Base rtcm support #33
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Looks good. Could you run |
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The tests pass when I run I'll expect to be able to test the code on a ZED-F9P and report my results (as to whether this new code works correctly) relatively soon. |
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This PR adds further support for the fixed base station and moving rover used case.
A basic README update for the use case has been added, along with 2 launch files for this use case. Additionally, missing parameters and support for the
UBX-NAV-SVINtype message has been added. The parameters setup in the launch file have been mostly setup to match the parameters specified in section Appendix C of the ZED-F9P Integration manual. The new parameters have been added using information from the u-blox F9 HPG 1.51 Interface description document.Additionally, minor (non-breaking) changes were made to existing launch files to improve usability/modularity and reduce unused code.
Please let me know if you'd like me to make any changes (especially with the naming of variables and the casing of the new
UBXNavSvin.msgand its relevant code that has been added - I used upper and lowercase to try and replicate the rest of the code as best as possible).I haven't tested these changes yet, but I'll likely be able to do so within the next few days. I'm setting up this PR now so that it can be reviewed/commented on as necessary. The code on this PR does build successfully though.