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<h1><a class="anchor" id="gbxnovatelacfr_hw_reviews">Hardware Reviews for GbxNovatelAcfr </a></h1><p>These tests were done to qualify the driver for acceptance according to the principles of project operation (<a class="el" href="gbx__doc__principles.html#gbx_doc_principles_operation_lifecycle_accept">2.1.2 Criteria for acceptance</a>). The original versions (and following discussions) can be found in the archives for the devel <a href="http://sourceforge.net/mail/?group_id=216468">mailing list</a>.</p>
<h2><a class="anchor" id="gbxnovatelacfr_hw_reviews_michael">
Novatel ProPak V3 (OEMV) receiver with Honeywell HG1700AG62 IMU (Michael Moser)</a></h2>
<dl class="user"><dt><b>Setup:</b></dt><dd></dd></dl>
<ul>
<li>Hardware:<ul>
<li>Novatel ProPak V3 (OEMV) receiver</li>
<li>Honeywell HG1700AG62 IMU</li>
</ul>
</li>
</ul>
<ul>
<li>Software:<ul>
<li>gbxnovatelacfrtest, built as per example.readme.</li>
</ul>
</li>
</ul>
<dl class="user"><dt><b>Tests:</b></dt><dd></dd></dl>
<ul>
<li>Hooked up receiver and ran test program with different parameters (-m ins/gps -v): Enables the expected messages, prints out message-types/contents (depending on -v)</li>
</ul>
<ul>
<li>Set baudrate too low (9600 for -m gps, 38400 for ins): Fails as expected in Config.isValid() (with appropriate message).</li>
</ul>
<ul>
<li>BestGpsPos: Roughly checked lat/lon (google-earth, marker on our lab), heightAMSL (~30m sounds right for our lab), sigmas look ok (~2m lat/lon, double that for height), GpsWeekNr 1487 sounds right (~28 years * 52), timestamps are consistent with report-frequency, number of observations is sensible (6-10).</li>
</ul>
<ul>
<li>BestGpsVel: Same as pos, speed hor/vert is zero as expected, heading meaningless as expected</li>
</ul>
<ul>
<li>RawImu:<ul>
<li>Accelerations: verified values and signs by aligning different axis with gravity (checked 0, 1g, -1g for all axis)</li>
<li>Gyros: verified values and signs by turning 180deg, and integrating program output manually (done for all axis)</li>
</ul>
</li>
</ul>
<dl class="user"><dt><b>Roughly verified:</b></dt><dd></dd></dl>
<ul>
<li>InsPva status: goes through the expected cycle (inactive, aligning, need to perform maneuvers)</li>
<li>BestGpsVel/Pos: status/solutionStatus/solutionType</li>
</ul>
<dl class="user"><dt><b>Not Tested:</b></dt><dd></dd></dl>
<ul>
<li>InsOffset_, vehicleBodyRotation_, setImuOrientation_, InsPva (signs, values), BestGpsVel (signs, values): These guys are not testable in a bench-top setup</li>
</ul>
<h2><a class="anchor" id="gbxnovatelacfr_hw_reviews_alen">
Novatel Pro-Pak-G2 plus receiver (Alen Alempijevic)</a></h2>
<dl class="user"><dt><b>Setup:</b></dt><dd></dd></dl>
<ul>
<li>Hardware:<ul>
<li>Novatel Pro-Pak-G2 plus receiver</li>
<li>assorted cables (RS232 connection)</li>
<li>GPS antenna</li>
<li>12V power supply</li>
</ul>
</li>
</ul>
<ul>
<li>Software:<ul>
<li>gbxnovatelacfrtest, built as per example.readme.</li>
</ul>
</li>
</ul>
<dl class="user"><dt><b>Tests:</b></dt><dd></dd></dl>
<ul>
<li>All tests performed with Novatel GPS unit, no IMU unit connected on moving vehicle</li>
</ul>
<ul>
<li>Antenna cable disconnected from GPS receiver: Driver displays [Antenna power status: Powered; Antenna open flag: Open; Antenna shorted flag: OK], terminates after 10 seconds</li>
</ul>
<ul>
<li>Started driver with antenna disconnected, connected antenna as soon as possible: Driver displays [Antenna power status: Powered; Antenna open flag: Open; Antenna shorted flag: OK], termination occurs after 10 seconds without reflecting the status, possible insufficient time to detect hardware change..</li>
</ul>
<ul>
<li>Connected driver at different baud rates (19200, 38400, 57600, 115200) Driver displays BestGpsPos data, no error messages and terminates after 10 seconds</li>
</ul>
<ul>
<li>Connected driver at 9600 baud rates Driver displays error message and terminates The combined data-rate of the messages/message rates you configured exceeds the configured baud rate 28800 / 9600 Invalid configuration!</li>
</ul>
<dl class="user"><dt><b>Roughly verified:</b></dt><dd></dd></dl>
<ul>
<li>Temperature (ambient, rising during parking under sunlight).</li>
<li>Position reported: drove the vehicle with GPS mounted and position reflect the vehicle motion</li>
<li>Velocity reported: drove the vehicle with GPS mounted and recorded velocity readings appeared to reflect the vehicle motion</li>
</ul>
<dl class="user"><dt><b>Not Tested:</b></dt><dd></dd></dl>
<ul>
<li>Connecting the IMU and getting the integrated solution</li>
</ul>
<dl class="user"><dt><b>Questions:</b></dt><dd></dd></dl>
<ul>
<li>SBAS and RTK Is there a way to select these as configuration parameters on command line? </li>
</ul>
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