format: reachview.IOFormatRTCM3,
Type: reachview.IOTypeLoRa,
config.RTKSettings.UpdateRate = reachview.Float(1)
config.BaseMode.Output = &reachview.Output{
Enabled: reachview.True,
Format: reachview.IOFormatRTCM3,
Type: reachview.IOTypeLoRa,
}
config.BaseMode.BaseCoordinates = &reachview.BaseCoordinates{
Accumulation: reachview.String("1"),
AntennaOffset: &reachview.AntennaOffset{
East: reachview.String("0"),
North: reachview.String("0"),
Up: reachview.String("2.20"),
},
BaseCoordinates: &reachview.BaseCoordinates{
Accumulation: reachview.String("1"),
AntennaOffset: &reachview.AntennaOffset{
Up: reachview.String("2.20"),
},
Mode: reachview.BaseCoordinatesModeAverageSingle,
Format: reachview.BaseCoordinatesFormatLLH,
},
RTCM3Messages: &reachview.RTCM3Messages{
Type1002: &reachview.RTCMMessageType{
Enabled: reachview.True,
Frequency: reachview.String("0.1"),
},
Type1006: &reachview.RTCMMessageType{
Enabled: reachview.True,
Frequency: reachview.String("0.1"),
},
Type1010: &reachview.RTCMMessageType{
Enabled: reachview.True,
Frequency: reachview.String("0.5"),
},
Type1097: &reachview.RTCMMessageType{
Enabled: reachview.True,
Frequency: reachview.String("0.5"),
},
Type1008: &reachview.RTCMMessageType{
Enabled: reachview.False,
},
Type1019: &reachview.RTCMMessageType{
Enabled: reachview.False,
},
Type1020: &reachview.RTCMMessageType{
Enabled: reachview.False,
},
Type1107: &reachview.RTCMMessageType{
Enabled: reachview.False,
},
Type1117: &reachview.RTCMMessageType{
Enabled: reachview.False,
},
Type1127: &reachview.RTCMMessageType{
Enabled: reachview.False,
},
Mode: reachview.BaseCoordinatesModeManual,
Format: reachview.BaseCoordinatesFormatLLH,
Coordinates: []*string{
reachview.String("0"),
reachview.String("0"),
reachview.String("0"),
},
}
@ -163,8 +132,7 @@ func configureBase() {
}
func applyConfiguration(c *reachview.Client, config *reachview.Configuration) {
ctx, applyConfCancel := context.WithTimeout(context.Background(), 10*time.Second)
ctx, applyConfCancel := context.WithTimeout(context.Background(), 60*time.Second)
defer applyConfCancel()
result, _, err := c.ApplyConfiguration(ctx, config)
@ -175,28 +143,17 @@ func applyConfiguration(c *reachview.Client, config *reachview.Configuration) {
if result != reachview.ConfigurationApplySuccess {
log.Fatal("configuration update failed !")
}
log.Println("restarting rtklib")
if err := c.RestartRTKLib(); err != nil {
log.Fatal(err)
}
}
func resetConfiguration(c *reachview.Client) {
log.Println("resetting module configuration")
ctx, resetCancel := context.WithTimeout(context.Background(), 10*time.Second)
defer resetCancel()
result, _, err := c.ResetConfiguration(ctx)
if err != nil {
if err := c.ResetConfiguration(ctx); err != nil {
log.Fatal(err)
}
if result != reachview.ConfigurationApplySuccess {
log.Fatal("configuration reset failed !")
}
}
func getCommonConfiguration() *reachview.Configuration {
@ -208,8 +165,16 @@ func getCommonConfiguration() *reachview.Configuration {
Galileo: reachview.True,
SBAS: reachview.True,
QZSS: reachview.True,
Compass: reachview.False,
},
UpdateRate: reachview.String("5"),
MaxHorizontalAcceleration: reachview.String("1"),
GPSARMode: reachview.String("fix-and-hold"),
SNRMask: reachview.String("35"),
GLONASSARMode: reachview.String("off"),
UpdateRate: reachview.Float(5),
ElevationMaskAngle: reachview.String("15"),
PositionningMode: reachview.String("kinematic"),
MaxVerticalAcceleration: reachview.String("1"),
},
LoRa: &reachview.LoRa{
AirRate: reachview.String("9.11"),
@ -224,5 +189,43 @@ func getCommonConfiguration() *reachview.Configuration {
Enabled: reachview.False,
},
},
BaseMode: &reachview.BaseMode{
RTCM3Messages: &reachview.RTCM3Messages{
Type1002: &reachview.RTCMMessageType{
Enabled: reachview.True,
Frequency: reachview.String("0.1"),
},
Type1006: &reachview.RTCMMessageType{
Enabled: reachview.True,
Frequency: reachview.String("0.1"),
},
Type1010: &reachview.RTCMMessageType{
Enabled: reachview.True,
Frequency: reachview.String("0.5"),
},
Type1097: &reachview.RTCMMessageType{
Enabled: reachview.True,
Frequency: reachview.String("0.5"),
},
Type1008: &reachview.RTCMMessageType{
Enabled: reachview.False,
},
Type1019: &reachview.RTCMMessageType{
Enabled: reachview.False,
},
Type1020: &reachview.RTCMMessageType{
Enabled: reachview.False,
},
Type1107: &reachview.RTCMMessageType{
Enabled: reachview.False,
},
Type1117: &reachview.RTCMMessageType{
Enabled: reachview.False,
},
Type1127: &reachview.RTCMMessageType{
Enabled: reachview.False,
},
},
},
}
}