PX4-Autopilot/src/drivers/gps/params.c

/****************************************************************************
 *
 *   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
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 * 2. Redistributions in binary form must reproduce the above copyright
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 *    used to endorse or promote products derived from this software
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * Dump GPS communication to a file.
 *
 * 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.
 * @min 0
 * @max 1
 * @value 0 Disable
 * @value 1 Enable
 * @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 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);

/**
 * 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);