sodaqmoja / sodaqone-universaltracker-v3 Goto Github PK

/*
 * Gets the navigational engine settings.
 * See "CFG-NAV5" in u-blox protocol description.
 */
bool UBlox::getNavEngineSettings(NavigationEngineSettings* settings) {
    uint8_t buffer[4];
    buffer[0] = 0x06; // Class
    buffer[1] = 0x24; // Id
    buffer[2] = 1;    // Length 1 (incorrect payload should trigger a "get")
    buffer[3] = 0;    // 0 byte, incorrect message should trigger a response

    (void) this->send(buffer,sizeof(buffer));
    
    // wait for response and copy answer into navDynModel
    return this->wait(0x0624,sizeof(NavigationEngineSettings),settings);
}

typedef struct __attribute__((packed,aligned(1))) NavigationEngineSettings {
    uint8_t  mask;              // Parameters Bitmask. Only the masked parameters will be applied.
    uint16_t dynModel;          // Dynamic platform model
    uint8_t  fixMode;           // Position Fixing Mode: 1: 2D only 2: 3D only 3: auto 2D/3D
    int32_t  fixedAlt;          // Fixed altitude in meters (mean sea level) for 2D fix mode
    uint32_t fixedAltVar;       // Fixed altitude variance for 2D mode in m^2.
    int8_t   minElev;           // Minimum Elevation in degrees for a GNSS satellite to be used in NAV
    uint8_t  drLimit;           // Reserved
    uint16_t pDop;              // Position DOP Mask to use
    uint16_t tDop;              // Time DOP Mask to use
    uint16_t pAcc;              // Position Accuracy Mask in meters
    uint16_t tAcc;              // Time Accuracy Mask in meters
    uint8_t  staticHoldThresh;  // Static hold threshold in cm/s
    uint8_t  dgnssTimeout;      // DGNSS timeout in seconds
    uint8_t  cnoThreshNumSats;  // Number of sattelites required to have C/NO above cnoThresh 
                                // for a fix to be attempted
    uint8_t  cnoThresh;         // C/N0 threshold for deciding whether to attempt a fix in dBHz
    uint8_t  reserved1;
    uint16_t staticHoldMaxDist; // Static hold distance threshold before quitting static hold
    uint8_t  utcStandard;       // UTC standard to be used:
                                // 0: Automatic; receiver selects based on GNSS configuration 
                                //    (see GNSS time bases).
                                // 3: UTC as operated by the U.S. Naval Observatory (USNO); 
                                //    derived from GPS time
                                // 6: UTC as operated by the former Soviet Union; derived from 
                                //    GLONASS time
                                // 7: UTC as operated by the National Time Service Center,
                                //    China; derived from BeiDou time
                                //    (not supported in protocol versions less than 16).
    uint8_t  reserved2;
} NavigationEngineSettings;