DIY flight recorder using any (NMEA) GPS - #1 Hardware

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zhuke
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Re: DIY flight recorder using any (NMEA) GPS - #1 Hardware

Post by zhuke » 19 Mar 2014, 04:17

So I got this entire thing working with a MTK 3329, and now I'm using a MTK3339.

Logic analyzer shows arduino to uart output is sirf, and in fact I'm pretty sure the message shows 7 satellites in arduino sirf output (I wasn't positive which sirf hex value reported the satellites, but counted backwards from the end of the message obtained using the logic analyzer and compared it to the arduino code), which reflects 7 satellites in the NMEA arduino input. Weird problem is that when I connected it to the drone, 6 inches away and within a few seconds (and a few minutes after plugging it in) the NMEA arduino input says there are 0 satellites and has no latitude or longitude. I did this a couple times over the period of 30 minutes.

Using freeflight app, the app picks up the gps, and gets the version and everything correctly, but reports 0 satellites.

I ran
killall -9 program.elf.respawner.sh
killall -9 program.elf
/bin/program.elf -360p.slices 0 -live.tcp -gps.verbose -gps.log &

and get
# /bin/program.elf -360p.slices 0 -live.tcp -gps.verbose -gps.log
posix init start build on : Sep 16 2013 11:51:19
Use ctrl+\ (SIGQUIT) to end the application
plog drop: thread RT_THRESHOLD=19, SUP_THREAD_MINPRIORITY=31
plog drop: RR time quantum 0s 0ns
plog drop: thread guard size : default 4096
plog drop: thread guard size : set to 65536
plog drop: thread stack size : default 32768, minimal 16384, (system default 8388608)
plog drop: disable smp
/tmp/.program.elf.lock locked.
**
** Mykonos v2.4.8 built for Hardware 21
** Build Sep 16 2013 14:50:51
**
Hardware initialized.
**
** Detected motherboard : version 6 : MB HW06 - Mykonos 2 MassProd USB
** ADC hard_version : 160
0.061614 NULL 6 0 adc device (soft 0x50022, hard 0x160) loaded
0.134582 NULL 6 7 adc device updater status file created
0.181427 NULL 6 7 adc device updater status file deleted
0.181884 NULL 6 0 Scanning /data/custom.configs/applis ...
0.183227 NULL 6 0 located configuration file </data/custom.configs/applis/config.efc8fd84.ini>
0.184295 NULL 6 0 located configuration file </data/custom.configs/applis/config.96e3654b.ini>
0.185302 NULL 6 0 located configuration file </data/custom.configs/applis/config.bc293750.ini>
0.185394 NULL 6 0 Scanning /data/custom.configs/profiles ...
0.185943 NULL 6 0 located configuration file </data/custom.configs/profiles/config.de476a00.ini>
0.186492 NULL 6 0 located configuration file </data/custom.configs/profiles/config.cca2084e.ini>
0.186553 NULL 6 0 Scanning /data/custom.configs/sessions ...
0.190917 NULL 6 0 /data/config.ini successfully loaded.
Motors flight anim. callback : <0,0>
Setting WiFi rate to auto
Motors leds callback : <0,0,0>
0.233276 NULL 6 808464432 Clearing iPhone EE state
Invalid date format
0.233581 NULL 6 25 Could not update timezone (invalid value or format)
Exposure mode callback : <0,0,0,0>
Saturation mode callback : <0>
Saturation mode callback : <0>
Whitebalance mode callback : <0,0>
Userbox state callback : <0>
State : 0
Flying_camera mode callback : <0,10,1500,0,1000,0,0,0,0,0>
Rescue mode callback : <0>
0.234466 NULL 6 0 set_mykonos_rescue 1168 rescue mode = 0
0.234710 NULL 6 348672 SW VERSION : 002588E8
0.235076 NULL 6 7 Could not open BLC.hex file.
0.244934 NULL 6 1747862348 BLC backup hex available
0.265441 NULL 6 908075040 BLC call for motor 1
0.368621 NULL 6 908075040 BLC motor 1 soft version 1.43, hard version 6.0, supplier 1.1, lot number 08/10, FVT1 12/08/13
0.409057 NULL 6 908075040 BLC call for motor 2
0.512145 NULL 6 908075040 BLC motor 2 soft version 1.43, hard version 6.0, supplier 1.1, lot number 08/10, FVT1 12/08/13
0.552612 NULL 6 908075040 BLC call for motor 3
0.655700 NULL 6 908075040 BLC motor 3 soft version 1.43, hard version 6.0, supplier 1.1, lot number 08/10, FVT1 12/08/13
0.696136 NULL 6 908075040 BLC call for motor 4
0.799224 NULL 6 908075040 BLC motor 4 soft version 1.43, hard version 5.0, supplier 1.1, lot number 08/10, FVT1 04/05/12
0.857543 NULL 6 0 syslog switches to buffer 1 (0x002136C0)
