From 81f0b64ad32ffaf446ad9e3f937986711f353ac2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 6 Aug 2018 14:02:07 +0200
Subject: [PATCH] gps: add SER_GPS1_BAUD param to configure the baudrate

The default is auto-detect, but some GPS devices might not like that, such
as the Trimble MB-Two.
---
 src/drivers/gps/gps.cpp  | 10 +++++++++-
 src/drivers/gps/params.c | 19 +++++++++++++++++++
 2 files changed, 28 insertions(+), 1 deletion(-)

diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index da1a8c7379..bde4f48347 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -618,6 +618,14 @@ GPS::run()
 		param_get(handle, &gps_ubx_dynmodel);
 	}
 
+	int32_t configured_baudrate = 0; // auto-detect
+	handle = param_find("SER_GPS1_BAUD");
+
+	if (handle != PARAM_INVALID) {
+		param_get(handle, &configured_baudrate);
+	}
+
+
 	_orb_inject_data_fd = orb_subscribe(ORB_ID(gps_inject_data));
 
 	initializeCommunicationDump();
@@ -686,7 +694,7 @@ GPS::run()
 				break;
 			}
 
-			_baudrate = 0; // auto-detect
+			_baudrate = configured_baudrate;
 
 			if (_helper && _helper->configure(_baudrate, GPSHelper::OutputMode::GPS) == 0) {
 
diff --git a/src/drivers/gps/params.c b/src/drivers/gps/params.c
index b6377cacb6..a898e7712d 100644
--- a/src/drivers/gps/params.c
+++ b/src/drivers/gps/params.c
@@ -85,3 +85,22 @@ PARAM_DEFINE_INT32(GPS_UBX_DYNMODEL, 7);
  * @group GPS
  */
 PARAM_DEFINE_FLOAT(GPS_YAW_OFFSET, 0.f);
+
+
+/**
+ * GPS Baudrate
+ *
+ * Configure the Baudrate for the GPS Serial Port. In most cases this can be set to Auto.
+ *
+ * The Trimble MB-Two GPS does not support auto-detection and uses a baudrate of 115200.
+ *
+ * @value 0 Auto
+ * @value 9600 9600 8N1
+ * @value 19200 19200 8N1
+ * @value 38400 38400 8N1
+ * @value 57600 57600 8N1
+ * @value 115200 115200 8N1
+ * @reboot_required true
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(SER_GPS1_BAUD, 0);