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UAVCAN Moving Baseline Working

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Set uavcan publisher priorities

Switch to ardupilot rtcm message and add heading accuracy
This commit is contained in:
alexklimaj
2021-11-30 15:59:08 -05:00
committed by Daniel Agar
parent b59db7dac2
commit bfd5a90a5d
23 changed files with 328 additions and 66 deletions
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src/drivers/gps/params.c
+8 -4
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@@ -76,14 +76,19 @@ PARAM_DEFINE_INT32(GPS_UBX_DYNMODEL, 7);
* dual GPS without heading.
*
* The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output
* heading information, whereas the secondary will act as moving base, sending RTCM on UART2 to
* the rover GPS.
* heading information, whereas the secondary will act as moving base.
* Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the
* 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.
*
* @min 0
* @max 1
* @value 0 Default
* @value 1 Heading
* @value 1 Heading (Rover With Moving Base UART1 Connected To Autopilot, UART2 Connected To Moving Base)
* @value 2 Moving Base (UART1 Connected To Autopilot, UART2 Connected To Rover)
* @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)
*
* @reboot_required true
* @group GPS
@@ -95,7 +100,6 @@ PARAM_DEFINE_INT32(GPS_UBX_MODE, 0);
* Heading/Yaw offset for dual antenna GPS
*
* Heading offset angle for dual antenna GPS setups that support heading estimation.
* (currently only for the Trimble MB-Two).
*
* Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the first antenna is in
* front. The offset angle increases clockwise.