(window.webpackJsonp=window.webpackJsonp||[]).push([[259],{586:function(t,_,v){"use strict";v.r(_);var a=v(10),s=Object(a.a)({},(function(){var t=this,_=t._self._c;return _("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[_("h1",{attrs:{id:"fdilink指令配置"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#fdilink指令配置"}},[t._v("#")]),t._v(" FDILink指令配置")]),t._v(" "),_("p",[t._v("在 MAIN 和 NAV 端口可通过配置指令对系统进行操作，包括设置参数、修改波特率、切换端口协议、配置输出频率、进入校准模式、重启等。点击下表指令名可跳转到对应详细说明。")]),t._v(" "),_("h2",{attrs:{id:"指令一览"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#指令一览"}},[t._v("#")]),t._v(" 指令一览")]),t._v(" "),_("table",[_("thead",[_("tr",[_("th",{staticStyle:{"text-align":"left"}},[t._v("指令")]),t._v(" "),_("th",{staticStyle:{"text-align":"left"}},[t._v("简要说明")])])]),t._v(" "),_("tbody",[_("tr",[_("td",{staticStyle:{"text-align":"left"}},[_("a",{attrs:{href:"#fconfig-%E6%8C%87%E4%BB%A4"}},[t._v("#fconfig")])]),t._v(" "),_("td",{staticStyle:{"text-align":"left"}},[t._v("进入配置模式；此模式下不导航、不输出导航数据，其它配置命令仅在此模式下有效")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[_("a",{attrs:{href:"#fdeconfig-%E6%8C%87%E4%BB%A4"}},[t._v("#fdeconfig")])]),t._v(" "),_("td",{staticStyle:{"text-align":"left"}},[t._v("退出配置模式，恢复导航解算与数据输出")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[_("a",{attrs:{href:"#freboot-%E6%8C%87%E4%BB%A4"}},[t._v("#freboot")])]),t._v(" "),_("td",{staticStyle:{"text-align":"left"}},[t._v("热重启设备（未保存的配置会丢失；不重启 GNSS 模组）")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[_("a",{attrs:{href:"#freset-%E6%8C%87%E4%BB%A4"}},[t._v("#freset")])]),t._v(" "),_("td",{staticStyle:{"text-align":"left"}},[t._v("恢复出厂默认配置（用户配置清除，固件版本不变）")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[_("a",{attrs:{href:"#fsave-%E6%8C%87%E4%BB%A4"}},[t._v("#fsave")])]),t._v(" "),_("td",{staticStyle:{"text-align":"left"}},[t._v("将当前配置写入非易失存储，重启后仍生效")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[_("a",{attrs:{href:"#fante-%E6%8C%87%E4%BB%A4"}},[t._v("#fante")])]),t._v(" "),_("td",{staticStyle:{"text-align":"left"}},[t._v("查询 / 配置双天线航向偏角、基线长度、主天线到 IMU 杆臂")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[_("a",{attrs:{href:"#fimucal-%E6%8C%87%E4%BB%A4"}},[t._v("#fimucal")])]),t._v(" "),_("td",{staticStyle:{"text-align":"left"}},[t._v("IMU 调平，或校准加速度计 / 陀螺仪常值零偏")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[_("a",{attrs:{href:"#fmsg-%E6%8C%87%E4%BB%A4"}},[t._v("#fmsg")])]),t._v(" "),_("td",{staticStyle:{"text-align":"left"}},[t._v("查询或设置 