Log RTK configuration and statistics.

The statistics can be reset with reset_rtk_stats (function).

Set minimum noise on position and velocity

Configure how solution is timestamped.

The following modes are available:

Configure local clock offset with respect to UTC time.

This is used only in timestamp mode clock_utc_offset (see set_timestamp_mode (attribute)). offset is such that local clock + offset = UTC time.

Configure the cartesian frame for the published solution.

This setting influences the mapping of the X, Y and Z of the local cartesian frame. The default is frame_nwu.

Connect to the hardware.

Disconnect from the hardware

Configure the UDP port for RTK correction streaming.

RTK data (see send_rtcm (activity)) is streamed from this source UDP port. Requests for RTK data from remote components (see connect_rtk (activity)) should thus be made to this port number.

Receive RTK data from a remote gps-genom3 component.

In mobile station mode, the component can be configured to accept RTK data from a remote gps-genom3 component configured in base station mode.

This service asks the remote host identified by its name or IP number (in number-and-dots notation) and the port number (see set_rtk_port (activity)) to start streaming any available RTK data to this component.

Set the ENU reference position.

The position published in the state (out) port is computed as ENU (east, north, up) coordinates relative to the given global reference in LLH coordinates (latitude, longitude, height above ellipsoid).

Get the ENU reference position.

See set_reference (function).

Set solution computation rate.

Configure the hardware to compute solutions at the hz frequency (in Hz). get_param (attribute) returns the actual frequency.

Set satellites minimum elelevation.

Configure the hardware to use only satellites above this horizon (in deg). get_param (attribute) returns the current setting.

Unset FIX mode.

This service makes the component stop acting as a fixed base station and puts it back in mobile receiver mode. See fix (activity) and fix_here (activity).

Set FIX mode at given position.

After invoking this service, the component is configured in fixed base station mode. In particular, it will start providing RTCM corrections to clients requesting it (see send_rtcm (activity)).

Depending on the underlying hardware, the given llh position must be accurate enough so that the receiver can actually switch to base station mode. The required accurarcy must typically be better than 10 meters. The precision given in sigma should reflect the estimated precision of the llh position, although this precision is not used by the hardware.

The fix member of the info (out) port will switch to fix_fixed mode when the connected hardware will actually have successfully switched to the base station mode.

Average current position and set FIX mode.

This service is similar to fix (activity), but uses the current receiver position as the desired fixed position. The current position is first averaged for at most avg_time number of seconds or until the averaged position precision becomes better than the requested precision. Then, the fix (activity) service is invoked with the averaged result. The receiver should not be moved during the averaging period.

When successful, the service returns the averaged position in llh and enu and the obtained precision in sigma. This can be later reused as a parameter of the fix (activity) service to save the averaging time and quickly switch to the base sation mode when the receiver position is already known.

The averaging time should be long enough so that a sufficient precision is obtained on the position. If the desired precision cannot be achieved after the requested avg_time, the service will stop and raise an error. Depending on the setup quality, the required time can be as much as several dozens of minutes.

Send new RTCM corrections.

The RTCM message identified by rtcmid is streamed on the UDP port set in set_rtk_port (activity) (by default 8083) at the frequency corresponding to period.

The messages are sent at UTC timestamps multiple of period, plus an offset. For instance, to stream data at 1 second afer every minute, set the period to 60 and offset to 1.

Not all periods and messages are supported by all devices. In case of an unsupported setting, the e_sys/EINVAL exception will be raised.

Stop sending and ignore certain RTCM messages.

In base station mode, the RTCM message identified by rtcmid are not streamed anymore. See send_rtcm (activity).

In mobile station mode, any incoming RTCM message with this rtcmid will be silently ignored. This is useful to precisely configure what the hardware device will see, especially to filter out messages supported by the hardware but that are not wanted in a specific configuration. It is also useful to suppress diagnostic messages about incoming messages that are not supported by the hardware.

Accept certain RTCM messages.

In mobile station mode, accept incoming RTCM message with this rtcmid. This is ony useful if a message has been previously cancelled. See cancel_rtcm (activity).

Stop NTP service.

This resets all NTP communication and disables automatic UTC offset computation. If in clock_local_ntp timestamp mode (see set_timestamp_mode (attribute)), published positions will have a 0 timestamp.

Start NTP service.

This adds one NTP peer and starts automatic UTC offset computation. This is required for clock_local_ntp timestamp mode (see set_timestamp_mode (attribute)) to work.

Additional NTP peers can be added by invoking this service multiple time.

Retrieve NTP synchornization information.

The returned offset is the current estimation of the local clock offset with respect to UTC time. It is such that local clock + offset = UTC time

jitter is an estimate of the precision and stats is a messge showing the status of all NTP peers.

Monitor fix quality changes.

This service waits until the fix quality is at least target (for trigger equal to monitor_above) or worse than target (for trigger equal to monitor_below).

Zero out rtk_stats (attribute) counters.

Log solution

Stop logging

Show missed log entries