public void SetupBasePos(ICommsSerial port, PointLatLngAlt basepos, int surveyindur = 0, double surveyinacc = 0, bool disable = false)
{
System.Threading.Thread.Sleep(100);
System.Threading.Thread.Sleep(100);
if (surveyindur == 0)
{
surveyindur = 60;
}
if (surveyinacc == 0)
{
surveyinacc = 2;
}
if (disable)
{
var packet = generate(0x6, 0x71, ubx_cfg_tmode3.Disable);
port.Write(packet, 0, packet.Length);
return;
}
if (basepos == PointLatLngAlt.Zero)
{
// survey in config
var packet = generate(0x6, 0x71, new ubx_cfg_tmode3((uint)surveyindur, surveyinacc));
port.Write(packet, 0, packet.Length);
}
else
{
byte[] data = new ubx_cfg_tmode3(basepos.Lat, basepos.Lng, basepos.Alt);
var packet = generate(0x6, 0x71, data);
port.Write(packet, 0, packet.Length);
}
}
public void SetupBasePos(ICommsSerial port, PointLatLngAlt basepos, int surveyindur = 0, double surveyinacc = 0,
bool disable = false, bool movingbase = false)
{
if (movingbase)
{
disable = true;
}
System.Threading.Thread.Sleep(100);
System.Threading.Thread.Sleep(100);
if (surveyindur == 0)
{
surveyindur = 60;
}
if (surveyinacc == 0)
{
surveyinacc = 2;
}
if (disable)
{
// disable
var packet = generate(0x6, 0x71, ubx_cfg_tmode3.Disable);
port.Write(packet, 0, packet.Length);
// save - bbr
packet = generate(0x06, 0x09, new uint8_t[] { 0, 0, 0, 0, 0xff, 0xff, 0, 0, 0, 0, 0, 0, 0x01 });
port.Write(packet, 0, packet.Length);
Thread.Sleep(1000);
//reboot
packet = generate(0x06, 0x04, new uint8_t[] { 0x14, 0xff, 0, 0 });
port.Write(packet, 0, packet.Length);
Thread.Sleep(3000);
return;
}
if (basepos == PointLatLngAlt.Zero)
{
// survey in config
var packet = generate(0x6, 0x71, new ubx_cfg_tmode3((uint)surveyindur, surveyinacc));
port.Write(packet, 0, packet.Length);
}
else
{
byte[] data = new ubx_cfg_tmode3(basepos.Lat, basepos.Lng, basepos.Alt);
var packet = generate(0x6, 0x71, data);
port.Write(packet, 0, packet.Length);
}
}
public void SetupM8P(ICommsSerial port, PointLatLngAlt basepos, int surveyindur = 0, double surveyinacc = 0, bool m8p_130plus = false)
{
port.BaseStream.Flush();
port.BaudRate = 9600;
System.Threading.Thread.Sleep(100);
// port config - 115200 - uart1
var packet = generate(0x6, 0x00, new byte[] { 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0xC2,
0x01, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(300);
// port config - usb
packet = generate(0x6, 0x00, new byte[] { 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(300);
port.BaseStream.Flush();
port.BaudRate = 115200;
// port config - 115200 - uart1
packet = generate(0x6, 0x00, new byte[] { 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0xC2,
0x01, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(300);
// port config - usb
packet = generate(0x6, 0x00, new byte[] { 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(300);
// set rate to 1hz
packet = generate(0x6, 0x8, new byte[] { 0xE8, 0x03, 0x01, 0x00, 0x01, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(200);
// set navmode to stationary
packet = generate(0x6, 0x24, new byte[] { 0xFF, 0xFF, 0x02, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00
, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(200);
// turn off all nmea
for (int a = 0; a <= 0xf; a++)
{
if (a == 0xb || a == 0xc || a == 0xe)
{
continue;
}
turnon_off(port, 0xf0, (byte)a, 0);
}
// mon-ver
poll_msg(port, 0xa, 0x4);
// surveyin msg - for feedback
turnon_off(port, 0x01, 0x3b, 1);
// pvt msg - for feedback
turnon_off(port, 0x01, 0x07, 1);
// 1005 - 5s
turnon_off(port, 0xf5, 0x05, 5);
byte rate1 = 1;
byte rate2 = 0;
if (m8p_130plus)
{
rate1 = 0;
rate2 = 1;
}
// 1074 - 1s
turnon_off(port, 0xf5, 0x4a, rate2);
// 1077 - 1s
turnon_off(port, 0xf5, 0x4d, rate1);
// 1084 - 1s
turnon_off(port, 0xf5, 0x54, rate2);
// 1087 - 1s
turnon_off(port, 0xf5, 0x57, rate1);
// 1124 - 1s
turnon_off(port, 0xf5, 0x7c, rate2);
// 1127 - 1s
turnon_off(port, 0xf5, 0x7f, rate1);
// 1230 - 5s
turnon_off(port, 0xf5, 0xE6, 5);
// rxm-raw/rawx - 1s
turnon_off(port, 0x02, 0x15, 1);
turnon_off(port, 0x02, 0x10, 1);
// rxm-sfrb/sfrb - 2s