FDILink 数据包输出内容与频率")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[_("a",{attrs:{href:"#fparam-%E6%8C%87%E4%BB%A4"}},[t._v("#fparam")])]),t._v(" "),_("td",{staticStyle:{"text-align":"left"}},[t._v("读取或设置模组参数（波特率、端口协议、AID 开关、MSG 频率等）")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[_("a",{attrs:{href:"#fmagcal2d-%E6%8C%87%E4%BB%A4"}},[t._v("#fmagcal2d")])]),t._v(" "),_("td",{staticStyle:{"text-align":"left"}},[t._v("磁力计 2D 平面校准（水平旋转一周）")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[_("a",{attrs:{href:"#fmagcal3d-%E6%8C%87%E4%BB%A4"}},[t._v("#fmagcal3d")])]),t._v(" "),_("td",{staticStyle:{"text-align":"left"}},[t._v("磁力计 3D 空间校准（空中缓慢画 8 字）")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[_("a",{attrs:{href:"#fdgnss-%E6%8C%87%E4%BB%A4"}},[t._v("#fdgnss")])]),t._v(" "),_("td",{staticStyle:{"text-align":"left"}},[t._v("读取或配置 DGNSS / RTCM / NTRIP 等差分相关参数")])])])]),t._v(" "),_("p",[t._v("参看示例：")]),t._v(" "),_("div",{staticClass:"language-text 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extra-class"},[_("pre",{pre:!0,attrs:{class:"language-text"}},[_("code",[t._v("1. 进入配置模式：\n   #fconfig\\r\\n\n\n2. 查询 COM2 端口协议类型：\n   #fparam get COMM_STREAM_TYP2\\r\\n\n\n3. 将 COM2 设置为 NMEA(OUT)：\n   #fparam set COMM_STREAM_TYP2 5\\r\\n\n\n4. 保存设置：\n   #fsave\\r\\n\n\n5. 重启设备：\n   #freboot\\r\\n\n")])])]),_("h2",{attrs:{id:"修改-msg-数据包输出频率"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#修改-msg-数据包输出频率"}},[t._v("#")]),t._v(" 修改 MSG 数据包输出频率")]),t._v(" "),_("p",[t._v("上位机与完整说明见 "),_("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/输入输出配置.html#数据包输出"}},[t._v("输入输出配置 · 数据包输出")]),t._v("。数据包定义见 "),_("RouterLink",{attrs:{to:"/developers/02-fdilink/03-data-packets/"}},[t._v("MSG 数据包")]),t._v("。以下以 "),_("code",[t._v("MSG_STATUS")]),t._v("（Packet ID = 0x50）为例：")],1),t._v(" "),_("blockquote",[_("p",[_("strong",[t._v("注：")]),t._v(" "),_("code",[t._v("paramValue")]),t._v(" 与输出频率的对应关系见本文附录表11～表18（按产品系列）。")])]),t._v(" "),_("div",{staticClass:"language-text extra-class"},[_("pre",{pre:!0,attrs:{class:"language-text"}},[_("code",[t._v("1. 进入配置模式：\n   #fconfig\\r\\n\n\n2. 查询数据包频率：\n   #fparam get MSG_STATUS\\r\\n\n\n3. 设置数据包频率（示例：1 Hz）：\n   #fparam set MSG_STATUS 1\\r\\n\n\n4. 保存设置：\n   #fsave\\r\\n\n\n5. 