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gps: Support for Emlid Reach

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Support Emlid Reach in ERB format,
including autodetect

Reported-by: Bastien Auneau <bastien.auneau@while-true.fr>
This commit is contained in:
bastien
2019-02-04 09:10:11 -05:00
committed by Kabir Mohammed
parent 9692ef1ae9
commit 1990338a3f
3 changed files with 25 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/gps/CMakeLists.txt
+1
View File
@@ -44,6 +44,7 @@ px4_add_module(
devices/src/ashtech.cpp devices/src/ashtech.cpp
devices/src/ubx.cpp devices/src/ubx.cpp
devices/src/rtcm.cpp devices/src/rtcm.cpp
devices/src/emlid_reach.cpp
MODULE_CONFIG MODULE_CONFIG
module.yaml module.yaml
DEPENDS DEPENDS
src/drivers/gps/devices
+1 -1
Submodule src/drivers/gps/devices updated: 2fecb4912d...a6687961ec
src/drivers/gps/gps.cpp
+23 -2
View File
@@ -86,6 +86,7 @@
#include "devices/src/ubx.h" #include "devices/src/ubx.h"
#include "devices/src/mtk.h" #include "devices/src/mtk.h"
#include "devices/src/ashtech.h" #include "devices/src/ashtech.h"
#include "devices/src/emlid_reach.h"
#ifdef __PX4_LINUX #ifdef __PX4_LINUX
#include <linux/spi/spidev.h> #include <linux/spi/spidev.h>
@@ -98,7 +99,8 @@ typedef enum {
GPS_DRIVER_MODE_NONE = 0, GPS_DRIVER_MODE_NONE = 0,
GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX,
GPS_DRIVER_MODE_MTK, GPS_DRIVER_MODE_MTK,
GPS_DRIVER_MODE_ASHTECH GPS_DRIVER_MODE_ASHTECH,
GPS_DRIVER_MODE_EMLIDREACH
} gps_driver_mode_t; } gps_driver_mode_t;
/* struct for dynamic allocation of satellite info data */ /* struct for dynamic allocation of satellite info data */
@@ -720,6 +722,10 @@ GPS::run()
_helper = new GPSDriverAshtech(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, heading_offset); _helper = new GPSDriverAshtech(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, heading_offset);
break; break;
case GPS_DRIVER_MODE_EMLIDREACH:
_helper = new GPSDriverEmlidReach(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
break;
default: default:
break; break;
} }
@@ -782,6 +788,10 @@ GPS::run()
// mode_str = "ASHTECH"; // mode_str = "ASHTECH";
// break; // break;
// //
// case GPS_DRIVER_MODE_EMLIDREACH:
// mode_str = "EMLID REACH";
// break;
//
// default: // default:
// break; // break;
// } // }
@@ -809,6 +819,10 @@ GPS::run()
break; break;
case GPS_DRIVER_MODE_ASHTECH: case GPS_DRIVER_MODE_ASHTECH:
_mode = GPS_DRIVER_MODE_EMLIDREACH;
break;
case GPS_DRIVER_MODE_EMLIDREACH:
_mode = GPS_DRIVER_MODE_UBX; _mode = GPS_DRIVER_MODE_UBX;
px4_usleep(500000); // tried all possible drivers. Wait a bit before next round px4_usleep(500000); // tried all possible drivers. Wait a bit before next round
break; break;
@@ -877,6 +891,10 @@ GPS::print_status()
PX4_INFO("protocol: ASHTECH"); PX4_INFO("protocol: ASHTECH");
break; break;
case GPS_DRIVER_MODE_EMLIDREACH:
PX4_INFO("protocol: EMLIDREACH");
break;
default: default:
break; break;
} }
@@ -976,7 +994,7 @@ gps start -d /dev/ttyS3 -e /dev/ttyS4
PRINT_MODULE_USAGE_PARAM_FLAG('s', "Enable publication of satellite info", true); PRINT_MODULE_USAGE_PARAM_FLAG('s', "Enable publication of satellite info", true);
PRINT_MODULE_USAGE_PARAM_STRING('i', "uart", "spi|uart", "GPS interface", true); PRINT_MODULE_USAGE_PARAM_STRING('i', "uart", "spi|uart", "GPS interface", true);
PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, "ubx|mtk|ash", "GPS Protocol (default=auto select)", true); PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, "ubx|mtk|ash|eml", "GPS Protocol (default=auto select)", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
@@ -1107,6 +1125,9 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
} else if (!strcmp(myoptarg, "ash")) { } else if (!strcmp(myoptarg, "ash")) {
mode = GPS_DRIVER_MODE_ASHTECH; mode = GPS_DRIVER_MODE_ASHTECH;
} else if (!strcmp(myoptarg, "eml")) {
mode = GPS_DRIVER_MODE_EMLIDREACH;
} else { } else {
PX4_ERR("unknown interface: %s", myoptarg); PX4_ERR("unknown interface: %s", myoptarg);
error_flag = true; error_flag = true;