0.857513 NULL 6 0 Led thread started
0.957885 NULL 6 1085170800 Led thread stopped
0.958099 NULL 6 653240 Configuring the vertical video pipeline ...
0.958343 NULL 6 0 Configuring the horizontal video pipelines ...
1.009063 NULL 6 0 720p pipeline built
1.009155 NULL 6 0 360p pipeline built
1.009216 NULL 6 1747862348 Reconfiguring the horizontal pipelines for codec 81
1.009246 NULL 6 1747862348 Reconfiguration for live 360p H.264 done.
--- GPS verbose enabled -----
Starting thread Master
Starting thread Acquisition
tid=0x2a5c10, POS: thread starting "Acquisition" got 0x41f99470 native id
Starting thread V4Lcamif
tid=0x2a5c6c, POS: thread starting "V4Lcamif" got 0x4200a470 native id
Starting thread V4Lcamif
tid=0x2a5cc8, POS: thread starting "V4Lcamif" got 0x42020470 native id
Starting thread H264_DSP
tid=0x2a5d24, POS: thread starting "H264_DSP" got 0x4203a470 native id
Starting thread H264_DSP_2
tid=0x2a5d80, POS: thread starting "H264_DSP_2" got 0x42054470 native id
Starting thread Navdata
Starting thread vp_com_server
tid=(nil), [W] POS: vp_com_server : stack size 8192 is too small, setting to 16384
tid=0x2a5e38, POS: thread starting "vp_com_server" got 0x42084470 native id
Starting thread ATCmdServer
tid=0x225f20, POS: thread starting "sup log" got 0x41ff4470 native id
tid=0x2a5e94, POS: thread starting "ATCmdServer" got 0x4209e470 native id
Starting thread FlashMgr
Starting thread vbat
tid=0x2a5bb4, POS: thread starting "Master" got 0x41f7f470 native id
tid=0x2a5f4c, POS: thread starting "vbat" got 0x420d2470 native id
Starting thread UsbKeyMonitor
Starting thread UsbKeyRepairer
Starting thread Video
Starting thread Video_Hori
Starting thread Video_Hori
Starting thread Leds
Starting thread ImageBox
Starting thread GpsManager
tid=(nil), [W] POS: GpsManager : stack size 8192 is too small, setting to 16384
tid=0x2a5ddc, [I] POS: thread starting "Navdata" got 0x4206e470 native id
tid=0x2a5ef0, [I] POS: thread starting "FlashMgr" got 0x420b8470 native id
tid=0x2a6004, [I] POS: thread starting "UsbKeyRepairer" got 0x4210e470 native id
tid=0x2a6060, [I] POS: thread starting "Video" got 0x42128470 native id
tid=0x2a60bc, [I] POS: thread starting "Video_Hori" got 0x42142470 native id
tid=0x2a6118, [I] POS: thread starting "Video_Hori" got 0x4215c470 native id
tid=0x2a6174, [I] POS: thread starting "Leds" got 0x42176470 native id
tid=0x2a61d0, [I] POS: thread starting "ImageBox" got 0x42190470 native id
tid=0x2a622c, [I] POS: thread starting "GpsManager" got 0x421a6470 native id
tid=0x2a5fa8, [I] POS: thread starting "UsbKeyMonitor" got 0x420f4470 native id
Starting thread GpsReader
tid=(nil), [W] POS: GpsReader : stack size 8192 is too small, setting to 16384
tid=0x2a6288, [I] POS: thread starting "GpsReader" got 0x421bc470 native id
Starting thread VectornavReader
tid=(nil), [W] POS: VectornavReader : stack size 8192 is too small, setting to 16384
tid=0x2a62e4, [I] POS: thread starting "VectornavReader" got 0x421d2470 native id
Starting thread BlackBox
tid=0x2a6340, [I] POS: thread starting "BlackBox" got 0x421ec470 native id
Starting thread BlackBoxWriter
Starting thread GpsFlightFormation
tid=(nil), [W] POS: GpsFlightFormation : stack size 8192 is too small, setting to 16384
tid=0x2a63f8, [I] POS: thread starting "GpsFlightFormation" got 0x4221c470 native id
Starting thread MavlinkAutoNav
tid=0x2a6454, [I] POS: thread starting "MavlinkAutoNav" got 0x42236470 native id
tid=(nil), [W] POS: disable smp
tid=0x2a6340, [I] POS: thread "BlackBox" stack usage -1%
tid=0x2a6340, [I] POS: thread "BlackBox" exited
Thread AT Commands Server Start
1.020477 GpsManager 6 1203 GPS Manager thread starting
1.020568 GpsReader 6 1204 GPS Reader thread starting
1.020629 VectornavReader 6 1205 VectorNav Reader thread starting
tid=0x2a63f8, [I] POS: thread "GpsFlightFormation" stack usage -1%
tid=0x2a63f8, [I] POS: thread "GpsFlightFormation" exited
1.020812 MavlinkAutoNav 6 1209 Thread MavlinkAutoNav ON
1.020874 MavlinkAutoNav 6 1209 mvlk_interface_server 489 SYSTEM_ID = 1
1.021026 MavlinkAutoNav 6 1209 mvlk_interface_setup_sockets 2678 Bind to 14551 success
1.021087 MavlinkAutoNav 6 1209 mvlk_interface_setup_sockets 2704 Connecting to GCS at 192.168.1.3 on port 14550
