From 785ea1a137c761d40128562c1b47a033f993764d Mon Sep 17 00:00:00 2001 From: Alexander Lerach Date: Thu, 21 Aug 2025 15:45:40 +0200 Subject: [PATCH] ubx: add new mode for GCS usage * ubx: add new mode for GCS usage * use head ref --- src/drivers/gps/devices | 2 +- src/drivers/gps/gps.cpp | 4 ++++ src/drivers/gps/params.c | 2 ++ 3 files changed, 7 insertions(+), 1 deletion(-) diff --git a/src/drivers/gps/devices b/src/drivers/gps/devices index f31394a37e..ce0afaeca2 160000 --- a/src/drivers/gps/devices +++ b/src/drivers/gps/devices @@ -1 +1 @@ -Subproject commit f31394a37e252e3017e64f729312bcce05ea3a90 +Subproject commit ce0afaeca23a3b88efcf52d47c82277839980f9d diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 4e3ec68b64..eae1732f0a 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -759,6 +759,10 @@ GPS::run() ubx_mode = GPSDriverUBX::UBXMode::RoverWithStaticBaseUart2; break; + case 6: + ubx_mode = GPSDriverUBX::UBXMode::GroundControlStation; + break; + default: break; diff --git a/src/drivers/gps/params.c b/src/drivers/gps/params.c index 49497fa106..92fb83323d 100644 --- a/src/drivers/gps/params.c +++ b/src/drivers/gps/params.c @@ -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