重启设备：\n   #freboot\\r\\n\n")])])]),_("h2",{attrs:{id:"设置端口协议类型"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#设置端口协议类型"}},[t._v("#")]),t._v(" 设置端口协议类型")]),t._v(" "),_("p",[t._v("将端口 1 设置为 MAIN：")]),t._v(" "),_("div",{staticClass:"language-text extra-class"},[_("pre",{pre:!0,attrs:{class:"language-text"}},[_("code",[t._v("#fparam set COMM_STREAM_TYP1 1\\r\\n\n")])])]),_("p",[t._v("将端口 4 设置为 NONE：")]),t._v(" "),_("div",{staticClass:"language-text extra-class"},[_("pre",{pre:!0,attrs:{class:"language-text"}},[_("code",[t._v("#fparam set COMM_STREAM_TYP4 0\\r\\n\n")])])]),_("h2",{attrs:{id:"修改波特率"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#修改波特率"}},[t._v("#")]),t._v(" 修改波特率")]),t._v(" "),_("div",{staticClass:"language-text 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"),_("tr",[_("td",[t._v("示例")]),t._v(" "),_("td",[t._v("#fsave ")])]),t._v(" "),_("tr",[_("td",[t._v("备注")]),t._v(" "),_("td",[t._v("几乎所有的配置更改后都需要执行保存当前配置到非易失存储操作，这样重启后才能保证配置生效")])])])]),t._v(" "),_("h2",{attrs:{id:"fante-指令"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#fante-指令"}},[t._v("#")]),t._v(" fante 指令")]),t._v(" "),_("table",{staticClass:"fdilink-cmd-table"},[_("colgroup",[_("col",{staticClass:"col-label"}),t._v(" "),_("col",{staticClass:"col-content"})]),t._v(" "),_("tbody",[_("tr",{staticClass:"cmd-head"},[_("td",[_("b",[t._v("命令")])]),t._v(" "),_("td",[_("b",[t._v("#fante")])])]),t._v(" "),_("tr",[_("td",[t._v("说明")]),t._v(" "),_("td",[t._v("配置双天线航向与载体前向的夹角。")])]),t._v(" "),_("tr",{staticClass:"cmd-format"},[_("td",[t._v("格式1")]),t._v(" "),_("td",[t._v("#fante\n<CR><LF>"),_("br"),t._v("\n查询GNSS天线配置信息：双天线航向偏角、双天线基线长度、天线杆臂。")])]),t._v(" "),_("tr",{staticClass:"cmd-format"},[_("td",[t._v("格式2")]),t._v(" "),_("td",[t._v("#fanteheadbias\nangle<CR><LF> "),_("br"),t._v("\n其中 angle 为角度值，值域在 0 至 360°间")])]),t._v(" "),_("tr",{staticClass:"cmd-format"},[_("td",[t._v("格式3")]),t._v(" "),_("td",[t._v("#fantebaseline\nlength<CR><LF> "),_("br"),t._v("\n配置双天线之间基线的长度，length单位为米m")])]),t._v(" "),_("tr",{staticClass:"cmd-format"},[_("td",[t._v("格式4")]),t._v(" "),_("td",[t._v("#fantearm x y z <CR><LF>"),_("br"),t._v("\n配置GNSS主天线到IMU的杆臂命令。")])]),t._v(" "),_("tr",[_("td",[t._v("示例")]),t._v(" "),_("td",[t._v("将双天线航向与载体前向夹角设置为 270 度"),_("br"),t._v("\n输入： #fanteheadbias 270.0 "),_("br"),t._v("\n输出：*#OK")])]),t._v(" "),_("tr",[_("td",[t._v("备注")]),t._v(" "),_("td",[t._v("定义:主天线到从天线为基线矢量正方向，从IMU正上方看去，顺时针为天线航向偏角的正方向")])])])]),t._v(" "),_("h2",{attrs:{id:"fimucal-指令"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#fimucal-指令"}},[t._v("#")]),t._v(" fimucal 