mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-02 15:50:35 +08:00
Seppe Geuens
293 lines
8.7 KiB
C
293 lines
8.7 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2016 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) antenna is placed on the
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* right side of the vehicle and the moving base 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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* Pitch offset for dual antenna GPS
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*
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* Vertical offsets can be compensated for by adjusting the Pitch offset (Septentrio).
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*
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* Note that this can be interpreted as the "roll" angle in case the antennas are aligned along the perpendicular axis. This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame. Since pitch is defined as the right-handed rotation about the vehicle Y axis, a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch.
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*
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*
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* @min -90
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* @max 90
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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_PITCH_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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* @value 7 Septentrio (SBF)
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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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*
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* @min 0
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* @max 31
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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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*
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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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*
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* @min 0
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* @max 31
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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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*
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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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