tid=0x225f20, [I] log: starting
1.024597 UsbKeyRepairer 6 1197 USB Key repairer thread starting
1.024688 Video 6 1198 camera_configure() not set
1.024749 Video 6 1198 Opening device Vertical camera (/dev/video2) with resolution 320x240 and pixel format UYVY
1.026489 Video_Hori 6 1199 Starting horizontal pipeline 720p ...
1.026855 Leds 6 1201 Led thread started
1.027130 UsbKeyMonitor 6 1196 Juba dump starting
1.037048 UsbKeyMonitor 6 1196 ATTACH (0): GPS (6), cold, path = '/tmp/udev/dev/ttyUSB0'
1.037109 UsbKeyMonitor 6 1196 Still in registration push sequence, 0 more to go
1.037170 UsbKeyMonitor 6 1196 JUID = 19cf3000010000010000000000000000
1.037231 UsbKeyMonitor 6 1196 devpath = /devices/platform/musb_hdrc/usb1/1-1/1-1:1.0/ttyUSB0/tty/ttyUSB0
1.037322 UsbKeyMonitor 6 1196 USB GPS Vendor = 0x19cf
1.037353 UsbKeyMonitor 6 1196 USB GPS ProductID = 0x3000
1.037414 UsbKeyMonitor 6 1196 USB GPS Serial = '0001'
1.037445 UsbKeyMonitor 6 1196 syslog switches to buffer 2 (0x00213F20)
1.037445 UsbKeyMonitor 6 1196 USB GPS JUID = '19cf3000010000010000000000000000'
1.037536 UsbKeyMonitor 6 1196 GPS "Parrot GPS USB Dongle for AR.Drone 2.0 - DV" plugged-in in /tmp/udev/dev/ttyUSB0
1.038208 GpsManager 6 1203 GPS : device /tmp/udev/dev/ttyUSB0 connected as GPS #0
1.038299 GpsManager 6 1203 Initializing Parrot GPS USB Dongle for AR.Drone 2.0 - DV
3> Sending init commands at 4800 bits/s...
1.050567 FlashMgr 6 1194 Mykonos configuration saved.
1.076416 Video_Hori 6 1199 Opening device Horizontal camera (/dev/video1) with resolution 1280x720 and pixel format UYVY
>>>>> Syslog is /data/syslog.bin
1.111267 FlashMgr 6 1194 Beginning syslog dump in flash
1.111480 FlashMgr 6 1194 Syslog dump in flash done
1.158050 FlashMgr 6 1194 Unable to load trims because file /data/fact_trims.bin is missing
TAG_TYPE_COCKPIT 480
1.205047 FlashMgr 6 1194 Unable to load trims because file /data/trims.bin is missing
1.212860 Video 6 1198 Camera Config : Setting the cresyn camera into default mode
ADC_INIT_NAV2
1.259979 Acquisition 6 1185 Calibration request
1.260284 FlashMgr 6 1194 Mykonos Accs Infos loaded from /data/fact_accs_infos.bin: val(0) = 9.678587; val(1) = -11.111908; val(2) = -954.736328
1.261901 Acquisition 6 1185 Pressure calibration request
1.262634 Acquisition 6 1185 Magneto calibration request
1.308929 FlashMgr 6 1194 Mykonos Accs Infos loaded from /data/accs_infos.bin: val(0) = 35.213989; val(1) = 70.751282; val(2) = -944.059082
1.318664 Video_Hori 6 1200 Starting horizontal pipeline 360p ...
TAG_TYPE_COCKPIT 360 - 422
TAG_TYPE_COCKPIT 480
1.349975 H264_DSP 6 1189 H.264 : Initializing the encoder ...
1.350067 H264_DSP 6 1189 H.264 : using bitrate 1000 kbit/s
>>>>> Syslog is /data/syslog.bin
1.402587 FlashMgr 6 1194 Beginning syslog dump in flash
1.402801 FlashMgr 6 1194 Syslog dump in flash done
tid=0x2a5bb4, [I] POS: thread "Master" stack usage -1%
tid=0x2a5bb4, [I] POS: thread "Master" exited
tid=0x2a639c, [I] POS: thread starting "BlackBoxWriter" got 0x42206470 native id
tid=0x2a639c, [I] POS: thread "BlackBoxWriter" stack usage -1%
tid=0x2a639c, [I] POS: thread "BlackBoxWriter" exited
tid=0x2a965c, [I] POS: thread starting "Juba monitor" got 0x42258470 native id
tid=0x2a64b0, [I] POS: thread starting "UsbkeyWriter" got 0x43852470 native id
tid=0x2a650c, [I] POS: thread starting "UsbkeyWriterTrg" got 0x4386c470 native id
tid=0x2a6568, [I] POS: thread starting "vid sock thrd" got 0x43886470 native id
tid=0x2a65c4, [I] POS: thread starting "vid sock trgg" got 0x438a0470 native id
tid=0x2a66d8, [I] POS: thread starting "vid sock trgg" got 0x438ee470 native id
tid=0x2a667c, [I] POS: thread starting "vid sock thrd" got 0x438d4470 native id
tid=0x2a6620, [I] POS: thread starting "Asynchronous vision" got 0x438ba470 native id
Unable to "open" serial deviceError : GPS init failed
1.768737 Acquisition 6 1185 Production request
1.769195 Acquisition 6 1185 check_and_send_RC_calibration : Pic RC already calibrated OSCTUN value may have to be 63
1.769256 Acquisition 6 1185 ocstun production value command
2.284027 Acquisition 6 1185 check_and_send_RC_calibration : Pic works after sending OCSTUN value
2.284118 Acquisition 6 1185 check_and_send_RC_calibration : mean value is 5021.659341



