Navigation commands

Commands regarding the navigation software:

Navigation.getMode

The maintenance tool has its own mechanism to start and maintain the positioning software or an NTRIP encoder. As this capability is not used in every setting, the maintenance tool has a coexistence mode to support cases where the software was started by the wizardcom.py script.

To view the current navigation mode, use:
$ MSRTKF Navigation.getMode

You will get one of these responses:
UNMANAGED
Don’t automatically launches PAD or NTRIP software
WIZARD_COM_SERVICE
When a PAD instance that was started by wizardcom.py is run in service mode, maintenance tool supports the wizardcom instead of acting against it.
PAD_1D_RTCM, PAD_2D_RTCM, PAD_3D_RTCM
Launch PAD software with 1D/2D/3D RTCM mode. Automatic start and restart enabled.
PAD_1D_UBX, PAD_2D_UBX, PAD_3D_UBX
Launch PAD software with 1D/2D/3D UBX mode. Automatic start and restart enabled.
RTCM_NTRIP
Launch RTCM NTRIP software with NTP. Automatic start and restart enabled.

Navigation.getState

The maintenance tool has its own mechanism to start and maintain the positioning software or an NTRIP encoder. As this capability is not used in every setting, the maintenance tool has a coexistence mode to support cases where the software was started by the wizardcom.py script.

To view the current navigation state, use:
$ MSRTKF Navigation.getState

You will get one of these responses:

UNMANAGED
Binaries are not currently running and are not scheduled to start.
DELAY
Selected binaries are scheduled to start soon (boot delay).
STARTUP_WAIT
Selected binaries have been started but have not been verified to be functional (startup period).
RECOVER_WAIT
The selected binaries are up and have already been verified to be functional, however currently there is a problem. We have started a timer for the problem to disappear before we enforce a module-restart.
NOMINAL
The selected binaries are up and have been verified to be functional, moreover there is currently no indication of a problem with the navigation binaries.
UNKNOWN
There is currently no information on the state of the navigation software.

Navigation.setMode

The maintenance tool has its own mechanism to start and maintain the positioning software or an NTRIP encoder. As this capability is not used in every setting, the maintenance tool has a coexistence mode to support cases where the software was started by the wizardcom.py script.

To change the current navigation mode, use:
$ MSRTKF Navigation.setMode -mode <MODE>
$ MSRTKF Navigation.setMode -temp true -mode <MODE>

where <MODE> is one of:

UNMANAGED
Don’t automatically launches PAD or NTRIP software
WIZARD_COM_SERVICE
When a PAD instance that was started by wizardcom.py is run in service mode, maintenance tool supports the wizardcom instead of acting against it.
PAD_1D_RTCM, PAD_2D_RTCM, PAD_3D_RTCM
Launch PAD software with 1D/2D/3D RTCM mode. Automatic start and restart enabled.
RTCM_NTRIP
Launch RTCM NTRIP software with NTP. Automatic start and restart enabled.

Navigation.RTCM.calibrate

Uses PAD software to obtain a precise absolute position of the antenna. This can be triggered by the ANavS GUI.

Use:

$ MSRTKF Navigation.RTCM.calibrate

optional parameters:

-fix true  only consider epochs with RTK fix. This requires RTCM corrections to be configured.
-externalConfig true  don’t touch PAD Software’s configuration file. If you did not provide a valid configuration yourself, the behavior is undefined.
-epochs <EPOCHS>  Number of epochs used for position averaging. Defaults to 200 in least-squares mode and 10 in RTK-fixed mode.
-noise <NOISE>  Threshold that the estimated error has to undercut before averaging may start. Defaults to 5m. Note that absolute GNSS code measurements are only precise to a few meters.

Navigation.capture

Obtain the precise coordinates of a point of interest.
These coordinates are stored to the ~/device/settings file or, with the -forward option, sent to the configured base station.

Use:
$ MSRTKF Navigation.capture -id <ID>

where <ID> is the name of the PoI.

optional parameters:

-fix true only consider epochs with RTK fix. This requires RTCM corrections to be configured.
-forward true send coordinates to the configured base station.
-epochs <EPOCHS> Number of epochs used for position averaging. Defaults to 200 in least-squares mode and 10 in RTK-fixed mode.

Navigation.pushPoI

Push a coordinate that was recorded by Navigation.capture to the base station.

Use:
$ MSRTKF Navigation.pushPoI -id <ID>
to push a single record with name <ID>

Navigation.restart

Restart the currently active navigation software.

Use:
$ Navigation.restart