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Add parameter to select the set of used GNSS systems

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This commit is contained in:
Jannik Beyerstedt 2021-01-07 09:51:24 +01:00 committed by Beat Küng
parent 917fef546a
commit 3834690c4b
3 changed files with 76 additions and 2 deletions
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2
src/drivers/gps/devices

@ -1 +1 @@
Subproject commit 9282d3d73391859f51c759a343a052dfb1be02e0
Subproject commit 52535dc2ebb41bc5c134d99a1b9ad2023ac0512b

16
src/drivers/gps/gps.cpp
View File

@ -697,6 +697,17 @@ GPS::run()
}
}
int32_t gnssSystemsParam = static_cast<int32_t>(GPSHelper::GNSSSystemsMask::RECEIVER_DEFAULTS);
if (_instance == Instance::Main) {
handle = param_find("GPS_1_GNSS");
param_get(handle, &gnssSystemsParam);
} else if (_instance == Instance::Secondary) {
handle = param_find("GPS_2_GNSS");
param_get(handle, &gnssSystemsParam);
}
initializeCommunicationDump();
uint64_t last_rate_measurement = hrt_absolute_time();
@ -769,8 +780,11 @@ GPS::run()
}
_baudrate = _configured_baudrate;
GPSHelper::GPSConfig gpsConfig{};
gpsConfig.output_mode = GPSHelper::OutputMode::GPS;
gpsConfig.gnss_systems = static_cast<GPSHelper::GNSSSystemsMask>(gnssSystemsParam);
if (_helper && _helper->configure(_baudrate, GPSHelper::OutputMode::GPS) == 0) {
if (_helper && _helper->configure(_baudrate, gpsConfig) == 0) {
/* reset report */
memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));

60
src/drivers/gps/params.c
View File

@ -146,3 +146,63 @@ PARAM_DEFINE_INT32(GPS_1_PROTOCOL, 1);
* @group GPS
*/
PARAM_DEFINE_INT32(GPS_2_PROTOCOL, 1);
/**
* GNSS Systems for Primary GPS (integer bitmask)
*
* This integer bitmask controls the set of GNSS systems used by the receiver. Check your
* receiver's documentation on how many systems are supported to be used in parallel.
*
* Currently this functionality is just implemented for u-blox receivers.
*
* When no bits are set, the receiver's default configuration should be used.
*
* Set bits true to enable:
* 0 : Use GPS (with QZSS)
* 1 : Use SBAS (multiple GPS augmentation systems)
* 2 : Use Galileo
* 3 : Use BeiDou
* 4 : Use GLONASS
*
* @min 0
* @max 31
* @bit 0 GPS (with QZSS)
* @bit 1 SBAS
* @bit 2 Galileo
* @bit 3 BeiDou
* @bit 4 GLONASS
*
* @reboot_required true
* @group GPS
*/
PARAM_DEFINE_INT32(GPS_1_GNSS, 0);
/**
* GNSS Systems for Secondary GPS (integer bitmask)
*
* This integer bitmask controls the set of GNSS systems used by the receiver. Check your
* receiver's documentation on how many systems are supported to be used in parallel.
*
* Currently this functionality is just implemented for u-blox receivers.
*
* When no bits are set, the receiver's default configuration should be used.
*
* Set bits true to enable:
* 0 : Use GPS (with QZSS)
* 1 : Use SBAS (multiple GPS augmentation systems)
* 2 : Use Galileo
* 3 : Use BeiDou
* 4 : Use GLONASS
*
* @min 0
* @max 31
* @bit 0 GPS (with QZSS)
* @bit 1 SBAS
* @bit 2 Galileo
* @bit 3 BeiDou
* @bit 4 GLONASS
*
* @reboot_required true
* @group GPS
*/
PARAM_DEFINE_INT32(GPS_2_GNSS, 0);