package apollo.drivers.gnss.config

Get desktop application:
View/edit binary Protocol Buffers messages

• optional Stream data = 1

  The driver reads data from this port. This port should always be provided.

• optional Stream command = 2

  If given, the driver sends commands to this port. If not given, the driver sends commands to the data port.

• optional Stream rtk_from = 3

  The driver gets RTK correction data from this remote port. Usually this is an NTRIP port.

• optional Stream rtk_to = 4

  If given, the driver sends RTK correction data to this port. If not given, the driver sends RTK correction data to the data port.

• repeated bytes login_commands = 5

• repeated bytes logout_commands = 6

• oneof device_config

  • NovatelConfig novatel_config = 7

  • UbloxConfig ublox_config = 8

• optional Config.RtkSolutionType rtk_solution_type = 9

• optional ImuType imu_type = 10

• optional string proj4_text = 11

• optional TF tf = 12

• optional string wheel_parameters = 13

  If given, the driver will send velocity info to novatel with command stream

• optional string gpsbin_folder = 14

Used in: Config

• RTK_RECEIVER_SOLUTION = 1

• RTK_SOFTWARE_SOLUTION = 2

Used in: Config

• IMAR_FSAS = 13

  We currently use the following IMUs. We'll extend this list when a new IMU is introduced.

  iMAR iIMU-FSAS

• ISA100C = 26

  Northrop Grumman Litef ISA-100C

• ADIS16488 = 31

  Analog Devices ADIS16488

• STIM300 = 32

  Sensonor STIM300

• ISA100 = 34

  Northrop Grumman Litef ISA-100

• ISA100_400HZ = 38

  Northrop Grumman Litef ISA-100

• ISA100C_400HZ = 39

  Northrop Grumman Litef ISA-100

• CPT_XW5651 = 40

  IMU@SPAN-CPT, and XingWangYuda 5651

• G320N = 41

  EPSON G320N

• UM442 = 42

  UM442

• IAM20680 = 57

  InvenSense-IAM20680

Device-specific configuration.

Used in: Config

• optional int32 imu_orientation = 1

  See Page 75 of SPAN on OEM6 Firmware Reference Manual for details.

Used in: Config

• optional Stream.Format format = 1

• oneof type

  • Stream.Serial serial = 2

  • Stream.Tcp tcp = 3

  • Stream.Udp udp = 4

  • Stream.Ntrip ntrip = 5

• optional bool push_location = 6

Used in: Stream

• UNKNOWN = 0

• NMEA = 1

• RTCM_V2 = 2

• RTCM_V3 = 3

• NOVATEL_TEXT = 10

• NOVATEL_BINARY = 11

• UBLOX_TEXT = 20

• UBLOX_BINARY = 21

Used in: Stream

• optional bytes address = 1

  Something like "1.1.1.1".

• optional int32 port = 2

• optional bytes mount_point = 3

  Something like "demo".

• optional bytes user = 4

• optional bytes password = 5

• optional uint32 timeout_s = 6

Used in: Stream

• optional bytes device = 1

  Something like "/dev/ttyXXX".

• optional int32 baud_rate = 2

  In general, we assumes no parity, 8 data bits, 1 stop bit, no handshaking, break detection enabled. If not, add more fields here.

Used in: Stream

• optional bytes address = 1

  Something like "192.168.10.6".

• optional int32 port = 2

Used in: Stream

• optional bytes address = 1

  Something like "192.168.10.6".

• optional int32 port = 2

Used in: Config

• optional string frame_id = 1

• optional string child_frame_id = 2

• optional bool enable = 3

Used in: Config

(message has no fields)