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gps: Support for Unicore HEADINGA sentence in NMEA

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This adds a parser for Unicore sentences sent in-between NMEA sentences.

This brings support for the Unicore UM982 module which publishes heading
information based on the two antennas.

Signed-off-by: Julian Oes <julian@oes.ch>
This commit is contained in:
Julian Oes
2023-03-15 21:55:15 -04:00
committed by Daniel Agar
parent ea97a38b2b
commit 89548e4f9e
3 changed files with 11 additions and 4 deletions
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src/drivers/gps/CMakeLists.txt
+1
View File
@@ -50,6 +50,7 @@ px4_add_module(
devices/src/femtomes.cpp
devices/src/nmea.cpp
devices/src/unicore.cpp
devices/src/crc.cpp
MODULE_CONFIG
module.yaml
DEPENDS
src/drivers/gps/devices
+1 -1
Submodule src/drivers/gps/devices updated: 33e447a3ba...c46ef0831c
src/drivers/gps/params.c
+9 -3
View File
@@ -147,10 +147,16 @@ PARAM_DEFINE_INT32(GPS_UBX_CFG_INTF, 0);
*
* Heading offset angle for dual antenna GPS setups that support heading estimation.
*
* Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the rover antenna is in
* front. The offset angle increases clockwise.
* Set this to 0 if the antennas are parallel to the forward-facing direction
* of the vehicle and the rover (or Unicore primary) antenna is in front.
*
* Set this to 90 if the rover antenna is placed on the right side of the vehicle and the moving base antenna is on the left side.
* The offset angle increases clockwise.
*
* Set this to 90 if the rover (or Unicore primary) antenna is placed on the
* right side of the vehicle and the moving base antenna is on the left side.
*
* (Note: the Unicore primary antenna is the one connected on the right as seen
* from the top).
*
* @min 0
* @max 360