mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-12 14:17:34 +08:00
Matthias Grob
279 lines
8.0 KiB
C
279 lines
8.0 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2016-2024 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* Log GPS communication data
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*
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* If this is set to 1, all GPS communication data will be published via uORB,
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* and written to the log file as gps_dump message.
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*
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* If this is set to 2, the main GPS is configured to output RTCM data,
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* which is then logged as gps_dump and can be used for PPK.
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*
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* @min 0
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* @max 2
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* @value 0 Disable
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* @value 1 Full communication
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* @value 2 RTCM output (PPK)
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* @group GPS
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*/
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PARAM_DEFINE_INT32(GPS_DUMP_COMM, 0);
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/**
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* u-blox GPS dynamic platform model
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*
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* u-blox receivers support different dynamic platform models to adjust the navigation engine to
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* the expected application environment.
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*
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* @min 0
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* @max 9
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* @value 2 stationary
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* @value 4 automotive
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* @value 6 airborne with <1g acceleration
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* @value 7 airborne with <2g acceleration
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* @value 8 airborne with <4g acceleration
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*
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* @reboot_required true
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*
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* @group GPS
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*/
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PARAM_DEFINE_INT32(GPS_UBX_DYNMODEL, 7);
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/**
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* Enable sat info (if available)
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*
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* Enable publication of satellite info (ORB_ID(satellite_info)) if possible.
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* Not available on MTK.
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*
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* @boolean
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* @reboot_required true
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* @group GPS
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*/
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PARAM_DEFINE_INT32(GPS_SAT_INFO, 0);
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/**
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* u-blox GPS Mode
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*
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* Select the u-blox configuration setup. Most setups will use the default, including RTK and
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* dual GPS without heading.
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*
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* If rover has RTCM corrections from a static base (or other static correction source) coming in on UART2, then select Mode 5.
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* The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output
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* heading information, whereas the secondary will act as moving base.
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* Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the
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* F9P units are connected to each other.
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* Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required.
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* RTK is still possible with this setup.
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*
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* @min 0
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* @max 1
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* @value 0 Default
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* @value 1 Heading (Rover With Moving Base UART1 Connected To Autopilot, UART2 Connected To Moving Base)
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* @value 2 Moving Base (UART1 Connected To Autopilot, UART2 Connected To Rover)
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* @value 3 Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
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* @value 4 Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
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* @value 5 Rover with Static Base on UART2 (similar to Default, except coming in on UART2)
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*
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* @reboot_required true
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* @group GPS
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*/
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PARAM_DEFINE_INT32(GPS_UBX_MODE, 0);
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/**
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* u-blox F9P UART2 Baudrate
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*
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* Select a baudrate for the F9P's UART2 port.
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* In GPS_UBX_MODE 1, 2, and 3, the F9P's UART2 port is configured to send/receive RTCM corrections.
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* Set this to 57600 if you want to attach a telemetry radio on UART2.
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*
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* @min 0
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* @unit B/s
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*
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* @reboot_required true
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* @group GPS
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*/
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PARAM_DEFINE_INT32(GPS_UBX_BAUD2, 230400);
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/**
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* u-blox protocol configuration for interfaces
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*
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* @min 0
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* @max 32
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* @bit 0 Enable I2C input protocol UBX
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* @bit 1 Enable I2C input protocol NMEA
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* @bit 2 Enable I2C input protocol RTCM3X
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* @bit 3 Enable I2C output protocol UBX
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* @bit 4 Enable I2C output protocol NMEA
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* @bit 5 Enable I2C output protocol RTCM3X
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*
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* @reboot_required true
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* @group GPS
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*/
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PARAM_DEFINE_INT32(GPS_UBX_CFG_INTF, 0);
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/**
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* Heading/Yaw offset for dual antenna GPS
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*
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* Heading offset angle for dual antenna GPS setups that support heading estimation.
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*
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* Set this to 0 if the antennas are parallel to the forward-facing direction
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* of the vehicle and the rover (or Unicore primary) antenna is in front.
