holybro_m8p.yaml

# Configuration Settings for HolyBro NEO M8P device

debug: 1                    # Range 0-4 (0 means no debug statements will print)

save:
  mask: 3103                # Save I/O, Message, INF Message, Nav, Receiver 
                            # Manager, Antenna, and Logging Configuration
  device: 4                 # Save to EEPROM

device: /dev/rtk_gps        # symbolic link from /dev/ACMX to /dev/rtk_gps
frame_id: rtk_gps           # frame name of RTK GPS
rate: 5                     # in Hz
nav_rate: 1                 # [# of measurement cycles]
force_rover: True           # Whether to use as rover, whenever the MOD is for base station                            
dynamic_model: airborne2    # Airborne < 2G, 2D fix not supported (3D only), 
                            # Max Alt: 50km
                            # Max Horizontal Velocity: 250 m/s, 
                            # Max Vertical Velocity: 100 m/s
fix_mode: auto
dr_limit: 0

gnss:
  glonass: true             # Enable by default in M8P
  beidou: false             # Disable by default in M8P
  qzss: true               # Enable by default in M8P

dgnss_mode: 3               # Fixed mode

inf: 
  all: true                   # Whether to display all INF messages in console

uart1:
  baudrate: 115200

# Enable u-blox message publishers
publish:
  all: true
  aid: 
    all: false

  nav:
    status: false
    posecef: false
    clock: false
    sat: false
  mon:
    hw: false
  rxm:
    rtcm: false # true for debug
    
rtcm_topic: /rtk_gps/rtcm