[pkg-fso-commits] [SCM] FSO frameworkd Debian packaging branch, debian, updated. upstream/0.9.5.5-717-g0f98819

[Michael 'Mickey' Lauer]

The following commit has been merged in the debian branch:
commit 043cef6d2122bb62dcbae3211ed94c21d9c7d901
Author: Baruch Even <baruch at ev-en.org>
Date:   Wed Oct 14 09:48:28 2009 +0200

    ogpsd: Set NAV2 parameters to define the static threshold to reduce movement noise
    when the GPS is stationary.

diff --git a/conf/example/frameworkd.conf b/conf/example/frameworkd.conf
index 7013332..1d97409 100644
--- a/conf/example/frameworkd.conf
+++ b/conf/example/frameworkd.conf
@@ -85,6 +85,9 @@ device = GTA02Device
 channel = SerialChannel
 # For UDPChannel the path defines the port to listen to
 path = /dev/ttySAC1
+# Threshold of movement, this can reduce the noise when the GPS is stationary or moving slowly
+# Value is in cm/s (centimeter per second)
+static_threshold = 10
 
 [ogpsd.factory]
 
diff --git a/framework/subsystems/ogpsd/ubx.py b/framework/subsystems/ogpsd/ubx.py
index 7825085..5a2ff43 100644
--- a/framework/subsystems/ogpsd/ubx.py
+++ b/framework/subsystems/ogpsd/ubx.py
@@ -16,6 +16,7 @@ import struct
 import calendar
 import dbus
 import dbus.service
+from framework.config import config
 
 import logging
 logger = logging.getLogger('ogpsd')
@@ -278,6 +279,24 @@ class UBXDevice( GPSDevice ):
         #self.send("CFG-RXM", 2, {"gps_mode" : 2, "lp_mode" : 0})
         # Enable use of SBAS
         self.send("CFG-SBAS", 8, {"mode" : 1, "usage" : 7, "maxsbas" : 3, "scanmode" : 0})
+        # Setup NAV2 parameters (all parameters other than StaticThres are the same as the default
+        self.send("CFG-NAV2", 40, {"DGPSTO": 60,
+                "FixMode": 2,
+                "FixedAltitude": 50000,
+                "MaxDR": 5,
+                "MaxSVs": 16,
+                "MinCN0After": 10,
+                "MinCN0Initial": 15,
+                "MinELE": 5,
+                "MinSVInitial": 3,
+                "MinSVs": 3,
+                "NAVOPT": 1,
+                "PACC": 100,
+                "PDOP": 250,
+                "Platform": 3, # Automotive = 3, pedestrian = 2, stationary = 1
+                "StaticThres": config.getInt( "ogpsd", "static_threshold", 10),
+                "TACC": 300,
+                "TDOP": 250})
 
         # Disable NMEA for current port
         self.ubx["CFG-PRT"] = {"In_proto_mask" : 1, "Out_proto_mask" : 1}

-- 
FSO frameworkd Debian packaging