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Revert "drivers/gnss/septentrio : 1.15-compatible extracted septentrio driver, with new features and fixes (#23386)"

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This reverts commit 4ea83484c17b064921ddd9574880ef0d997383d7.
This commit is contained in:
Ramon Roche
2024-07-25 10:31:21 -07:00
parent 5216453b39
commit d298be9cc5
27 changed files with 67 additions and 4153 deletions
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src/drivers/gps/gps.cpp
+32 -18
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@@ -73,6 +73,7 @@
# include "devices/src/mtk.h"
# include "devices/src/femtomes.h"
# include "devices/src/nmea.h"
# include "devices/src/sbf.h"
#endif // CONSTRAINED_FLASH
#include "devices/src/ubx.h"
@@ -96,6 +97,7 @@ enum class gps_driver_mode_t {
EMLIDREACH,
FEMTOMES,
NMEA,
SBF
};
enum class gps_dump_comm_mode_t : int32_t {
@@ -359,6 +361,8 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
case 5: _mode = gps_driver_mode_t::FEMTOMES; break;
case 6: _mode = gps_driver_mode_t::NMEA; break;
case 7: _mode = gps_driver_mode_t::SBF; break;
#endif // CONSTRAINED_FLASH
}
}
@@ -702,6 +706,13 @@ GPS::run()
heading_offset = matrix::wrap_pi(math::radians(heading_offset));
}
handle = param_find("GPS_PITCH_OFFSET");
float pitch_offset = 0.f;
if (handle != PARAM_INVALID) {
param_get(handle, &pitch_offset);
}
int32_t gps_ubx_dynmodel = 7; // default to 7: airborne with <2g acceleration
handle = param_find("GPS_UBX_DYNMODEL");
@@ -717,8 +728,7 @@ GPS::run()
int32_t gps_ubx_mode = 0;
param_get(handle, &gps_ubx_mode);
switch (gps_ubx_mode) {
case 1: // heading
if (gps_ubx_mode == 1) { // heading
if (_instance == Instance::Main) {
ubx_mode = GPSDriverUBX::UBXMode::RoverWithMovingBase;
@@ -726,13 +736,10 @@ GPS::run()
ubx_mode = GPSDriverUBX::UBXMode::MovingBase;
}
break;
case 2:
} else if (gps_ubx_mode == 2) {
ubx_mode = GPSDriverUBX::UBXMode::MovingBase;
break;
case 3:
} else if (gps_ubx_mode == 3) {
if (_instance == Instance::Main) {
ubx_mode = GPSDriverUBX::UBXMode::RoverWithMovingBaseUART1;
@@ -740,18 +747,11 @@ GPS::run()
ubx_mode = GPSDriverUBX::UBXMode::MovingBaseUART1;
}
break;
case 4:
} else if (gps_ubx_mode == 4) {
ubx_mode = GPSDriverUBX::UBXMode::MovingBaseUART1;
break;
case 5: // rover with static base on Uart2
} else if (gps_ubx_mode == 5) { // rover with static base on Uart2
ubx_mode = GPSDriverUBX::UBXMode::RoverWithStaticBaseUart2;
break;
default:
break;
}
}
@@ -875,6 +875,11 @@ GPS::run()
_helper = new GPSDriverNMEA(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, heading_offset);
set_device_type(DRV_GPS_DEVTYPE_NMEA);
break;
case gps_driver_mode_t::SBF:
_helper = new GPSDriverSBF(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, heading_offset, pitch_offset);
set_device_type(DRV_GPS_DEVTYPE_SBF);
break;
#endif // CONSTRAINED_FLASH
default:
@@ -1051,8 +1056,11 @@ GPS::run()
break;
case gps_driver_mode_t::FEMTOMES:
case gps_driver_mode_t::NMEA: // skip NMEA for auto-detection to avoid false positive matching
_mode = gps_driver_mode_t::SBF;
break;
case gps_driver_mode_t::SBF:
case gps_driver_mode_t::NMEA: // skip NMEA for auto-detection to avoid false positive matching
#endif // CONSTRAINED_FLASH
_mode = gps_driver_mode_t::UBX;
px4_usleep(500000); // tried all possible drivers. Wait a bit before next round
@@ -1112,6 +1120,10 @@ GPS::print_status()
case gps_driver_mode_t::NMEA:
PX4_INFO("protocol: NMEA");
break;
case gps_driver_mode_t::SBF:
PX4_INFO("protocol: SBF");
#endif // CONSTRAINED_FLASH
default:
@@ -1484,6 +1496,8 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
} else if (!strcmp(myoptarg, "nmea")) {
mode = gps_driver_mode_t::NMEA;
} else if (!strcmp(myoptarg, "sbf")) {
mode = gps_driver_mode_t::SBF;
#endif // CONSTRAINED_FLASH
} else {
PX4_ERR("unknown protocol: %s", myoptarg);
@@ -1546,4 +1560,4 @@ int
gps_main(int argc, char *argv[])
{
return GPS::main(argc, argv);
}
}