turnon_off(port, 0x02, 0x13, 2);
turnon_off(port, 0x02, 0x11, 2);
System.Threading.Thread.Sleep(100);
System.Threading.Thread.Sleep(100);
if (basepos == PointLatLngAlt.Zero)
{
// survey in config - 60s and < 2m
packet = generate(0x6, 0x71, new ubx_cfg_tmode3((uint)surveyindur, surveyinacc));
port.Write(packet, 0, packet.Length);
}
else
{
byte[] data = new ubx_cfg_tmode3(basepos.Lat, basepos.Lng, basepos.Alt);
packet = generate(0x6, 0x71, data);
port.Write(packet, 0, packet.Length);
}
System.Threading.Thread.Sleep(100);
}
public void SetupM8P(ICommsSerial port, PointLatLngAlt basepos, int surveyindur = 0, double surveyinacc = 0)
{
port.BaseStream.Flush();
// port config - 115200 - uart1
var packet = generate(0x6, 0x00, new byte[] { 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0xC2,
0x01, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(300);
// port config - usb
packet = generate(0x6, 0x00, new byte[] { 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(300);
// set rate to 1hz
packet = generate(0x6, 0x8, new byte[] { 0xE8, 0x03, 0x01, 0x00, 0x01, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(200);
// set navmode to stationary
packet = generate(0x6, 0x24, new byte[] { 0xFF ,0xFF ,0x02 ,0x03 ,0x00 ,0x00 ,0x00 ,0x00 ,0x10 ,0x27 ,0x00 ,0x00 ,0x05 ,0x00
,0xFA ,0x00 ,0xFA ,0x00 ,0x64 ,0x00 ,0x2C ,0x01 ,0x00 ,0x00 ,0x00 ,0x00 ,0x10 ,0x27 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(200);
// turn off all nmea
for (int a = 0; a <= 0xf; a++)
{
if (a == 0xb || a == 0xc || a == 0xe)
continue;
turnon_off(port, 0xf0, (byte)a, 0);
}
// mon-ver
poll_msg(port, 0xa, 0x4);
// surveyin msg - for feedback
turnon_off(port, 0x01, 0x3b, 1);
// pvt msg - for feedback
turnon_off(port, 0x01, 0x07, 1);
// 1005 - 5s
turnon_off(port, 0xf5, 0x05, 5);
// 1077 - 1s
turnon_off(port, 0xf5, 0x4d, 1);
// 1087 - 1s
turnon_off(port, 0xf5, 0x57, 1);
// rxm-raw/rawx - 1s
turnon_off(port, 0x02, 0x15, 1);
turnon_off(port, 0x02, 0x10, 1);
// rxm-sfrb/sfrb - 5s
turnon_off(port, 0x02, 0x13, 5);
turnon_off(port, 0x02, 0x11, 5);
System.Threading.Thread.Sleep(100);
System.Threading.Thread.Sleep(100);
if (basepos == PointLatLngAlt.Zero)
{
// survey in config - 60s and < 2m
packet = generate(0x6, 0x71, new ubx_cfg_tmode3((uint)surveyindur, surveyinacc));
port.Write(packet, 0, packet.Length);
}
else
{
byte[] data = new ubx_cfg_tmode3(basepos.Lat, basepos.Lng, basepos.Alt);
packet = generate(0x6, 0x71, data);
port.Write(packet, 0, packet.Length);
}
System.Threading.Thread.Sleep(100);
}
public void SetupM8P(ICommsSerial port, PointLatLngAlt basepos, int surveyindur = 0, double surveyinacc = 0)
{
// port config - 115200 - uart1
var packet = generate(0x6, 0x00, new byte[] { 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0xC2,
0x01, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(100);
// port config - usb
packet = generate(0x6, 0x00, new byte[] { 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(100);
// set rate to 1hz
packet = generate(0x6, 0x8, new byte[] { 0xE8, 0x03, 0x01, 0x00, 0x01, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(100);
// turn off all nmea
for (int a = 0; a <= 0xf; a++)
{
turnon_off(port, 0xf0, (byte)a, 0);
}
// surveyin msg - for feedback
turnon_off(port, 0x01, 0x3b, 1);
// pvt msg - for feedback
turnon_off(port, 0x01, 0x07, 1);
// 1005 - 5s
turnon_off(port, 0xf5, 0x05, 5);
// 1077 - 1s
turnon_off(port, 0xf5, 0x4d, 1);
// 1087 - 1s
turnon_off(port, 0xf5, 0x57, 1);
// rxm-raw/rawx - 1s
turnon_off(port, 0x02, 0x15, 1);
turnon_off(port, 0x02, 0x10, 1);
// rxm-sfrb/sfrb - 5s
turnon_off(port, 0x02, 0x13, 5);
turnon_off(port, 0x02, 0x11, 5);
System.Threading.Thread.Sleep(100);
System.Threading.Thread.Sleep(100);
if (basepos == PointLatLngAlt.Zero)
{
// survey in config - 60s and < 2m
packet = generate(0x6, 0x71, new ubx_cfg_tmode3(60, 2));
port.Write(packet, 0, packet.Length);
}
else
{
byte[] data = new ubx_cfg_tmode3(basepos.Lat, basepos.Lng, basepos.Alt);
packet = generate(0x6, 0x71, data);
port.Write(packet, 0, packet.Length);
}
System.Threading.Thread.Sleep(100);
}