指令")]),t._v(" "),_("table",{staticClass:"fdilink-cmd-table"},[_("colgroup",[_("col",{staticClass:"col-label"}),t._v(" "),_("col",{staticClass:"col-content"})]),t._v(" "),_("tbody",[_("tr",{staticClass:"cmd-head"},[_("td",[_("b",[t._v("命令")])]),t._v(" "),_("td",[_("b",[t._v("#fimucal")])])]),t._v(" "),_("tr",[_("td",[t._v("说明")]),t._v(" "),_("td",[t._v("校准陀螺仪、加速度计常值零偏，或进行调平。")])]),t._v(" "),_("tr",{staticClass:"cmd-format"},[_("td",[t._v("格式1")]),t._v(" "),_("td",[t._v("#fimucal_level <CR><LF>"),_("br"),t._v("\n将IMU坐标系调平至水平面，不改变陀螺和加表零偏。")])]),t._v(" "),_("tr",{staticClass:"cmd-format"},[_("td",[t._v("格式2")]),t._v(" "),_("td",[t._v("#fimucal_acce <CR><LF>"),_("br"),t._v("\n执行加速度计零偏校准。")])]),t._v(" "),_("tr",{staticClass:"cmd-format"},[_("td",[t._v("格式3")]),t._v(" "),_("td",[t._v("#fimucal_gyro <CR><LF>"),_("br"),t._v("\n执行陀螺仪零偏校准。")])]),t._v(" "),_("tr",[_("td",[t._v("需要确认")]),t._v(" "),_("td",[t._v("否")])]),t._v(" "),_("tr",[_("td",[t._v("重启生效")]),t._v(" "),_("td",[t._v("是")])]),t._v(" "),_("tr",[_("td",[t._v("示例")]),t._v(" "),_("td",[t._v("输入#fimucal_level，"),_("br"),t._v("\nIMU调平校准")])]),t._v(" "),_("tr",[_("td",[t._v("备注")]),t._v(" "),_("td",[t._v("注意！ 格式1和格式2需要在水平静止状态下执行该命令；格式3只需要模块保持静止。")])])])]),t._v(" "),_("h2",{attrs:{id:"fmsg-指令"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#fmsg-指令"}},[t._v("#")]),t._v(" fmsg 指令")]),t._v(" "),_("table",{staticClass:"fdilink-cmd-table"},[_("colgroup",[_("col",{staticClass:"col-label"}),t._v(" "),_("col",{staticClass:"col-content"})]),t._v(" "),_("tbody",[_("tr",{staticClass:"cmd-head"},[_("td",[_("b",[t._v("命令")])]),t._v(" "),_("td",[_("b",[t._v("#fmsg")])])]),t._v(" "),_("tr",[_("td",[t._v("说明")]),t._v(" "),_("td",[t._v("查询或配置数据包输出内容及频率")])]),t._v(" "),_("tr",{staticClass:"cmd-format"},[_("td",[t._v("格式1")]),t._v(" "),_("td",[t._v("#fmsg"),_("br"),t._v("\n查询当前数据包信息。显示内容包括所有支持的数据包以及数据包ID以及其发送频率")])]),t._v(" "),_("tr",{staticClass:"cmd-format"},[_("td",[t._v("格式2")]),t._v(" "),_("td",[t._v("#fmsg msg freq"),_("br"),t._v("\nmsg 为 2 位十六进制数据包 ID；freq 为该数据包的发送频率。")])]),t._v(" "),_("tr",[_("td",[t._v("需要确认")]),t._v(" "),_("td",[t._v("否")])]),t._v(" "),_("tr",[_("td",[t._v("重启生效")]),t._v(" "),_("td",[t._v("是")])]),t._v(" "),_("tr",[_("td",[t._v("示例")]),t._v(" "),_("td",[t._v("输入：#fmsg 40 