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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
2021-01-13 08:33:07 +01:00
committed by Beat Küng
parent 917fef546a
commit 3834690c4b
3 changed files with 76 additions and 2 deletions
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src/drivers/gps/gps.cpp
+15 -1
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@@ -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));