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

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This commit is contained in:
Shriv
2022-09-12 08:13:17 -04:00
committed by GitHub
parent b8fb5dfa51
commit 3dffa5e6df
3 changed files with 31 additions and 2 deletions
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src/drivers/gps/gps.cpp
+12 -1
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@@ -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