Classes
struct	Setting

Functions
GPSCommandOutcome	rejection (std::string_view reply)
	A NAK rejects any command.

GPSCommandOutcome	acknowledgement (std::string_view reply)
	A $PASHS setting is acknowledged by an ACK.

QByteArray	line (std::string_view command)
	command as one CR/LF-terminated line.

QByteArray	line (std::string_view command, char port)
	command for port as one CR/LF-terminated line.

QByteArray	surveyStart (std::chrono::seconds duration)

QByteArray	fixedPosition (const GPSEllipsoidPosition &position)

GPSCommandSequence::Command	fixedPositionCommand (const GPSEllipsoidPosition &position)
	The fixedPosition() command, acknowledged by an ACK and labelled without its coordinates.

GPSCommandSequence	sequence (std::span< const Setting > settings, char port)
	settings for port, each acknowledged by an ACK.

Variables
constexpr std::chrono::milliseconds	RESPONSE_TIMEOUT {200}
	Per attempt, for every command.

constexpr std::array	BAUD_RATES {9600u, 38400u, 19200u, 57600u, 115200u}
	Rates the port query probes, in order. Trimble receivers default to 115200.

constexpr std::string_view	PORT_QUERY = "$PASHQ,PRT"

constexpr unsigned	PORT_QUERY_ATTEMPTS = 2

constexpr unsigned	LINK_BAUD = 115200

constexpr std::string_view	LINK_SPEED = "$PASHS,SPD,{port},9"

constexpr std::chrono::milliseconds	LINK_SPEED_SETTLE {200}

constexpr unsigned	PORT_QUERY_ATTEMPTS_AT_LINK_BAUD = 10

constexpr std::string_view	BOARD_QUERY = "$PASHQ,RID"
	Board identification; only an MB-Two (BASE_BOARD) can run as a base station.

constexpr std::string_view	BASE_BOARD = "MB2"

constexpr std::array	OUTPUTS
	Navigation output. Some receivers do not acknowledge some of these (GSV, for example), so none is required.

constexpr std::array	STATION
	Station description once averaging has started (see surveyStart()).

constexpr std::array	RTCM_OUTPUTS
	RTCM3 output once the base position is known.

Detailed Description

Ashtech/Trimble receiver configuration as data, in the order it is sent. $PASHS commands set and $PASHQ commands query; the receiver answers with $PASHR. "{port}" stands for the port letter the receiver reported in $PASHR,PRT.

Useful but unused: $PASHQ,VER (firmware), $PASHQ,OPTION (installed options; an MB-Two reports, among others, W,20HZ and K,RTKBASE) and $PASHS,RST (factory reset, followed by a reboot of about 15 s).

Function Documentation

◆ acknowledgement()

GPSCommandOutcome Ashtech::Plan::acknowledgement ( std::string_view reply )

A $PASHS setting is acknowledged by an ACK.

Definition at line 29 of file AshtechPlan.cc.

References Acknowledged, and rejection().

Referenced by fixedPositionCommand(), and sequence().

◆ fixedPosition()

QByteArray Ashtech::Plan::fixedPosition ( const GPSEllipsoidPosition & position )

Fixed base, sent after the first position, then RTCM_OUTPUTS: the $PASHS,POS line for position, with unsigned ddmm.mmmmmmmm and dddmm.mmmmmmmm and hemisphere letters, and the height in metres.

Definition at line 49 of file AshtechPlan.cc.

References gpsFixedDecimal(), latitude, and longitude.

Referenced by fixedPositionCommand().

◆ fixedPositionCommand()

GPSCommandSequence::Command Ashtech::Plan::fixedPositionCommand ( const GPSEllipsoidPosition & position )

The fixedPosition() command, acknowledged by an ACK and labelled without its coordinates.

Definition at line 58 of file AshtechPlan.cc.

References acknowledgement(), fixedPosition(), gpsCommand(), and RESPONSE_TIMEOUT.

◆ line() [1/2]

QByteArray Ashtech::Plan::line ( std::string_view command )

command as one CR/LF-terminated line.

Definition at line 34 of file AshtechPlan.cc.

Referenced by line(), and sequence().

◆ line() [2/2]

QByteArray Ashtech::Plan::line	(	std::string_view	command,
		char	port
	)

command for port as one CR/LF-terminated line.

Definition at line 39 of file AshtechPlan.cc.

References line().

◆ rejection()

GPSCommandOutcome Ashtech::Plan::rejection ( std::string_view reply )

A NAK rejects any command.

Definition at line 24 of file AshtechPlan.cc.

References Pending, and Rejected.

Referenced by acknowledgement().

◆ sequence()

GPSCommandSequence Ashtech::Plan::sequence	(	std::span< const Setting >	settings,
		char	port
	)

settings for port, each acknowledged by an ACK.

Definition at line 64 of file AshtechPlan.cc.

References acknowledgement(), gpsCommand(), line(), RESPONSE_TIMEOUT, and GPSCommandSequence::steps.

◆ surveyStart()

QByteArray Ashtech::Plan::surveyStart ( std::chrono::seconds duration )

Survey-in base, sent after the first position: the $PASHS,POS,AVG line averaging the position over duration. Its $PASHR,RECEIPT start receipt acknowledges it, and the finish receipt carries the averaged position.

Definition at line 44 of file AshtechPlan.cc.

Variable Documentation

◆ BASE_BOARD

constexpr std::string_view Ashtech::Plan::BASE_BOARD = "MB2"

inlineconstexpr

Definition at line 44 of file AshtechPlan.h.

◆ BAUD_RATES

constexpr std::array Ashtech::Plan::BAUD_RATES {9600u, 38400u, 19200u, 57600u, 115200u}

inlineconstexpr

Rates the port query probes, in order. Trimble receivers default to 115200.