<starting info>Version="AR.Drone 2.4.8" WIFI="OK" AddrMAC="90:03:B7:C8:12:65" Calibration="OK" PICVersion="5.34" Motor1Version="1.43" Motor2Version="1.43" Motor3Version="1.43" Motor4Version="1.43"</starting info>



ADC_START_NAV2
2.284393 Acquisition 6 1185 change the ultrasound frequency. 25Hz
2.308532 FlashMgr 6 1194 Mykonos configuration saved.
2.912261 Acquisition 6 1185 GAINS AT : pq_kp = 40000, r_kp = 200000, r_ki = 3000, ea_kp = 8000, ea_ki = 7000, alt_kp = 210, alt_ki = 100, vz_kp = 100, vz_ki = 100, hov_kp = 7000, hov_ki = 6000, hov_b_kp = 1200, hov_b_ki = 500, hov_b_kp2 =22937, hov_b_ki2=8192, hov_b_kp2=8000
2.917541 Acquisition 6 1185 GAINS AT : pq_kp = 40000, r_kp = 200000, r_ki = 3000, ea_kp = 8000, ea_ki = 7000, alt_kp = 210, alt_ki = 100, vz_kp = 100, vz_ki = 100, hov_kp = 7000, hov_ki = 6000, hov_b_kp = 1200, hov_b_ki = 500, hov_b_kp2 =22937, hov_b_ki2=8192, hov_b_kp2=8000
3> Sending init commands at 115200 bits/s...
Unable to "open" serial deviceError : GPS init failed
Unable to "open" serial deviceError : GPS init failed
>>> GPS getting software version
<[A0][A2][00][02][84][00][00][84][B0][B3]>
Gps write: Bad file descriptor
6.861511 GpsManager 6 1203 GPS firmware seems corrupted. Trying to update.

