Adjust GSV to 1Hz when fix rate is >1Hz.

Author: nseidle

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -236,7 +236,7 @@ char platformPrefix[55] = "Surveyor"; //Sets the prefix for broadcast names
 
 HardwareSerial serialGNSS(2); //TX on 17, RX on 16
 
-#define SERIAL_SIZE_RX (1024 * 6) //Should match buffer size in BluetoothSerial.cpp. Reduced from 16384 to make room for WiFi/NTRIP server capabilities
+#define SERIAL_SIZE_RX (1024 * 6) //Must be large enough to handle incoming ZED UART traffic. See F9PSerialReadTask().
 TaskHandle_t F9PSerialReadTaskHandle = NULL; //Store handles so that we can kill them if user goes into WiFi NTRIP Server mode
 const uint8_t F9PSerialReadTaskPriority = 1; //3 being the highest, and 0 being the lowest
 

Firmware/RTK_Surveyor/menuGNSS.ino

@@ -327,6 +327,18 @@ void setMeasurementRates(float secondsBetweenSolutions)
   {
     settings.measurementRate = measRate;
     settings.navigationRate = navRate;
+
+    //If enabled, adjust GSV NMEA to be reported at 1Hz to avoid swamping SPP connection
+    if (settings.ubxMessages[8].msgRate > 0)
+    {
+      float measurementFrequency = (1000.0 / settings.measurementRate) / settings.navigationRate;
+      if (measurementFrequency < 1.0) measurementFrequency = 1.0;
+
+      Serial.printf("Adjusting GSV setting to %f\n\r", measurementFrequency);
+
+      setMessageRateByName("UBX_NMEA_GSV", measurementFrequency); //Update GSV setting in file
+      configureMessageRate(COM_PORT_UART1, settings.ubxMessages[8]); //Update rate on module
+    }
   }
   else
   {

Firmware/RTK_Surveyor/menuMessages.ino

@@ -137,7 +137,12 @@ void menuMessages()
       setMessageRateByName("UBX_NMEA_GGA", 1);
       setMessageRateByName("UBX_NMEA_GSA", 1);
       setMessageRateByName("UBX_NMEA_GST", 1);
-      setMessageRateByName("UBX_NMEA_GSV", 4); //One update per 4 fixes to avoid swamping SPP connection
+
+      //We want GSV NMEA to be reported at 1Hz to avoid swamping SPP connection
+      float measurementFrequency = (1000.0 / settings.measurementRate) / settings.navigationRate;
+      if(measurementFrequency < 1.0) measurementFrequency = 1.0;
+      setMessageRateByName("UBX_NMEA_GSV", measurementFrequency); //One report per second
+
       setMessageRateByName("UBX_NMEA_RMC", 1);
       Serial.println("Reset to Surveying Defaults (NMEAx5)");
     }
@@ -147,7 +152,12 @@ void menuMessages()
       setMessageRateByName("UBX_NMEA_GGA", 1);
       setMessageRateByName("UBX_NMEA_GSA", 1);
       setMessageRateByName("UBX_NMEA_GST", 1);
-      setMessageRateByName("UBX_NMEA_GSV", 4); //One update per 4 fixes to avoid swamping SPP connection
+      
+      //We want GSV NMEA to be reported at 1Hz to avoid swamping SPP connection
+      float measurementFrequency = (1000.0 / settings.measurementRate) / settings.navigationRate;
+      if(measurementFrequency < 1.0) measurementFrequency = 1.0;
+      setMessageRateByName("UBX_NMEA_GSV", measurementFrequency); //One report per second
+
       setMessageRateByName("UBX_NMEA_RMC", 1);
 
       setMessageRateByName("UBX_RXM_RAWX", 1);