NEO-M8U.yaml

# Unique Parameters for Ublox ROS driver for the NEO-M8U:
# This configuration file was written following and referencing the UBX-13002887 document.

debug: 1
# save:
#   mask: 3103    Uncommenting the above saves this configuration file to the non-volatile flash. 
#   device: 4     Unnecessary to remove since ROS runs this script every time it launches

# Sub-Section 0 PRT - Port, USB, UART, SPI and DDC settings

device: /dev/ttyACM1

uart1:
  baudrate: 115200
  in: 1               # UBX Configuration Inputs Only                
  out: 2              # NMEA Outputs Only
  
frame_id: gps

# Sub-Section 1 MSG - Message Settings (enable/disable, update rate)
subscribe:
  all: true
  aid:
    all: false

# Sub-Section 2 INF - Information Output Settings (Errors, Warnings, Notice, Test etc.)
inf:
  all: true
      
publish:
  all: true

# Sub-Section 3 NAV - Settings for Navigation Parameters, Receiver Datum, Measurement and Navigation Rate, SBAS, NMEA and
                     # Time mode
                     
# NAV5Parameters
dynamic_model: 0    # Zero is for Portable Devices
fix_mode: 3         # Auto 2D/3D Fix Mode. 3D = Altitude + Long. + Lat., 2D = Long. + Lat.
                    # 2D Requires 3 Satellites, 3D Requires 4 Satellites
                    # 3D takes precedent unless only 3 visible satellites
dr_limit: 0


# NAVX5 Parameters


# DAT Parameters
dat:
  set: false

# RATE Parameters
rate: 4             # Measurement rate in Hz which is 1 relative to nav_rate
nav_rate: 4         # Number of Measurement cycles
# Note that for NEO-M8U which is a UDR device 1 is reccommended for nav_rate

# SBAS Parameters
sbas:
  usage: 1          # Using SBAS as a Geo ranging source i.e. Augmenting satellites for better coverage
                     
# NMEA Parameters
nmea:
  set: true
  version: 65         # Hexadecimal for NMEA version 4.1 supported by NEO-M8U. 4.1 must be used to support Galileo and is set here!!
  num_sv: 8           # Number of satellite's that can spit information from each TalkerID (i.e. GN = Glonass talker ID)
  sv_numbering: 1
  compat: true
  consider: true
  limit82: true
  high_prec: true
  filter:
    pos: false
    msk_pos: false
    time: false
    date: false
    gps_only: false
    track: false
  gnssToFilter:       # True = Disables reporting of those satellites, False = Enables Reporting
    gps: false
    sbas: false
    qzss: true
    glonass: false
    beidou: true
  main_talker_id: 1   # Sets the main talker ID to GPS
  gsv_talker_id: 1    # Sets the default main talker ID to GPS
  bds_talker_id: [0,0]
  
# TMODE2 Parameters
         
# Sub-Section 4 RXM - GNSS Settings, Power Mode Settings, Time Pulse Settings, Jamming/Interference Monitor Settings
# GNSS Parameters
gnss:
  gps: true
  glonass: true
  beidou: false
  galileo: true
  qzss: false
  sbas: true
  imes: false
  
#Sub-Section 9 RINV - Remote Inventory Configuration


# Sub-Section 10 ANT - Antenna Configuration


# Sub-Section 11 LOG - Logging Configuration


# Sub-Section 12 FTS - Disciplining Configuration. Only applicable to th eTime & Frequency Sync product