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Re: DIY flight recorder using any (NMEA) GPS - #1 Hardware

Post by pawelsky » 19 Mar 2014, 08:19

zhuke wrote:So I got this entire thing working with a MTK 3329, and now I'm using a MTK3339.

Logic analyzer shows arduino to uart output is sirf, and in fact I'm pretty sure the message shows 7 satellites in arduino sirf output (I wasn't positive which sirf hex value reported the satellites, but counted backwards from the end of the message obtained using the logic analyzer and compared it to the arduino code), which reflects 7 satellites in the NMEA arduino input. Weird problem is that when I connected it to the drone, 6 inches away and within a few seconds (and a few minutes after plugging it in) the NMEA arduino input says there are 0 satellites and has no latitude or longitude. I did this a couple times over the period of 30 minutes.
MTK3339 is a Glonass GPS and it has this stupid feature of changing the GPRMC message to GNRMC once the 3D Fix is acquired. The TinyGPS library that this mod uses only understands GPRMC message, so this is probably why it does not work. You would have to modify the TinyGPS lib to also accept GNRMC.

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Re: DIY flight recorder using any (NMEA) GPS - #1 Hardware

Post by zhuke » 19 Mar 2014, 15:04

Okay, are you sure?

I'm pretty certain that the message that I was looking at had 0 fix only after plugging it into the DRONE and it was a $GPGGA message that I was looking at. When I plug into my computer it has a fix or differential fix. It's always like that on my drone and always like that on my computer. It'll take at max like 2 minutes to get satellites on my computer and after 10 minutes on my drone, no fix.

drone: $GPGGA,time,,,,,0
computer: $GPGGA,time,lat,n/s,lon,e/w,2,8

pretty sure they were both gpgga messages that I was looking at (like 95% sure)

By the way, I don't mind altering the TinyGPS mod, as I already have modified it to accept $PMTKAGC messages for my project.

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Re: DIY flight recorder using any (NMEA) GPS - #1 Hardware

Post by pawelsky » 19 Mar 2014, 16:41

zhuke wrote:Okay, are you sure?

I'm pretty certain that the message that I was looking at had 0 fix only after plugging it into the DRONE and it was a $GPGGA message that I was looking at. When I plug into my computer it has a fix or differential fix. It's always like that on my drone and always like that on my computer. It'll take at max like 2 minutes to get satellites on my computer and after 10 minutes on my drone, no fix.

drone: $GPGGA,time,,,,,0
computer: $GPGGA,time,lat,n/s,lon,e/w,2,8

pretty sure they were both gpgga messages that I was looking at (like 95% sure)

By the way, I don't mind altering the TinyGPS mod, as I already have modified it to accept $PMTKAGC messages for my project.
Ooops, sorry, I mistaken it with MTK3333, my bad.

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Re: DIY flight recorder using any (NMEA) GPS - #1 Hardware

Post by stu54 » 20 Jun 2014, 17:47

I just got my configuration working using one of those UBLOX 6M modules and a lot of code changes to get the UBX setup working.

FreeFlight sees the GPS module and the number of satellites shows up but I don't think FreeFlight will use
the GPS because it sees the software version number as 0.0 (I think it also tries to update the GPS
firmware when it sees that).

Anyone know how I can "set" the software version number and what version it should appear as
so that FreeFlight (v2.4.10 on Android) will use the GPS?

By the way, QGroundControl works fine with this setup so it looks like all the GPS messages
are making it through the AR Drone.

