[Gearbox-devel] HW-review gbxnovatelacfr

[Michael M. <m....@ca...>]

Hi guys,

Alen Alempijevic from UTS did some tests on the gbxnovatelacfr driver. 
He's not subscribed to the devel list, so he asked me to forward it.

Many thanks to Alen.

With a second review I'm going to move it over to src tonight.

Cheers,
Michael

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Setup:
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Hardware:
Novatel Pro-Pak-G2 plus receiver
-assorted cables (RS232 connection)
- GPS antenna
-12V power suuply

Software:
gbxnovatelacfrtest, built as per example.readme.

Tests:
======
-All tests performed with Novatel GPS unit, no IMU unit connected on 
moving vehicle

-Antenna cable disconnected from GPS receiver:
Driver displays [Antenna power status: Powered; Antenna open flag: Open; 
Antenna shorted flag: OK], terminates after 10 seconds

-Started driver with antenna disconnected, connected antenna as soon as 
possible:
Driver displays [Antenna power status: Powered; Antenna open flag: Open; 
Antenna shorted flag: OK], termination occurs after 10 seconds without 
reflecting the status, possible insufficient time to detect hardware 
change..

-Connected driver at different baud rates (19200, 38400, 57600, 115200)
Driver displays BestGpsPos data, no error messages and  terminates after 
10 seconds

-Connected driver at 9600 baud rates
Driver displays error message and terminates
The combined data-rate of the messages/message rates you configured 
excceeds the configured baud rate 28800 / 9600
Invalid configuration!

Roughly verified:
=================
-Temperature (ambient, rising during parking under sunlight).
- Position reported: drove the vehicle with GPS mounted and position 
reflect the vehicle motion
-Velocity reported: drove the vehicle with GPS mounted and recorded 
velocity readings appeared to reflect the vehicle motion

Not Tested:
===========
-Connecting the IMU and getting the integrated solution

Questions:
==========
- SBAS and RTK
Is there a way to select these as configuration parameters on command line?
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-- 
Michael Moser                                         Research Student
Australian Centre for Field Robotics   University of Sydney, Australia
http://www.acfr.usyd.edu.au                      http://www.cas.edu.au
Phone: +61 2 9036 9691    Mobile: 0415 917 607    Fax: +61 2 9351 7474