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gps: add GPS_{1,2}_PROTOCOL param to select protocol, default to u-blox

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u-blox is the most widely used GPS, so module detection should be a bit
faster in general.
This commit is contained in:
Beat Küng 2020-10-13 16:55:52 +02:00 committed by Daniel Agar
parent ab43a94224
commit e6ad321ab2
2 changed files with 58 additions and 1 deletions
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20
src/drivers/gps/gps.cpp
View File

@ -279,7 +279,25 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
memset(_p_report_sat_info, 0, sizeof(*_p_report_sat_info));
}
_mode_auto = mode == GPS_DRIVER_MODE_NONE;
if (_mode == GPS_DRIVER_MODE_NONE) {
// use parameter to select mode if not provided via CLI
char protocol_param_name[16];
snprintf(protocol_param_name, sizeof(protocol_param_name), "GPS_%i_PROTOCOL", (int)_instance + 1);
int32_t protocol = 0;
param_get(param_find(protocol_param_name), &protocol);
switch (protocol) {
case 1: _mode = GPS_DRIVER_MODE_UBX; break;
case 2: _mode = GPS_DRIVER_MODE_MTK; break;
case 3: _mode = GPS_DRIVER_MODE_ASHTECH; break;
case 4: _mode = GPS_DRIVER_MODE_EMLIDREACH; break;
}
}
_mode_auto = _mode == GPS_DRIVER_MODE_NONE;
}
GPS::~GPS()

39
src/drivers/gps/params.c
View File

@ -107,3 +107,42 @@ PARAM_DEFINE_INT32(GPS_UBX_MODE, 0);
*/
PARAM_DEFINE_FLOAT(GPS_YAW_OFFSET, 0.f);
/**
* Protocol for Main GPS
*
* Select the GPS protocol over serial.
*
* Auto-detection will probe all protocols, and thus is a bit slower.
*
* @min 0
* @max 4
* @value 0 Auto detect
* @value 1 u-blox
* @value 2 MTK
* @value 3 Ashtech / Trimble
* @value 4 Emlid Reach
*
* @reboot_required true
* @group GPS
*/
PARAM_DEFINE_INT32(GPS_1_PROTOCOL, 1);
/**
* Protocol for Secondary GPS
*
* Select the GPS protocol over serial.
*
* Auto-detection will probe all protocols, and thus is a bit slower.
*
* @min 0
* @max 4
* @value 0 Auto detect
* @value 1 u-blox
* @value 2 MTK
* @value 3 Ashtech / Trimble
* @value 4 Emlid Reach
*
* @reboot_required true
* @group GPS
*/
PARAM_DEFINE_INT32(GPS_2_PROTOCOL, 1);