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Re: DIY flight recorder using any (NMEA) GPS - #1 Hardware

Post by pawelsky » 20 Jun 2014, 19:52

stu54 wrote:I just got my configuration working using one of those UBLOX 6M modules and a lot of code changes to get the UBX setup working.
Not quite sure why you had to do lot of code changes, as ublox GPS can be easily configured to send NMEA messages. Maybe you doing things that aren't really necessary?
stu54 wrote:I think it also tries to update the GPS firmware when it sees that
This can be disabled in FreeFlight menu
stu54 wrote:Anyone know how I can "set" the software version number and what version it should appear as so that FreeFlight (v2.4.10 on Android) will use the GPS?
This is where you can change that (I've included the version string returned by the latest FlightRecorder GPS software)

Code: Select all

// Software Version String - ID 06
unsigned char SIRF_MSG_06[] =  "\x06\x21\x01GSD4e_4.1.2-P6 F+ 08/14/2013 226\x00\x00";
Note that sometimes you need to plug the DIY recorder in and out a couple of times for it to eventually communicate.

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Re: DIY flight recorder using any (NMEA) GPS - #1 Hardware

Post by stu54 » 20 Jun 2014, 23:55

Thanks for your reply.

I used the existing UBX binary init code but it needed to be adapted for the Ublox 6.

I tried your string but FreeFlight still thinks the GPS firmware needs to be updated
and turning the update switch off in the settings does not seem to make a difference.

FreeFlight does report the number of satellites correctly from the GPS so it is definitely
getting the SIRF data. Also, QGroundControl works fine so that's another check on
the SIRF messages.

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Re: DIY flight recorder using any (NMEA) GPS - #1 Hardware

Post by jpgeerets » 04 Aug 2014, 13:24

hi folks,

im bit new here and bit lazy....
in stread of reading all 10+ pages and post, just the question.
the hardware (and mods) on page 1 are still the newst one?
or are there still new mods made for this?
searching some kind of this to fly in the netherlands....

thanks in advanced!

Jean-Paul

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Re: DIY flight recorder using any (NMEA) GPS - #1 Hardware

Post by jpgeerets » 04 Oct 2014, 13:31

in meanwhile the components make a gps receiver.
all seems to work, until i connect it to the drone.
it keeps telling me the firmware can not update.....

so i wanna connect it again and program with modified sketch (as told on previous posts).

when connecting the gps to my win7 laptop, it only recognize the module as "flight recorder" with com10 (when loading the parrot drivers).
stil can not connect to it with either software (silicon or sirf demo).

any idea how to force the drivers so i can connect to the module again?
every time im telling "use this driver" win7 tells me already to use the correct drivers.....

what to do next? someone any idea?

thanks in advanced!

Jean-Paul

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Re: DIY flight recorder using any (NMEA) GPS - #1 Hardware

Post by Carl190_1 » 04 Oct 2014, 17:49

I think if you read all 10 pages you may just find your answer there!
I has to do with how to load the correct drivers in Windows.

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Re: DIY flight recorder using any (NMEA) GPS - #1 Hardware

Post by jpgeerets » 14 Oct 2014, 16:16

hi all,

still not found how to force the cp2101 the driver i want with win7.
someone an idea?

Jean-Paul

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Re: DIY flight recorder using any (NMEA) GPS - #1 Hardware

Post by jpgeerets » 14 Oct 2014, 18:49

finaly it works. thanks...

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Re: DIY flight recorder using any (NMEA) GPS - #1 Hardware

Post by jpgeerets » 24 Oct 2014, 21:35

folks,

another question.

i use a different gps module.
i use:
atk-neo-6m-v2.3

it seems this one needs other codes to get addressed correctly.

i search at the vendor and almost whole internet, only i can find are manuals in chinese...
and, no, i dont speak chinese...

someone any idea what codes to use / where to find manual in english?

thanks in advanced!!

Jean-Paul

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Re: DIY flight recorder using any (NMEA) GPS - #1 Hardware

Post by pawelsky » 18 Nov 2014, 16:23

jpgeerets wrote:where to find manual in english?
http://www.u-blox.com/en/gps-modules/pv ... amily.html

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Re: DIY flight recorder using any (NMEA) GPS - #1 Hardware

Post by jpgeerets » 19 Nov 2014, 16:32

tnx!

in meanwhile i bought an other gps module which listens to the mtk code.
now it all works fine.

guess i have to configure the ublox unit separate with the config tool.
reconfigure the sketch and try it again....

or build an other challenge with the ublox :-)

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