Begin moving to val get/set method for config of ZED

Author: nseidle

Firmware/RTK_Surveyor/Base.ino

@@ -21,10 +21,9 @@ bool configureUbloxModuleBase()
   const int baseNavigationFrequency = 1;
 
   //In Base mode we force 1Hz
-  if (i2cGNSS.getNavigationFrequency(maxWait) != baseNavigationFrequency)
-    response &= i2cGNSS.setNavigationFrequency(baseNavigationFrequency, maxWait);
+  response &= setRate(1);
   if (response == false)
-    Serial.println("setNavigationFrequency failed");
+    Serial.println("Set rate failed");
 
   i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
 

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -25,11 +25,11 @@
 const int FIRMWARE_VERSION_MAJOR = 2;
 const int FIRMWARE_VERSION_MINOR = 6;
 
-#define COMPILE_WIFI //Comment out to remove WiFi functionality
-#define COMPILE_AP //Requires WiFi. Comment out to remove Access Point functionality
-#define COMPILE_ESPNOW //Requires WiFi. Comment out to remove ESP-Now functionality.
-#define COMPILE_BT //Comment out to remove Bluetooth functionality
-#define COMPILE_L_BAND //Comment out to remove L-Band functionality
+//#define COMPILE_WIFI //Comment out to remove WiFi functionality
+//#define COMPILE_AP //Requires WiFi. Comment out to remove Access Point functionality
+//#define COMPILE_ESPNOW //Requires WiFi. Comment out to remove ESP-Now functionality.
+//#define COMPILE_BT //Comment out to remove Bluetooth functionality
+//#define COMPILE_L_BAND //Comment out to remove L-Band functionality
 #define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 
 //Define the RTK board identifier:

Firmware/RTK_Surveyor/Rover.ino

@@ -19,8 +19,7 @@ bool configureUbloxModuleRover()
   i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
 
   //The first thing we do is go to 1Hz to lighten any I2C traffic from a previous configuration
-  if (i2cGNSS.getNavigationFrequency(maxWait) != 1)
-    response &= i2cGNSS.setNavigationFrequency(1, maxWait);
+  response &= setRate(1, false); //Don't record to settings, this is just a temporary rate change
   if (response == false)
     Serial.println("Set rate failed");
 
@@ -81,11 +80,8 @@ bool configureUbloxModuleRover()
   //The last thing we do is set output rate.
   response = true; //Reset
 
-  if (i2cGNSS.getMeasurementRate() != settings.measurementRate || i2cGNSS.getNavigationRate() != settings.navigationRate)
-  {
-    float secondsBetweenSolutions = (settings.measurementRate * settings.navigationRate) / 1000.0;
-    setMeasurementRates(secondsBetweenSolutions); //This will set settings.measurementRate, settings.navigationRate, and GSV message
-  }
+  float secondsBetweenSolutions = (settings.measurementRate * settings.navigationRate) / 1000.0;
+  setRate(secondsBetweenSolutions); //This will set settings.measurementRate, settings.navigationRate, and GSV message
 
   response &= i2cGNSS.saveConfiguration(); //Save the current settings to flash and BBR
   if (response == false)