From 89548e4f9efab20ceec9010e88e57354a83c69de Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 1 Mar 2023 16:12:05 +1300 Subject: [PATCH] gps: Support for Unicore HEADINGA sentence in NMEA 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 --- src/drivers/gps/CMakeLists.txt | 1 + src/drivers/gps/devices | 2 +- src/drivers/gps/params.c | 12 +++++++++--- 3 files changed, 11 insertions(+), 4 deletions(-) diff --git a/src/drivers/gps/CMakeLists.txt b/src/drivers/gps/CMakeLists.txt index 28cc0c82cc..4719e0e34e 100644 --- a/src/drivers/gps/CMakeLists.txt +++ b/src/drivers/gps/CMakeLists.txt @@ -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 diff --git a/src/drivers/gps/devices b/src/drivers/gps/devices index 33e447a3ba..c46ef0831c 160000 --- a/src/drivers/gps/devices +++ b/src/drivers/gps/devices @@ -1 +1 @@ -Subproject commit 33e447a3ba24a3950398043e0df45abf37f79d0c +Subproject commit c46ef0831cf7b4538fd8e3ec7fbd6d0d636be731 diff --git a/src/drivers/gps/params.c b/src/drivers/gps/params.c index f0aaab3f1b..f0ea80e91d 100644 --- a/src/drivers/gps/params.c +++ b/src/drivers/gps/params.c @@ -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