fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-14 02:31:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

drivers/gnss/septentrio : 1.15-compatible extracted septentrio driver, with new features and fixes (#23386)

Browse Source 
Co-authored-by: Chiara de Saint Giniez <chiarastginiez@gmail.com>
This commit is contained in:
chiara-septentrio
2024-07-25 11:39:38 -04:00
committed by Daniel Agar
co-authored by Chiara de Saint Giniez
parent 3dc97908db
commit 5216453b39
27 changed files with 4155 additions and 69 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/gps/gps.cpp
+20 -34
View File
@@ -73,7 +73,6 @@
# include "devices/src/mtk.h"
# include "devices/src/femtomes.h"
# include "devices/src/nmea.h"
# include "devices/src/sbf.h"
#endif // CONSTRAINED_FLASH
#include "devices/src/ubx.h"
@@ -97,7 +96,6 @@ enum class gps_driver_mode_t {
EMLIDREACH,
FEMTOMES,
NMEA,
SBF
};
enum class gps_dump_comm_mode_t : int32_t {
@@ -361,8 +359,6 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
case 5: _mode = gps_driver_mode_t::FEMTOMES; break;
case 6: _mode = gps_driver_mode_t::NMEA; break;
case 7: _mode = gps_driver_mode_t::SBF; break;
#endif // CONSTRAINED_FLASH
}
}
@@ -706,13 +702,6 @@ GPS::run()
heading_offset = matrix::wrap_pi(math::radians(heading_offset));
}
handle = param_find("GPS_PITCH_OFFSET");
float pitch_offset = 0.f;
if (handle != PARAM_INVALID) {
param_get(handle, &pitch_offset);
}
int32_t gps_ubx_dynmodel = 7; // default to 7: airborne with <2g acceleration
handle = param_find("GPS_UBX_DYNMODEL");
@@ -728,7 +717,8 @@ GPS::run()
int32_t gps_ubx_mode = 0;
param_get(handle, &gps_ubx_mode);
if (gps_ubx_mode == 1) { // heading
switch (gps_ubx_mode) {
case 1: // heading
if (_instance == Instance::Main) {
ubx_mode = GPSDriverUBX::UBXMode::RoverWithMovingBase;
@@ -736,10 +726,13 @@ GPS::run()
ubx_mode = GPSDriverUBX::UBXMode::MovingBase;
}
} else if (gps_ubx_mode == 2) {
ubx_mode = GPSDriverUBX::UBXMode::MovingBase;
break;
} else if (gps_ubx_mode == 3) {
case 2:
ubx_mode = GPSDriverUBX::UBXMode::MovingBase;
break;
case 3:
if (_instance == Instance::Main) {
ubx_mode = GPSDriverUBX::UBXMode::RoverWithMovingBaseUART1;
@@ -747,11 +740,18 @@ GPS::run()
ubx_mode = GPSDriverUBX::UBXMode::MovingBaseUART1;
}
} else if (gps_ubx_mode == 4) {
ubx_mode = GPSDriverUBX::UBXMode::MovingBaseUART1;
break;
} else if (gps_ubx_mode == 5) { // rover with static base on Uart2
case 4:
ubx_mode = GPSDriverUBX::UBXMode::MovingBaseUART1;
break;
case 5: // rover with static base on Uart2
ubx_mode = GPSDriverUBX::UBXMode::RoverWithStaticBaseUart2;
break;
default:
break;
}
}
@@ -875,11 +875,6 @@ GPS::run()
_helper = new GPSDriverNMEA(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, heading_offset);
set_device_type(DRV_GPS_DEVTYPE_NMEA);
break;
case gps_driver_mode_t::SBF:
_helper = new GPSDriverSBF(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, heading_offset, pitch_offset);
set_device_type(DRV_GPS_DEVTYPE_SBF);
break;
#endif // CONSTRAINED_FLASH
default:
@@ -1056,11 +1051,8 @@ GPS::run()
break;
case gps_driver_mode_t::FEMTOMES:
_mode = gps_driver_mode_t::SBF;
break;
case gps_driver_mode_t::SBF:
case gps_driver_mode_t::NMEA: // skip NMEA for auto-detection to avoid false positive matching
#endif // CONSTRAINED_FLASH
_mode = gps_driver_mode_t::UBX;
px4_usleep(500000); // tried all possible drivers. Wait a bit before next round
@@ -1120,10 +1112,6 @@ GPS::print_status()
case gps_driver_mode_t::NMEA:
PX4_INFO("protocol: NMEA");
break;
case gps_driver_mode_t::SBF:
PX4_INFO("protocol: SBF");
#endif // CONSTRAINED_FLASH
default:
@@ -1496,8 +1484,6 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
} else if (!strcmp(myoptarg, "nmea")) {
mode = gps_driver_mode_t::NMEA;
} else if (!strcmp(myoptarg, "sbf")) {
mode = gps_driver_mode_t::SBF;
#endif // CONSTRAINED_FLASH
} else {
PX4_ERR("unknown protocol: %s", myoptarg);
@@ -1560,4 +1546,4 @@ int
gps_main(int argc, char *argv[])
{
return GPS::main(argc, argv);
}
}