Base Station Piksi Multi Firmware v1.1.27
Marco Tranzatto edited this page Nov 30, 2017
·
2 revisions
The following configuration assumes you are using UART 1 to plug Piksi to the on-board PC and an Xbee is attached to UART 0 of Piksi Multi.
Remember to adjust baudrate settings in ROS driver!
Each parameter "XXX.YYY" is located in the "Settings" tab of Swiftnav console, in section "XXX" and is called "YYY".
The following tables shows only the parameters that are different form the default ones, i.e. the ones you need to change!
| Parameter (Section Name) | Value | Description |
|---|---|---|
sbp.obs_msg_max_size |
254 | do not split serial messages. |
solution.output_every_n_obs |
1 | use max rate to send corrections. |
broadcast.surveyed_position |
True | send out surveyed position. |
uart0.enabled_sbp_messages |
72,74,65535 | send corrections over Xbee. |
uart0.baudrate |
115200 | baudrate Xbee. |
uart1.enabled_sbp_messages |
(empty field) | forward everything to on-board PC. |
uart1.baudrate |
230400 | baudrate connection with on-board PC. |
Once you change uart1.baudrate then you will have to close and open the console again and used the new badrate: 230400.