From 1bde1eeb47e2d935d9a4e0a77f60582a4503622f Mon Sep 17 00:00:00 2001 From: patates-cipsi418 Date: Mon, 15 Apr 2024 19:52:37 -0400 Subject: [PATCH] remove some fileds to get better rate --- src/rove_bringup/config/vn_300.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/rove_bringup/config/vn_300.yaml b/src/rove_bringup/config/vn_300.yaml index 6f15439..5eb4e9e 100644 --- a/src/rove_bringup/config/vn_300.yaml +++ b/src/rove_bringup/config/vn_300.yaml @@ -34,7 +34,7 @@ vectornav: # Binary output register 1 BO1: asyncMode: 1 # send only on port 1 to save serial bandwidth - rateDivisor: 40 # 800 / 40 = 20 Hz + rateDivisor: 5 # 800 / 5 = 160 Hz # # TimeStartup # bit name meaning @@ -67,7 +67,7 @@ vectornav: commonField: 0x3ff # 10 first fields timeField: 0x0000 # TIMEGROUP_NONE imuField: 0x0000 # IMUGROUP_NONE - gpsField: 0x270 # Gnss fix, Gnss pose LLA, GNSS pose ECEF, GNSS pose uncertainity + gpsField: 0x210 # Gnss fix, GNSS pose uncertainity attitudeField: 0x0000 # ATTITUDEGROUP_NONE insField: 0xc # Vel body, pose ECEF gps2Field: 0x0000 # GPSGROUP_NONE