From 3dffa5e6df4aec65055fa2e76bdcbcb8d1cd2f7e Mon Sep 17 00:00:00 2001
From: Shriv <5642476+stevesdawg@users.noreply.github.com>
Date: Mon, 12 Sep 2022 08:13:17 -0400
Subject: [PATCH] gps: add UART2 Baudrate Configurability and New UBX Mode.
 (#20133)

---
 src/drivers/gps/devices  |  2 +-
 src/drivers/gps/gps.cpp  | 13 ++++++++++++-
 src/drivers/gps/params.c | 18 ++++++++++++++++++
 3 files changed, 31 insertions(+), 2 deletions(-)

diff --git a/src/drivers/gps/devices b/src/drivers/gps/devices
index 8c09c5426d..1ff87868f6 160000
--- a/src/drivers/gps/devices
+++ b/src/drivers/gps/devices
@@ -1 +1 @@
-Subproject commit 8c09c5426d23ea4db4e462c1f4e3a1de33d253cc
+Subproject commit 1ff87868f6008f06e2033ee05dd904ec54109e52
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index c4b03e12b0..8d72182b1d 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -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
diff --git a/src/drivers/gps/params.c b/src/drivers/gps/params.c
index 25a0cb2934..256099c485 100644
--- a/src/drivers/gps/params.c
+++ b/src/drivers/gps/params.c
@@ -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
  *