/**************************************************************************** * * Copyright (c) 2016 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ /** * Log GPS communication data * * If this is set to 1, all GPS communication data will be published via uORB, * and written to the log file as gps_dump message. * * If this is set to 2, the main GPS is configured to output RTCM data, * which is then logged as gps_dump and can be used for PPK. * * @min 0 * @max 2 * @value 0 Disable * @value 1 Full communication * @value 2 RTCM output (PPK) * @group GPS */ PARAM_DEFINE_INT32(GPS_DUMP_COMM, 0); /** * u-blox GPS dynamic platform model * * u-blox receivers support different dynamic platform models to adjust the navigation engine to * the expected application environment. * * @min 0 * @max 9 * @value 2 stationary * @value 4 automotive * @value 6 airborne with <1g acceleration * @value 7 airborne with <2g acceleration * @value 8 airborne with <4g acceleration * * @reboot_required true * * @group GPS */ PARAM_DEFINE_INT32(GPS_UBX_DYNMODEL, 7); /** * u-blox GPS Mode * * Select the u-blox configuration setup. Most setups will use the default, including RTK and * 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. * RTK is still possible with this setup. * * @min 0 * @max 1 * @value 0 Default * @value 1 Heading * * @reboot_required true * @group GPS */ 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. * * Set this to 90 if the first antenna is placed on the right side and the second on the left side of the vehicle. * * @min 0 * @max 360 * @unit deg * @reboot_required true * @decimal 0 * * @group GPS */ 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 5 * @value 0 Auto detect * @value 1 u-blox * @value 2 MTK * @value 3 Ashtech / Trimble * @value 4 Emlid Reach * @value 5 Femtomes * * @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 5 * @value 0 Auto detect * @value 1 u-blox * @value 2 MTK * @value 3 Ashtech / Trimble * @value 4 Emlid Reach * @value 5 Femtomes * * @reboot_required true * @group GPS */ PARAM_DEFINE_INT32(GPS_2_PROTOCOL, 1); /** * GNSS Systems for Primary GPS (integer bitmask) * * This integer bitmask controls the set of GNSS systems used by the receiver. Check your * receiver's documentation on how many systems are supported to be used in parallel. * * Currently this functionality is just implemented for u-blox receivers. * * When no bits are set, the receiver's default configuration should be used. * * Set bits true to enable: * 0 : Use GPS (with QZSS) * 1 : Use SBAS (multiple GPS augmentation systems) * 2 : Use Galileo * 3 : Use BeiDou * 4 : Use GLONASS * * @min 0 * @max 31 * @bit 0 GPS (with QZSS) * @bit 1 SBAS * @bit 2 Galileo * @bit 3 BeiDou * @bit 4 GLONASS * * @reboot_required true * @group GPS */ PARAM_DEFINE_INT32(GPS_1_GNSS, 0); /** * GNSS Systems for Secondary GPS (integer bitmask) * * This integer bitmask controls the set of GNSS systems used by the receiver. Check your * receiver's documentation on how many systems are supported to be used in parallel. * * Currently this functionality is just implemented for u-blox receivers. * * When no bits are set, the receiver's default configuration should be used. * * Set bits true to enable: * 0 : Use GPS (with QZSS) * 1 : Use SBAS (multiple GPS augmentation systems) * 2 : Use Galileo * 3 : Use BeiDou * 4 : Use GLONASS * * @min 0 * @max 31 * @bit 0 GPS (with QZSS) * @bit 1 SBAS * @bit 2 Galileo * @bit 3 BeiDou * @bit 4 GLONASS * * @reboot_required true * @group GPS */ PARAM_DEFINE_INT32(GPS_2_GNSS, 0);