100，表示IMU数据以100Hz的频率发送"),_("br"),t._v("\n输出：IMU   [40]\n100.0Hz，表示IMU数据已经设置为100Hz的发送频率")])])])]),t._v(" "),_("h2",{attrs:{id:"fparam-指令"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#fparam-指令"}},[t._v("#")]),t._v(" fparam 指令")]),t._v(" "),_("table",{staticClass:"fdilink-cmd-table"},[_("colgroup",[_("col",{staticClass:"col-label"}),t._v(" "),_("col",{staticClass:"col-content"})]),t._v(" "),_("tbody",[_("tr",{staticClass:"cmd-head"},[_("td",[_("b",[t._v("命令")])]),t._v(" "),_("td",[_("b",[t._v("#fparam")])])]),t._v(" "),_("tr",[_("td",[t._v("说明")]),t._v(" "),_("td",[t._v("读取或设置模组参数")])]),t._v(" "),_("tr",{staticClass:"cmd-format"},[_("td",[t._v("格式1")]),t._v(" "),_("td",[t._v("#fparam get paramName"),_("br"),t._v("\nparamName 需要获取的参数名称")])]),t._v(" "),_("tr",{staticClass:"cmd-format"},[_("td",[t._v("格式2")]),t._v(" "),_("td",[t._v("#fparam set paramName\nparamValue "),_("br"),t._v("\nparamName 为参数名称；paramValue 为参数数值（十进制）")])]),t._v(" "),_("tr",[_("td",[t._v("需要确认")]),t._v(" "),_("td",[t._v("否")])]),t._v(" "),_("tr",[_("td",[t._v("重启生效")]),t._v(" "),_("td",[t._v("是")])]),t._v(" "),_("tr",[_("td",[t._v("配置说明1：串口波特率配置")]),t._v(" "),_("td",[t._v("paramName 的值和 paramValue 的值见 "),_("a",{attrs:{href:"#表3-deta10-系列端口波特率配置"}},[t._v("附录表3～表10")]),t._v("（按产品系列查阅），默认配置中 COMM_BAUD1（端口1）的波特率被设置为 921600bps")])]),t._v(" "),_("tr",{staticClass:"cmd-example"},[_("td",[t._v("示例1")]),t._v(" "),_("td",[t._v("输入：#fparam get\nCOMM_BAUD2\\r\\n"),_("br"),t._v("\n输出：COMM_BAUD2=5，表示现在端口2为 115200bps； "),_("br"),t._v("\n输入：#fparam set COMM_BAUD2 8\\r\\n"),_("br"),t._v("\n输出：*#OK，表示成功将端口2改为921600bps")])]),t._v(" "),_("tr",[_("td",[t._v("备注1：")]),t._v(" "),_("td",[t._v("默认端口1配置为Main协议，若端口1配置为其它波特率，则保存重启后波特率也需要重新选择，同时强烈不建议将Main协议端口的波特率设置在115200bps以下")])]),t._v(" "),_("tr",[_("td",[t._v("配置说明2：滤波开关配置")]),t._v(" "),_("td",[t._v("除了在上位机配置滤波器开关外，用户同样可以使用串口指令进行配置：paramName 的值可见 "),_("a",{attrs:{href:"#表1-aid-开关说明"}},[t._v("附录表1")]),t._v("，相应的 paramValue 为 0 或者 1；0 表示关闭，1 表示打开")])]),t._v(" "),_("tr",{staticClass:"cmd-example"},[_("td",[t._v("示例2")]),t._v(" "),_("td",[t._v("输入：#fparam get\nAID_MAG_2D_MAGNETIC\\r\\n"),_("br"),t._v("\n输出：AID_MAG_2D_MAGNETIC=1，表示磁力计2D辅助开关是打开的； "),_("br"),t._v("\n输入：#fparam set AID_MAG_2D_MAGNETIC 0\\r\\n"),_("br"),t._v("\n输出：*#OK，表示不使用磁力计进行融合")])]),t._v(" "),_("tr",[_("td",[t._v("备注2")]),t._v(" "),_("td",[t._v("滤波开关的配置最好在测试前进行，测试中对滤波开关进行配置可能会破坏滤波器稳定，容易导致位姿的突变与发散")])]),t._v(" "),_("tr",[_("td",[t._v("配置说明3：传感器参数修改")]),t._v(" "),_("td",[t._v("用户可以使用串口指令查看或者修改位于上位机Onboard Parameters里的所有传感器参数，包含imu参数、GNSS参数、DEBUG参数等等")])]),t._v(" "),_("tr",{staticClass:"cmd-example"},[_("td",[t._v("示例3")]),t._v(" "),_("td",[t._v("输入：#fparam get IMU_ACC_AVG\\r\\n"),_("br"),t._v("\n输出：IMU_ACC_AVG=9.794700，表示当地重力加速度计为9.794700m/s^2; "),_("br"),t._v("\n输入：#fparam get GNSS_MIN_VACC\\r\\n"),_("br"),t._v("\n输出：GNSS_MIN_VACC=2.500000，表示当GNSS垂直方向的精度小于2.5m这个阈值时，才会使用GNSS进\n行组合导航； "),_("br"),t._v("\n输入：#fparam set GNSS_MIN_VACC 0.1\\r\\n"),_("br"),t._v("\n输出：*#OK，表示成功将GNSS垂直方向的阈值设置为 0.1m，这在客户使用RTK高精度组合导航时是有用的，可以防止在GNSS信号变差时对系统造成一定的负面影响")])]),t._v(" "),_("tr",[_("td",[t._v("备注3")]),t._v(" "),_("td",[t._v("传感器参数的修改一般只用于FDISYSTEMS研发人员的调试阶段，除非用户对该领域很熟悉，否则不建议自行修改")])]),t._v(" "),_("tr",[_("td",[t._v("配置说明4：端口协议配置")]),t._v(" "),_("td",[t._v("端口协议除了在上位机配置外，还能使用串口指令进行配置，协议名称与含义见 "),_("a",{attrs:{href:"#表2-端口协议类型说明"}},[t._v("表2")]),t._v("。常用协议包括 Main、NAV、RTCM、NMEA、Ublox、UM982 等。同一协议名称在不同产品系列上对应的十进制 "),_("code",[t._v("paramValue")]),t._v(" 可能不同，请以上位机 Config → Onboard Parameters 中该端口当前显示值为准，勿跨系列套用固定数字。")])]),t._v(" "),_("tr",{staticClass:"cmd-example"},[_("td",[t._v("示例4")]),t._v(" "),_("td",[t._v("输入：#fparam get COMM_STREAM_TYP1\\r\\n"),_("br"),t._v("\n输出：COMM_STREAM_TYP1=<n>，结合 Onboard Parameters / 表2 确认端口 1 当前协议（连接上位机的口须为 Main）； "),_("br"),t._v("\n输入：#fparam set COMM_STREAM_TYP2 <n>\\r\\n"),_("br"),t._v("\n（将端口 2 设为 NAV 时，<n> 取本机上 NAV 对应的十进制值）"),_("br"),t._v("\n输出：*#OK，表示设置成功。NAV 口可输出与 Main 同类的 FDILink 数据，但不能连接上位机；Main 口仍可用于连接上位机调试。"),_("br"),t._v("\n输入：#fparam set COMM_STREAM_TYP3 <n>\\r\\n"),_("br"),t._v("\n（将端口 3 设为 Ublox / UM982 等外接 GNSS 协议时，<n> 同样以本机为准）"),_("br"),t._v("\n输出：*#OK；保存并重启后，该口按所选协议解析 GNSS 数据，即可参与 GPS/INS 组合导航")])]),t._v(" "),_("tr",[_("td",[t._v("备注4")]),t._v(" "),_("td",[t._v("上述所有配置内容都需要#fsave保存，否则重新上电后失效；"),_("br"),t._v("\n此外所有端口中必须有一个配置为Main协议，只有该端口可以连接上位机")])])])]),t._v(" "),_("h2",{attrs:{id:"fmagcal2d-指令"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#fmagcal2d-指令"}},[t._v("#")]),t._v(" fmagcal2d 指令")]),t._v(" "),_("table",{staticClass:"fdilink-cmd-table"},[_("colgroup",[_("col",{staticClass:"col-label"}),t._v(" "),_("col",{staticClass:"col-content"})]),t._v(" "),_("tbody",[_("tr",{staticClass:"cmd-head"},[_("td",[_("b",[t._v("命令")])]),t._v(" "),_("td",[_("b",[t._v("#fmagcal2d")])])]),t._v(" "),_("tr",[_("td",[t._v("说明")]),t._v(" "),_("td",[t._v("磁力计 