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gps: add support for u-blox heading with 2 F9P devices

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This commit is contained in:
Beat Küng
2020-11-04 10:26:49 -05:00
committed by Daniel Agar
parent d7fa5c68aa
commit c5c521f5e0
3 changed files with 45 additions and 2 deletions
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src/drivers/gps/gps.cpp
+23 -1
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@@ -409,6 +409,10 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
void GPS::handleInjectDataTopic()
{
if (!_helper->shouldInjectRTCM()) {
return;
}
bool updated = false;
// Limit maximum number of GPS injections to 6 since usually
@@ -644,6 +648,24 @@ GPS::run()
param_get(handle, &gps_ubx_dynmodel);
}
handle = param_find("GPS_UBX_MODE");
GPSDriverUBX::UBXMode ubx_mode{GPSDriverUBX::UBXMode::Normal};
if (handle != PARAM_INVALID) {
int32_t gps_ubx_mode = 0;
param_get(handle, &gps_ubx_mode);
if (gps_ubx_mode == 1) { // heading
if (_instance == Instance::Main) {
ubx_mode = GPSDriverUBX::UBXMode::RoverWithMovingBase;
} else {
ubx_mode = GPSDriverUBX::UBXMode::MovingBase;
}
}
}
initializeCommunicationDump();
uint64_t last_rate_measurement = hrt_absolute_time();
@@ -696,7 +718,7 @@ GPS::run()
/* FALLTHROUGH */
case GPS_DRIVER_MODE_UBX:
_helper = new GPSDriverUBX(_interface, &GPS::callback, this, &_report_gps_pos, _p_report_sat_info,
gps_ubx_dynmodel);
gps_ubx_dynmodel, heading_offset, ubx_mode);
break;
case GPS_DRIVER_MODE_MTK: