Module/GPS UBlox UCenter
If you use a µ-blox GPS without flash memory, this module will take over the task of initializing the GPS for you when you power your autopilot.
It has auto-baudrate to detect the current GPS baudrate, and configures all message rates and communication ports. The module will send a DEBUG message (ID 26) that indicates the firmware version in your GPS, the previous baudrate, and the reply for each configuration step. To enable and view the message, you will need to define DEBUG_GPS_UBX_UCENTER as TRUE in your airframe configuration file and select to receive that message in your telemetry file. See the example below for more details.
It will configure the following settings:
- set baudrate to GPS_BAUD (typically either 38400 or 57600)
- enable the NAV_POSLLH, NAV_VELNED, NAV_STATUS, NAV_SVINFO, NAV_SOL
- disable UTM on old Lea4P by not sending NAV_POSUTM
- enable SBAS
- configure it to 3D only fix
- set the internal dynamic model to Airborne 2G
Basic
Add the gps_ubx_ucenter module to the "modules" section in your aircraft configuration file:
| File: conf/airframes/myplane.xml |
<modules>
...
<load name="gps_ubx_ucenter.xml"/>
</modules>
|
Advanced
You can specify to a different dynamic model for the u-blox.
| File: conf/airframes/myplane.xml |
<modules>
...
<load name="gps_ubx_ucenter.xml">
<define name="GPS_UBX_NAV5_DYNAMICS" value="NAV5_DYN_PORTABLE" />
</load>
</modules>
|
Debug
You can specify to receive a DEBUG message over telemetry. Make changes to both the airframe and telemetry config files.
| File: conf/airframes/myplane.xml |
<modules>
...
<load name="gps_ubx_ucenter.xml">
<define name="GPS_UBX_NAV5_DYNAMICS" value="NAV5_DYN_PORTABLE" />
<define name="DEBUG_GPS_UBX_UCENTER" value="TRUE" />
</load>
</modules>
|
| File: conf/telemetry/myplane.xml |
<mode name="default">
...
<message name="DEBUG" period="0.5"/>
</mode>
|
The debug messages has the following information:
- [0] Initial baudrate high
- [1] Initial baudrate low
- [2] ublox software verision high
- [3] ublox software version low
- [4] ublox hardware version high
- [5] ublox hardware version low
- [6] Success of setting CFG-NAV5
- [7] Success of enable NAV-POSLLH
- [8] Success of enable NAV-VELNED
- [9] Success of enable NAV-STATUS
- [10] Success of enable NAV-SVINFO
- [11] Success of enable NAV-SOL
- [12] Success of disabling NAV-POSUTM (typically fails to 0 for non LEA-4P modules)
- [13] Success of enable SBAS
- [14] Success of setting CFG-RATE
- [15] Success of setting RXM-RAW (typically disabled - see USE_GPS_UBX_RXM_RAW flag to enable)
- [16] Success of setting RXM-SFRB (typically disabled - see USE_GPS_UBX_RXM_SFRB flag to enable)
- [17] Success of saving configuration to ublox memory