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ubx: add new mode for GCS usage

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* ubx: add new mode for GCS usage

* use head ref
This commit is contained in:
Alexander Lerach 2025-08-21 15:45:40 +02:00 committed by GitHub
parent 8e5cd59502
commit 785ea1a137
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GPG Key ID: B5690EEEBB952194
3 changed files with 7 additions and 1 deletions
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2
src/drivers/gps/devices

@ -1 +1 @@
Subproject commit f31394a37e252e3017e64f729312bcce05ea3a90
Subproject commit ce0afaeca23a3b88efcf52d47c82277839980f9d

4
src/drivers/gps/gps.cpp
View File

@ -759,6 +759,10 @@ GPS::run()
ubx_mode = GPSDriverUBX::UBXMode::RoverWithStaticBaseUart2;
break;
case 6:
ubx_mode = GPSDriverUBX::UBXMode::GroundControlStation;
break;
default:
break;

2
src/drivers/gps/params.c
View File

@ -94,6 +94,7 @@ PARAM_DEFINE_INT32(GPS_SAT_INFO, 0);
* F9P units are connected to each other.
* Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required.
* RTK is still possible with this setup.
* Mode 6 is intended for use with a ground control station (not necessarily an RTK correction base).
*
* @min 0
* @max 1
@ -103,6 +104,7 @@ PARAM_DEFINE_INT32(GPS_SAT_INFO, 0);
* @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)
* @value 6 Ground Control Station (UART2 outputs NMEA)
*
* @reboot_required true
* @group GPS