(window.webpackJsonp=window.webpackJsonp||[]).push([[348],{662:function(t,_,r){"use strict";r.r(_);var v=r(10),a=Object(v.a)({},(function(){var t=this,_=t._self._c;return _("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[_("h1",{attrs:{id:"fdilink指令配置示例"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#fdilink指令配置示例"}},[t._v("#")]),t._v(" FDILink指令配置示例")]),t._v(" "),_("p",[t._v("进入配置模式  ：    #fconfig\\r\\n")]),t._v(" "),_("h2",{attrs:{id:"滤波器开关配置示例-将3d磁力计的融合开关打开"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#滤波器开关配置示例-将3d磁力计的融合开关打开"}},[t._v("#")]),t._v(" 滤波器开关配置示例——将3D磁力计的融合开关打开")]),t._v(" "),_("div",{staticClass:"language-markdown extra-class"},[_("pre",{pre:!0,attrs:{class:"language-markdown"}},[_("code",[t._v("1、进入配置模式  ：    #fconfig\\r\\n\n\n2、获取当前滤波器状态： #fparam get AID_MAG_V_MAGNETIC\\r\\n\n\n3、 设置3D磁辅助为打开状态： #fparam set AID_MAG_V_MAGNETIC 1\\r\\n\n\n4、保存设置 ： #fsave\\r\\n\n\n5、重启设备 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"),_("td",{staticStyle:{"background-color":"#edf1e1"}},[t._v("#fimucal_acce"),_("cr",[_("lf",[t._v("<CR><LF>"),_("br"),t._v("\n                执行加速度计零偏校准。")])],1)],1)]),t._v(" "),_("tr",[_("td",{staticStyle:{"background-color":"#edf1e1"}},[t._v("格式3")]),t._v(" "),_("td",{staticStyle:{"background-color":"#edf1e1"}},[t._v("#fimucal_gyro"),_("cr",[_("lf",[t._v("<CR><LF>"),_("br"),t._v("\n                执行陀螺仪零偏校准。")])],1)],1)]),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"),_("cr",[_("lf",[t._v("，"),_("br"),t._v("\n                IMU调平校准")])],1)],1)]),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"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#fmsg"}},[t._v("#")]),t._v(" fmsg")]),t._v(" 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"),_("tr",[_("td",[t._v("示例")]),t._v(" "),_("td",[t._v("输入：#fmsg 40 100"),_("cr",[_("lf",[t._v("，表示IMU数据以100Hz的频率发送"),_("br"),t._v("\n                输出：IMU   [40]\n                 100.0Hz，表示IMU数据已经设置为100Hz的发送频率")])],1)],1)])])])]),t._v(" "),_("h2",{attrs:{id:"fparam"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#fparam"}},[t._v("#")]),t._v(" fparam")]),t._v(" "),_("body",[_("table",[_("tbody",[_("tr",[_("td",{staticStyle:{"background-color":"#cccccc"}},[_("b",[t._v("命令")])]),t._v(" "),_("td",{staticStyle:{"background-color":"#cccccc"}},[_("b",[t._v("#fparam")])])]),t._v(" "),_("tr",[_("td",[t._v("说明")]),t._v(" "),_("td",[t._v("读取或配置参数")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"background-color":"#edf1e1"}},[t._v("格式1")]),t._v(" "),_("td",{staticStyle:{"background-color":"#edf1e1"}},[t._v("#fparam get paramName"),_("cr",[_("lf",[_("br"),t._v("\n                paramName 需要获取的参数名称")])],1)],1)]),t._v(" "),_("tr",[_("td",{staticStyle:{"background-color":"#edf1e1"}},[t._v("格式2")]),t._v(" "),_("td",{staticStyle:{"background-color":"#edf1e1"}},[t._v("#fparam set paramName\n            paramValue"),_("cr",[_("lf",[_("br"),t._v("\n                paramName需要设置的参数名称paramValue参数的数值，十进制")])],1)],1)]),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",{staticStyle:{height:"21.5px"}},[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的值见表1 ( DETA系 列 ) 和表2 ( EPSILON系列 )\n             ，默认配置中COMM_BAUD1 (端口1 ) 的波特率被设置为921600bps")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"background-color":"#ffffe6"}},[t._v("示例1")]),t._v(" "),_("td",{staticStyle:{height:"86px","background-color":"#ffffe6"}},[t._v("输入：#fparam get\n            COMM_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\n            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")]),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")])]),t._v(" "),_("tr",[_("td",[t._v("2：滤波开关配置")]),t._v(" "),_("td",[t._v("口指令进行配置：paramName的值可见表3，"),_("br"),t._v("\n            