201 lines
5.1 KiB
Python
201 lines
5.1 KiB
Python
# -*- coding: utf-8 -*-
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# 星网宇达组合导航配置
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# ntrip差分帐号配置
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# 输出配置
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# 杆臂配置
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# 航向补偿配置
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# ......
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import serial
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import time
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imu_serial = serial.Serial("/dev/ttyS0", 115200)
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# 恢复出厂配置
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factory_str = "$cmd,factory,reset*ff"
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imu_serial.write(factory_str.encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 配置gpfpd协议透传 50HZ
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gpfpd_str = "$cmd,output,com0,gpfpd,0.02*ff"
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imu_serial.write(gpfpd_str.encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 配置gphpd协议透传 5Hz
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gphpd_str = "$cmd,output,com0,gphpd,0.2*ff"
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imu_serial.write(gphpd_str.encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 配置gtimu输出 50HZ
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gpimu_str = "$cmd,output,com0,gtimu,0.02*ff"
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imu_serial.write(gpimu_str.encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 配置千寻查分账号
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# 设置组合导航ip地址 根据路由器网络来配置
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local_ip_str = "$cmd,set,localip,192,168,8,122*ff"
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imu_serial.write(local_ip_str.encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 设置子网掩码
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local_mask_str = "$cmd,set,localmask,255,255,255,0*ff"
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imu_serial.write(local_mask_str.encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 设置网关地址
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local_gate_str = "$cmd,set,localgate,192,168,8,1*ff"
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imu_serial.write(local_gate_str.encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 设置千寻账号网络服务器及端口
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netipport_str = "$cmd,set,netipport,120,253,226,97,8002*ff"
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# netipport_str = "$cmd,set,netipport,rtk,ntrip,qxwz,com,8002*ff"
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imu_serial.write(netipport_str.encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 设置千寻账号用户名和密码 user和password换成自己的账号和密码
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cors_account_str = "$cmd,set,netuser,cvmh5553:ap367r6um*ff"
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imu_serial.write(cors_account_str.encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 设置挂载点
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# mountpoint_str = "$cmd,set,mountpoint,RTCM32_GGB*ff"
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mountpoint_str = "$cmd,set,mountpoint,RTCM33_GRCEJ*ff"
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imu_serial.write(mountpoint_str.encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 激活 ntrip
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ntrip_str = "$cmd,set,ntrip,enable,enable*ff"
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imu_serial.write(ntrip_str.encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 航向补偿 左边为主天线
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heading_offset_str ="$cmd,set,headoffset,0*ff"
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imu_serial.write(heading_offset_str.encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 杆臂配置
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leverarm_str = "$cmd,set,leverarm,gnss,0.0,0.0,0.4*ff"
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imu_serial.write(leverarm_str.encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 同样，将导航模式一条一条输入
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# 精对准
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imu_serial.write("$cmd,set,navmode,FineAlign,off*ff".encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 粗对准
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imu_serial.write("$cmd,set,navmode,coarsealign,off*ff".encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 动态对准
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imu_serial.write("$cmd,set,navmode,dynamicalign,on*ff".encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# gnss双精度
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imu_serial.write("$cmd,set,navmode,gnss,double*ff".encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 打开车载模式
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imu_serial.write("$cmd,set,navmode,carmode,on*ff".encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 打开零速校正
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imu_serial.write("$cmd,set,navmode,zupt,off*ff".encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 固件索引
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imu_serial.write("$cmd,set,navmode,firmwareindex,0*ff".encode("utf-8"))
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time.sleep(0.5)
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 保存设置配置
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save_str = "$cmd,save,config*ff"
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imu_serial.write(save_str.encode("utf-8"))
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time.sleep(0.5)
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# 完事后重新上电 |