Definition at line 31 of file AshtechPlan.h.

Referenced by UBX::Protocol::configure().

◆ BOARD_QUERY

constexpr std::string_view Ashtech::Plan::BOARD_QUERY = "$PASHQ,RID"

inlineconstexpr

Board identification; only an MB-Two (BASE_BOARD) can run as a base station.

Definition at line 43 of file AshtechPlan.h.

◆ LINK_BAUD

constexpr unsigned Ashtech::Plan::LINK_BAUD = 115200

inlineconstexpr

The link ends at LINK_BAUD. From another rate, LINK_SPEED (SPD code 9) switches the receiver without a reply; the host keeps receiving for LINK_SPEED_SETTLE, follows, and the port query confirms the receiver at the new rate.

Definition at line 37 of file AshtechPlan.h.

◆ LINK_SPEED

constexpr std::string_view Ashtech::Plan::LINK_SPEED = "$PASHS,SPD,{port},9"

inlineconstexpr

Definition at line 38 of file AshtechPlan.h.

◆ LINK_SPEED_SETTLE

constexpr std::chrono::milliseconds Ashtech::Plan::LINK_SPEED_SETTLE {200}

inlineconstexpr

Definition at line 39 of file AshtechPlan.h.

◆ OUTPUTS

constexpr std::array Ashtech::Plan::OUTPUTS

inlineconstexpr

Initial value:

{
    Setting{"$PASHS,POP,20", false},                  
    Setting{"$PASHS,SNS,SOL", false},
    Setting{"$PASHS,NME,ALL,{port},OFF", false},      
    Setting{"$PASHS,ATM,ALL,{port},OFF", false},      
    Setting{"$PASHS,OUT,{port},ON", false},           
    Setting{"$PASHS,NME,ZDA,{port},ON,3", false},     
    Setting{"$PASHS,NME,GST,{port},ON,3", false},     
    Setting{"$PASHS,NME,POS,{port},ON,0.05", false},  
    Setting{"$PASHS,NME,GSV,{port},ON,1", false},     
}

Navigation output. Some receivers do not acknowledge some of these (GSV, for example), so none is required.

Definition at line 47 of file AshtechPlan.h.

◆ PORT_QUERY

constexpr std::string_view Ashtech::Plan::PORT_QUERY = "$PASHQ,PRT"

inlineconstexpr

Definition at line 32 of file AshtechPlan.h.

◆ PORT_QUERY_ATTEMPTS

constexpr unsigned Ashtech::Plan::PORT_QUERY_ATTEMPTS = 2

inlineconstexpr

Definition at line 33 of file AshtechPlan.h.

◆ PORT_QUERY_ATTEMPTS_AT_LINK_BAUD

constexpr unsigned Ashtech::Plan::PORT_QUERY_ATTEMPTS_AT_LINK_BAUD = 10

inlineconstexpr

Definition at line 40 of file AshtechPlan.h.

◆ RESPONSE_TIMEOUT

constexpr std::chrono::milliseconds Ashtech::Plan::RESPONSE_TIMEOUT {200}

inlineconstexpr

Per attempt, for every command.

Definition at line 28 of file AshtechPlan.h.

Referenced by fixedPositionCommand(), and sequence().

◆ RTCM_OUTPUTS

constexpr std::array Ashtech::Plan::RTCM_OUTPUTS

inlineconstexpr

Initial value:

{
    Setting{"$PASHS,NME,POS,{port},ON,0.2"},  
    Setting{"$PASHS,RT3,1074,{port},ON,1"},   
    Setting{"$PASHS,RT3,1084,{port},ON,1"},   
    Setting{"$PASHS,RT3,1094,{port},ON,1"},   
    Setting{"$PASHS,RT3,1114,{port},ON,1"},   
    Setting{"$PASHS,RT3,1124,{port},ON,1"},   
    Setting{"$PASHS,RT3,1006,{port},ON,1"},   
    Setting{"$PASHS,RT3,1033,{port},ON,31"},  
    Setting{"$PASHS,RT3,1013,{port},ON,1"},   
    Setting{"$PASHS,RT3,1029,{port},ON,1"},   
    Setting{"$PASHS,RT3,1230,{port},ON"},     
    
    Setting{"$PASHS,RT3,1005,{port},ON,1"},
    Setting{"$PASHS,RT3,1077,{port},ON,1"},
    Setting{"$PASHS,RT3,1087,{port},ON,1"},
}

RTCM3 output once the base position is known.

Definition at line 66 of file AshtechPlan.h.

◆ STATION

constexpr std::array Ashtech::Plan::STATION

inlineconstexpr

Initial value:

{
    Setting{"$PASHS,ANP,OWN,TRM55971.00"},  
    Setting{"$PASHS,STI,0001"},             
}

Station description once averaging has started (see surveyStart()).

Definition at line 60 of file AshtechPlan.h.

Classes

Functions

Variables

Detailed Description

Function Documentation

◆ acknowledgement()

◆ fixedPosition()

◆ fixedPositionCommand()

◆ line() [1/2]

◆ line() [2/2]

◆ rejection()

◆ sequence()

◆ surveyStart()

Variable Documentation

◆ BASE_BOARD

◆ BAUD_RATES

◆ BOARD_QUERY

◆ LINK_BAUD

◆ LINK_SPEED

◆ LINK_SPEED_SETTLE

◆ OUTPUTS

◆ PORT_QUERY

◆ PORT_QUERY_ATTEMPTS

◆ PORT_QUERY_ATTEMPTS_AT_LINK_BAUD

◆ RESPONSE_TIMEOUT

◆ RTCM_OUTPUTS

◆ STATION