相应的paramValue为0或 者1；0表示关闭，1表示打开")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"background-color":"#ffffe6"}},[t._v("示例2")]),t._v(" "),_("td",{staticStyle:{"background-color":"#ffffe6"}},[t._v("输入：#fparam get\n            AID_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 进行配置可能会破快滤波器的稳定，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         "),_("br"),t._v("\n            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",[_("td",{staticStyle:{"background-color":"#ffffe6"}},[t._v("示例3")]),t._v(" "),_("td",{staticStyle:{"background-color":"#ffffe6"}},[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，\n            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FDISYSYTEMS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\n            配置，端口协议见表4，常用的端口协议为Main、NAV、 RTCM、  NMEA和Ublox")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"background-color":"#ffffe6"}},[t._v("示例4")]),t._v(" "),_("td",{staticStyle:{"background-color":"#ffffe6"}},[t._v("输入：#fparam get\n            COMM_STREAM_TYP1\\r\\n"),_("br"),t._v("\n            输出：COMM_STREAM_TYP1=1，表示端口1配置为 Main协议； "),_("br"),t._v("\n            输入：#fparam set COMM_STREAM_TYP2 2\\r\\n"),_("br"),t._v("\n            输出：*#OK，表示将端口2配置为NAV协议，即可以通 过端口2获取FDILink协议的数据；此时用户通过端口1\n            或端口2均能获取数据，此外端口1还能连接上位机，便 于实时调试 "),_("br"),t._v("\n            输入：#fparam set COMM_STREAM_TYP3 6\\r\\n"),_("br"),t._v("\n            输出：*#OK，表示将端口3配置为Ublox模式，如果端 口3有接收到Ublox类型的数据，保存重启后即可实现\n             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"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#fmagcal2d"}},[t._v("#")]),t._v(" fmagcal2d")]),t._v(" "),_("body",[_("table",[_("tbody",[_("tr",[_("td",{staticStyle:{"background-color":"#ffffe6"}},[_("b",[t._v("命令")])]),t._v(" "),_("td",{staticStyle:{"background-color":"#ffffe6"}},[_("b",[t._v("#fmagcal2d")])])]),t._v(" "),_("tr",[_("td",{staticStyle:{width:"81.7px"}},[t._v("说明")]),t._v(" "),_("td",{staticStyle:{width:"988.3px"}},[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\n            动保存校准数据并退出当前的配置模式")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"background-color":"#edf1e1"}},[t._v("格式1")]),t._v(" "),_("td",{staticStyle:{"background-color":"#edf1e1"}},[t._v("#fmagcal2d"),_("cr",[_("lf",[t._v(" ")])],1)],1)]),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",{staticStyle:{"background-color":"#ffffe6"}},[t._v("示例")]),t._v(" "),_("td",{staticStyle:{"background-color":"#ffffe6"}},[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\n            magnetometer progress bar reaches 100 percent Now: 0\n            percent。表示2D校准的实时进度，刷新频率为1HZ。当进度到达100\n            percent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-3d磁校准指令"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#fmagcal3d-3d磁校准指令"}},[t._v("#")]),t._v(" fmagcal3d 3D磁校准指令")]),t._v(" "),_("p"),_("body",[_("table",[_("tbody",[_("tr",[_("td",{staticStyle:{"background-color":"#ffffe6"}},[_("b",[t._v("命令")])]),t._v(" "),_("td",{staticStyle:{"background-color":"#ffffe6"}},[_("b",[t._v("#fmagcal3d")])])]),t._v(" "),_("tr",[_("td",{staticStyle:{width:"81.7px",height:"22.5px"}},[t._v("说明")]),t._v(" "),_("td",{staticStyle:{width:"988.3px"}},[t._v("磁力计3d校准指令，输入完成后用户在空中缓慢画8字进行校准，完成后自动保存校准数据退\n出当前的配置模式")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"background-color":"#edf1e1"}},[t._v("格式1")]),t._v(" "),_("td",{staticStyle:{"background-color":"#edf1e1"}},[t._v("#fmagcal3d"),_("cr",[_("lf")],1)],1)]),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",{staticStyle:{"background-color":"#ffffe6"}},[t._v("示例")]),t._v(" "),_("td",{staticStyle:{"background-color":"#ffffe6"}},[_("style",[t._v("@font-face {\nfont-family: &quot;Times New Roman&quot;;\n}@font-face {\nfont-family: &quot;宋体&quot;;\n}@font-face {\nfont-family: &quot;Calibri&quot;;\n}@font-face {\nfont-family: &quot;微软雅黑&quot;;\n}p.MsoNormal { margin: 0pt; text-align: left; font-family: Calibri; font-size: 11pt; }p.MsoHeader { margin: 0pt; border: medium none; padding: 1pt 4pt; text-align: justify; font-family: Calibri; font-size: 9pt; }span.msoIns { text-decoration: underline; color: blue; }span.msoDel { text-decoration: line-through; color: red; }div.Section0 {  }")]),t._v(" "),_("p",{staticClass:"paragraph",attrs:{"data-pm-slice":"1 1 []"}},[t._v("输入：#fmagcal3d\\r\\n"),_("br",{staticClass:"hardbreak"}),t._v("\n输出：*#OK，表示可以开始进行3d校准"),_("br",{staticClass:"hardbreak"}),t._v("\n输出：This is a magnetometer 3D calibration. "),_("br",{staticClass:"hardbreak"}),t._v("\nThe fitting error of the current calculation: xxx"),_("br",{staticClass:"hardbreak"}),t._v("\nCalibration Algorithm: xxx"),_("br",{staticClass:"hardbreak"}),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。')]),t._v(" "),_("span",{staticStyle:{"mso-spacerun":"'yes'","font-family":"微软雅黑",color:"rgb(0,0,0)","letter-spacing":"0.0500pt","font-size":"14.0000pt","mso-font-kerning":"0.0000pt"}})])])])])]),_("p"),t._v(" "),_("h2",{attrs:{id:"fdgnss"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#fdgnss"}},[t._v("#")]),t._v(" fdgnss")]),t._v(" "),_("body",[_("table",[_("tbody",[_("tr",[_("td",{staticStyle:{width:"81.4333px","background-color":"#cccccc"}},[_("b",[t._v("命令 ")])]),t._v(" "),_("td",{staticStyle:{width:"988.57px","background-color":"#cccccc"}},[_("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",[_("td",{staticStyle:{"background-color":"#edf1e1"}},[t._v("格式1")]),t._v(" "),_("td",{staticStyle:{"background-color":"#edf1e1"}},[t._v("#fdgnss get gnssName"),_("cr",[_("lf",[t._v("gnssName\n                需要获取的参数名称，包含： "),_("br"),t._v("\n                RTCM_TYPE   发送或接收RTCM的方式"),_("br"),t._v("\n                NET_INFO_IMEI   SIM卡的IMEI信息（无法配置）"),_("br"),t._v("\n                NET_INFO_CCID   SIM卡的CCID信息（无法配置）"),_("br"),t._v("\n                NTRIP_SVR_DOMAIN   Ntrip的IP地址"),_("br"),t._v("\n                NTRIP_SVR_PORT   Ntrip的IP端口"),_("br"),t._v("\n                NTRIP_MOUNT   Ntrip的挂载点"),_("br"),t._v("\n                NTRIP_ACCOUNT   Ntrip账号"),_("br"),t._v("\n                NTRIP_PASSWORD   Ntrip密码"),_("br"),t._v("\n                FDI_AUTH   FDI云鉴权码")])],1)],1)]),t._v(" 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输出：NTRIP_SVR_PORT：8002，表示Ntrip的IP端口为8002")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"background-color":"#ffffe6"}},[t._v("示例2")]),t._v(" "),_("td",{staticStyle:{"background-color":"#ffffe6"}},[t._v("完整配置NTRIP账号过程："),_("br"),t._v("\n            输入：#fdgnss set RTCM_TYPE 3\\r\\n"),_("br"),t._v("\n            输出：*#OK，表示当前切换为NTRIP配置；"),_("br"),t._v("\n            输入：#fdgnss set NTRIP_SVR_DOMAIN xxx.xxx.xx.xxx\\r\\n"),_("br"),t._v("\n            输出：*#OK，表示ip配置成功；"),_("br"),t._v("\n            输入：#fdgnss set NTRIP_SVR_PORT 8002\\r\\n"),_("br"),t._v("\n            输出：*#OK，表示端口成功配置为8002；"),_("br"),t._v("\n            输入：#fdgnss set NTRIP_MOUNT RTCM32_GGB\\r\\n"),_("br"),t._v("\n            输出：*#OK，表示挂载点成功配置为RTCM32_GGB；"),_("br"),t._v("\n            输入：#fdgnss set NTRIP_ACCOUNT qxx1234\\r\\n"),_("br"),t._v("\n            输出：*#OK，表示账号成功配置为qxx1234；"),_("br"),t._v("\n            输入：#fdgnss set NTRIP_PASSWORD 12345678\\r\\n"),_("br"),t._v("\n            输出：*#OK，表示密码成功配置为12345678； ")])]),t._v(" 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