2D 校准指令，输入完成后用户在平面上沿模块中心缓慢旋转一周后完成校准，完成后自动保存校准数据并退出当前的配置模式")])]),t._v(" "),_("tr",{staticClass:"cmd-format"},[_("td",[t._v("格式1")]),t._v(" "),_("td",[t._v("#fmagcal2d ")])]),t._v(" "),_("tr",[_("td",[t._v("需要确认")]),t._v(" "),_("td",[t._v("否")])]),t._v(" "),_("tr",[_("td",[t._v("重启生效")]),t._v(" "),_("td",[t._v("是")])]),t._v(" "),_("tr",{staticClass:"cmd-example"},[_("td",[t._v("示例")]),t._v(" "),_("td",[t._v("输入：#fmagcal2d\\r\\n"),_("br"),t._v("\n输出：*#OK，表示可以开始进行2D 校准"),_("br"),t._v("\n输出： This is a magnetometer 2D calibration. Please wait until the\nmagnetometer progress bar reaches 100 percent Now: 0\npercent。表示2D校准的实时进度，刷新频率为1HZ。当进度到达100\npercent表示校准成功系统将立即退出当前配置模式，重新发送FDILink数据。")])])])]),t._v(" "),_("h2",{attrs:{id:"fmagcal3d-指令"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#fmagcal3d-指令"}},[t._v("#")]),t._v(" fmagcal3d 指令")]),t._v(" "),_("table",{staticClass:"fdilink-cmd-table"},[_("colgroup",[_("col",{staticClass:"col-label"}),t._v(" "),_("col",{staticClass:"col-content"})]),t._v(" "),_("tbody",[_("tr",{staticClass:"cmd-head"},[_("td",[_("b",[t._v("命令")])]),t._v(" "),_("td",[_("b",[t._v("#fmagcal3d")])])]),t._v(" "),_("tr",[_("td",[t._v("说明")]),t._v(" "),_("td",[t._v("磁力计 3D 校准指令，输入完成后用户在空中缓慢画∞字进行校准，完成后自动保存校准数据退出当前的配置模式")])]),t._v(" "),_("tr",{staticClass:"cmd-format"},[_("td",[t._v("格式1")]),t._v(" "),_("td",[t._v("#fmagcal3d ")])]),t._v(" "),_("tr",[_("td",[t._v("需要确认")]),t._v(" "),_("td",[t._v("否")])]),t._v(" "),_("tr",[_("td",[t._v("重启生效")]),t._v(" "),_("td",[t._v("是")])]),t._v(" "),_("tr",{staticClass:"cmd-example"},[_("td",[t._v("示例")]),t._v(" "),_("td",[t._v("\n输入：#fmagcal3d\\r\\n"),_("br"),t._v("\n输出：*#OK，表示可以开始进行3D 校准"),_("br"),t._v("\n输出：This is a magnetometer 3D calibration. "),_("br"),t._v("\nThe fitting error of the current calculation: xxx"),_("br"),t._v("\nCalibration Algorithm: xxx"),_("br"),t._v('\n表示3D校准的实时状态，刷新频率为1HZ。"The fitting error of the current\ncalculation : xxx"表示当前计算的拟合误差，参数类型为单精度浮点数类型。"Calibration\nAlgorithm:\nxxx"表示的是校准算法等级，参数等级分为Low,Mid,High三种。当计算的拟合误差小于3.000f，并算法等级等于High时表示校准成功系统将立即退出当前\n配置模式，即重新发送FDILink数据。