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To check status or to troubleshoot the problem you can use MAVLINK console.

Barometer

By default, an external barometer will be the primary barometer. All we have to do is to enable a barometer on GNSS.

Enabling

Zubax GNSS is equipped with a command-line interface (CLI) exposed over a serial port that provides access to the device’s internal command shell. Refer to the relevant documentation for details.

To use command-line interface attach GNSS to computer using a USB interface.

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GNSS will appear as COM port.

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Open COM port under the following configurations.

UART configuration

  • Baud rate: 115200
  • Word length: 8
  • Parity: None
  • Stop bits: 1

Terminal configuration

Command-line interface parameters:

  • Line ending: CR+LF (0x0D+0x0A, \r\n)
  • Local echo: Off
  • Local line editing: Off

Execute the following:


/* uavcan.pubp-pres "set uavcan.pubp-pres <value>"
Publication interval of uavcan.equipment.air_data.StaticPressure. Zero means disabled.
Default value: 0
Units: Microsecond */
   
cfg set uavcan.pubp-pres 100
cfg save
reboot


To debug or to check the status of barometer you can use Mavlink console. 

MAVLink Console

The MAVLink Console ( Analyze →  Mavlink Console  ) allows you to connect to the PX4 nsh shell and send commands.

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Command uavcan status will display the status of uavcan and all sensors attached to it.

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Command listener sensor_mag will display all compasses attached to the system and their status.


Command listener sensor_baro will display all barometers attached to the system and their status.

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Command sensors status will display the status of all sensors and their priority. As you can see the external compass has the highest priority.

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