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drivers/gps: extract Septentrio into new standalone drivers/gnss/septentrio module (#22904)

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Having a generic interface over the GPS drivers makes dedicated
functionality for each driver harder. Move the Septentrio driver into
its own module under the `gnss` driver directory, and let it have its
own parameters for only the functionality it requires. This also helps
with adding new features because they only need to be implemented for
the driver that wants it, simplifying testing.
This commit is contained in:
Thomas Frans
2024-06-17 12:25:24 -04:00
committed by GitHub
parent f9160853fa
commit cd4c495377
27 changed files with 4028 additions and 56 deletions
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msg/GpsDump.msg
+5 -7
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@@ -1,12 +1,10 @@
# This message is used to dump the raw gps communication to the log.
# Set the parameter GPS_DUMP_COMM to 1 to use this.
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # time since system start (microseconds)
uint8 instance # Instance of GNSS receiver
uint8 len # length of data, MSB bit set = message to the gps device,
# clear = message from the device
uint8[79] data # data to write to the log
uint8 instance # Instance of GNSS receiver
uint8 len # length of data, MSB bit set = message to the gps device,
# clear = message from the device
uint8[79] data # data to write to the log
uint8 ORB_QUEUE_LENGTH = 8
msg/SensorGps.msg
+8 -1
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@@ -12,7 +12,14 @@ float64 altitude_ellipsoid_m # Altitude above Ellipsoid, meters
float32 s_variance_m_s # GPS speed accuracy estimate, (metres/sec)
float32 c_variance_rad # GPS course accuracy estimate, (radians)
uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
uint8 FIX_TYPE_NONE = 1 # Value 0 is also valid to represent no fix.
uint8 FIX_TYPE_2D = 2
uint8 FIX_TYPE_3D = 3
uint8 FIX_TYPE_RTCM_CODE_DIFFERENTIAL = 4
uint8 FIX_TYPE_RTK_FLOAT = 5
uint8 FIX_TYPE_RTK_FIXED = 6
uint8 FIX_TYPE_EXTRAPOLATED = 8
uint8 fix_type # Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
float32 eph # GPS horizontal position accuracy (metres)
float32 epv # GPS vertical position accuracy (metres)