Base Station Piksi V2 STM v0.21 && NAP v0.16

The following configuration assumes you are using UART B to plug Piksi to the on-board PC and an Xbee is attached to UART A of Piksi.

Remember to adjust baudrate settings in ROS driver!

Each parameter "XXX.YYY" is located in the "Settings" tab of Swiftnav console, in section "XXX" and is called "YYY".

The following tables shows only the parameters that are different form the default ones, i.e. the ones you need to change!

Parameter (Section Name)	Value	Description
sbp.obs msg_max_size	254	do not split serial messages.
solution.output_every_n_obs	1	use max rate to send corrections.
uart_uarta.sbp_message_mask	64	send only corrections over uart A.
uart_uarta.configure_telemetry_radio_on_boot	False	do not configure radio on uart A.
uart_uarta.baudrate	115200	baudrate Xbee.
uart_uartb.sbp_message_mask	64	send only corrections over uart B.
uart_uartb.configure_telemetry_radio_on_boot	False	do not configure radio on uart B.
uart_uartb.baudrate	230400	baudrate Xbee.

Once you change uart_uarta.baudrate then you will have to close and open the console again and used the new badrate: 230400.