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gps: add UART2 Baudrate Configurability and New UBX Mode. (#20133)

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Shriv 2022-09-12 08:13:17 -04:00 committed by GitHub
parent b8fb5dfa51
commit 3dffa5e6df
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3 changed files with 31 additions and 2 deletions
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2
src/drivers/gps/devices

@ -1 +1 @@
Subproject commit 8c09c5426d23ea4db4e462c1f4e3a1de33d253cc
Subproject commit 1ff87868f6008f06e2033ee05dd904ec54109e52

13
src/drivers/gps/gps.cpp
View File

@ -783,9 +783,20 @@ GPS::run()
} else if (gps_ubx_mode == 4) {
ubx_mode = GPSDriverUBX::UBXMode::MovingBaseUART1;
} else if (gps_ubx_mode == 5) { // rover with static base on Uart2
ubx_mode = GPSDriverUBX::UBXMode::RoverWithStaticBaseUart2;
}
}
handle = param_find("GPS_UBX_BAUD2");
int32_t f9p_uart2_baudrate = 57600;
if (handle != PARAM_INVALID) {
param_get(handle, &f9p_uart2_baudrate);
}
int32_t gnssSystemsParam = static_cast<int32_t>(GPSHelper::GNSSSystemsMask::RECEIVER_DEFAULTS);
if (_instance == Instance::Main) {
@ -846,7 +857,7 @@ GPS::run()
/* FALLTHROUGH */
case gps_driver_mode_t::UBX:
_helper = new GPSDriverUBX(_interface, &GPS::callback, this, &_report_gps_pos, _p_report_sat_info,
gps_ubx_dynmodel, heading_offset, ubx_mode);
gps_ubx_dynmodel, heading_offset, f9p_uart2_baudrate, ubx_mode);
set_device_type(DRV_GPS_DEVTYPE_UBX);
break;
#ifndef CONSTRAINED_FLASH

18
src/drivers/gps/params.c
View File

@ -87,6 +87,7 @@ PARAM_DEFINE_INT32(GPS_SAT_INFO, 0);
* Select the u-blox configuration setup. Most setups will use the default, including RTK and
* dual GPS without heading.
*
* If rover has RTCM corrections from a static base (or other static correction source) coming in on UART2, then select Mode 5.
* The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output
* heading information, whereas the secondary will act as moving base.
* Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the
@ -101,6 +102,7 @@ PARAM_DEFINE_INT32(GPS_SAT_INFO, 0);
* @value 2 Moving Base (UART1 Connected To Autopilot, UART2 Connected To Rover)
* @value 3 Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
* @value 4 Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
* @value 5 Rover with Static Base on UART2 (similar to Default, except coming in on UART2)
*
* @reboot_required true
* @group GPS
@ -108,6 +110,22 @@ PARAM_DEFINE_INT32(GPS_SAT_INFO, 0);
PARAM_DEFINE_INT32(GPS_UBX_MODE, 0);
/**
* u-blox F9P UART2 Baudrate
*
* Select a baudrate for the F9P's UART2 port.
* In GPS_UBX_MODE 1, 2, and 3, the F9P's UART2 port is configured to send/receive RTCM corrections.
* Set this to 57600 if you want to attach a telemetry radio on UART2.
*
* @min 0
* @unit B/s
*
* @reboot_required true
* @group GPS
*/
PARAM_DEFINE_INT32(GPS_UBX_BAUD2, 230400);
/**
* Heading/Yaw offset for dual antenna GPS
*