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*
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* The offset angle increases clockwise.
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*
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* Set this to 90 if the rover (or Unicore primary, or Septentrio Mosaic Aux)
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* antenna is placed on the right side of the vehicle and the moving base
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* antenna is on the left side.
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*
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* (Note: the Unicore primary antenna is the one connected on the right as seen
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* from the top).
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*
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* @min 0
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* @max 360
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* @unit deg
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* @reboot_required true
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* @decimal 3
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*
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* @group GPS
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*/
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PARAM_DEFINE_FLOAT(GPS_YAW_OFFSET, 0.f);
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/**
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* Protocol for Main GPS
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*
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* Select the GPS protocol over serial.
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*
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* Auto-detection will probe all protocols, and thus is a bit slower.
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*
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* @min 0
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* @max 7
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* @value 0 Auto detect
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* @value 1 u-blox
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* @value 2 MTK
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* @value 3 Ashtech / Trimble
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* @value 4 Emlid Reach
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* @value 5 Femtomes
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* @value 6 NMEA (generic)
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*
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* @reboot_required true
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* @group GPS
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*/
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PARAM_DEFINE_INT32(GPS_1_PROTOCOL, 1);
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/**
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* Protocol for Secondary GPS
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*
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* Select the GPS protocol over serial.
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*
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* Auto-detection will probe all protocols, and thus is a bit slower.
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*
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* @min 0
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* @max 6
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* @value 0 Auto detect
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* @value 1 u-blox
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* @value 2 MTK
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* @value 3 Ashtech / Trimble
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* @value 4 Emlid Reach
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* @value 5 Femtomes
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* @value 6 NMEA (generic)
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*
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* @reboot_required true
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* @group GPS
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*/
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PARAM_DEFINE_INT32(GPS_2_PROTOCOL, 1);
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/**
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* GNSS Systems for Primary GPS (integer bitmask)
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*
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* This integer bitmask controls the set of GNSS systems used by the receiver. Check your
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* receiver's documentation on how many systems are supported to be used in parallel.
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*
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* Currently this functionality is just implemented for u-blox receivers.
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*
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* When no bits are set, the receiver's default configuration should be used.
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*
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* Set bits true to enable:
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* 0 : Use GPS (with QZSS)
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* 1 : Use SBAS (multiple GPS augmentation systems)
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* 2 : Use Galileo
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* 3 : Use BeiDou
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* 4 : Use GLONASS
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* 5 : Use NAVIC
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*
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* @min 0
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* @max 63
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* @bit 0 GPS (with QZSS)
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* @bit 1 SBAS
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* @bit 2 Galileo
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* @bit 3 BeiDou
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* @bit 4 GLONASS
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* @bit 5 NAVIC
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*
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* @reboot_required true
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* @group GPS
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*/
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PARAM_DEFINE_INT32(GPS_1_GNSS, 0);
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/**
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* GNSS Systems for Secondary GPS (integer bitmask)
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*
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* This integer bitmask controls the set of GNSS systems used by the receiver. Check your
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* receiver's documentation on how many systems are supported to be used in parallel.
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*
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* Currently this functionality is just implemented for u-blox receivers.
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*
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* When no bits are set, the receiver's default configuration should be used.
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*
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* Set bits true to enable:
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* 0 : Use GPS (with QZSS)
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* 1 : Use SBAS (multiple GPS augmentation systems)
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* 2 : Use Galileo
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* 3 : Use BeiDou
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* 4 : Use GLONASS
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* 5 : Use NAVIC
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*
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* @min 0
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* @max 63
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* @bit 0 GPS (with QZSS)
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* @bit 1 SBAS
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* @bit 2 Galileo
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* @bit 3 BeiDou
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* @bit 4 GLONASS
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* @bit 5 NAVIC
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*
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* @reboot_required true
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* @group GPS
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*/
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PARAM_DEFINE_INT32(GPS_2_GNSS, 0);
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