I’m using the Ublox ROS driver for obtaining /fix messages. Both the moving base and moving rover boards have measurement rate set to 125ms for effective 8Hz output. The baud rate on uart1 is 115200. When I observe the rate of /fix topic , it averages around 4 Hz instead of 8Hz. What reason could there be for getting a reduced output frequency ?
Check if you have last firmware version (1.13). For moving base above 1-2 Hz, it’s recommended to increase communication baudrate to 460kbps, as latency become critical for a fast relative position calculation.
Thanks. I updated the baud rate to 460800. The output starts at 8hz but I observed that as the covariance of the gps fix reduces(goes into FIXED solution with high accuracy) the frequency also drops to around 4hz.
How do I check the firmware version ?
The firmware version I have is 1.11 . Do you recommend I upgrade to latest version to solve this issue ? If so, can you tell me how to do so for both the simpleRTK2B and the Lite board. I purchased these as part of the RTK heading kit along with XLR radio. Everything came pre-configured.
Dear akshaya dayal,
Definitely you should upgrade, maximum update rate with 1.11 is 5Hz, so what you see it’s normal.
If you follow instructions in this page you should be able to set everything again with 1.13: http://www.ardusimple.com/configuration-files