\n')])])])]),t._v(" "),_("h2",{attrs:{id:"fdgnss-指令"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#fdgnss-指令"}},[t._v("#")]),t._v(" fdgnss 指令")]),t._v(" "),_("table",{staticClass:"fdilink-cmd-table"},[_("colgroup",[_("col",{staticClass:"col-label"}),t._v(" "),_("col",{staticClass:"col-content"})]),t._v(" "),_("tbody",[_("tr",{staticClass:"cmd-head"},[_("td",[_("b",[t._v("命令")])]),t._v(" "),_("td",[_("b",[t._v("#fdgnss")])])]),t._v(" "),_("tr",[_("td",[t._v("说明")]),t._v(" "),_("td",[t._v("读取或配置上位机DGNSS栏参数")])]),t._v(" "),_("tr",{staticClass:"cmd-format"},[_("td",[t._v("格式1")]),t._v(" "),_("td",[t._v("#fdgnss get gnssNamegnssName\n需要获取的参数名称，包含： "),_("br"),t._v("\nRTCM_TYPE   发送或接收RTCM的方式"),_("br"),t._v("\nNET_INFO_IMEI   SIM卡的IMEI信息（无法配置）"),_("br"),t._v("\nNET_INFO_CCID   SIM卡的CCID信息（无法配置）"),_("br"),t._v("\nNTRIP_SVR_DOMAIN   Ntrip的IP地址"),_("br"),t._v("\nNTRIP_SVR_PORT   Ntrip的IP端口"),_("br"),t._v("\nNTRIP_MOUNT   Ntrip的挂载点"),_("br"),t._v("\nNTRIP_ACCOUNT   Ntrip账号"),_("br"),t._v("\nNTRIP_PASSWORD   Ntrip密码"),_("br"),t._v("\nFDI_AUTH   FDI云鉴权码")])]),t._v(" "),_("tr",{staticClass:"cmd-format"},[_("td",[t._v("格式2")]),t._v(" "),_("td",[t._v("#fdgnss set gnssName gnssValue"),_("br"),t._v("\ngnssName 需要设置的参数名称"),_("br"),t._v("\ngnssValue 参数的数值，十进制"),_("br"),t._v("\nRTCM_TYPE参数特殊定义："),_("br"),t._v("\n0 - Radio"),_("br"),t._v("\n1 - 千寻位置SDK"),_("br"),t._v("\n2 - Ntrip配置"),_("br"),t._v("\n3 - FDI云"),_("br"),t._v("\n其余gnssValue无特殊定义")])]),t._v(" "),_("tr",[_("td",[t._v("需要确认")]),t._v(" "),_("td",[t._v("否")])]),t._v(" "),_("tr",[_("td",[t._v("重启生效")]),t._v(" "),_("td",[t._v("是")])]),t._v(" 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"),_("td",[t._v("上述所有配置内容都需要#fsave保存，否则重新上电后失效")])])])]),t._v(" "),_("h2",{attrs:{id:"附录-fparam-参数取值"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#附录-fparam-参数取值"}},[t._v("#")]),t._v(" 附录：fparam 参数取值")]),t._v(" "),_("p",[t._v("以下表格供上文 "),_("code",[t._v("#fparam")]),t._v(" 配置说明中的表1～表18查阅。")]),t._v(" "),_("h3",{attrs:{id:"表1-aid-开关说明"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#表1-aid-开关说明"}},[t._v("#")]),t._v(" 表1 AID 开关说明")]),t._v(" "),_("table",{staticClass:"fdilink-cmd-ref-table"},[_("colgroup",[_("col",{staticClass:"col-name"}),t._v(" "),_("col",{staticClass:"col-desc"})]),t._v(" "),_("tbody",[_("tr",{staticClass:"cmd-head"},[_("td",[_("b",[t._v("paramName")])]),t._v(" "),_("td",[_("b",[t._v("说明")])])]),t._v(" "),_("tr",[_("td",[t._v("AID_ACCEL_GRAVITY")]),t._v(" "),_("td",[t._v("加速度计融合开关")])]),t._v(" "),_("tr",[_("td",[t._v("AID_BRO_ALT_UPDATE")]),t._v(" "),_("td",[t._v("气压计融合开关")])]),t._v(" "),_("tr",[_("td",[t._v("AID_CAR_CENT_ACCEL_NHC_ENABLED")]),t._v(" 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