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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 14:58:53 +08:00
Thomas Frans
e27b252433
Heading offset was configured as radians but should be configured as degrees on Septentrio receivers. The parameter was already in degrees but the configuration logic was changing it into radians. Also allow the entire allowed range of heading offset values for Septentrio receivers.
207 lines
6.6 KiB
YAML
207 lines
6.6 KiB
YAML
module_name: Septentrio
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serial_config:
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- command: set DUAL_GPS_ARGS "-e ${SERIAL_DEV} -g p:${BAUD_PARAM}"
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port_config_param:
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name: SEP_PORT2_CFG
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group: Septentrio
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label: Secondary GPS port
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- command: septentrio start -d ${SERIAL_DEV} -b p:${BAUD_PARAM} ${DUAL_GPS_ARGS}
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port_config_param:
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name: SEP_PORT1_CFG
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group: Septentrio
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default: GPS1
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label: GPS Port
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parameters:
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- group: Septentrio
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definitions:
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SEP_STREAM_MAIN:
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description:
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short: Main stream used during automatic configuration
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long: |
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The stream the autopilot sets up on the receiver to output the main data.
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Set this to another value if the default stream is already used for another purpose.
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type: int32
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min: 1
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max: 10
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default: 1
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reboot_required: true
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SEP_STREAM_LOG:
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description:
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short: Logging stream used during automatic configuration
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long: |
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The stream the autopilot sets up on the receiver to output the logging data.
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Set this to another value if the default stream is already used for another purpose.
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type: int32
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min: 1
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max: 10
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default: 2
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reboot_required: true
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SEP_OUTP_HZ:
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description:
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short: Output frequency of main SBF blocks
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long: |
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The output frequency of the main SBF blocks needed for PVT information.
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type: enum
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min: 0
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max: 3
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default: 1
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values:
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0: 5 Hz
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1: 10 Hz
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2: 20 Hz
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3: 25 Hz
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reboot_required: true
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SEP_YAW_OFFS:
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description:
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short: Heading/Yaw offset for dual antenna GPS
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long: |
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Heading offset angle for dual antenna GPS setups that support heading estimation.
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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 antenna is in front.
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The offset angle increases clockwise.
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Set this to 90 if the rover 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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type: float
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decimal: 3
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default: 0
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min: -360
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max: 360
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unit: deg
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reboot_required: true
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SEP_SAT_INFO:
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description:
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short: Enable sat info
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long: |
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Enable publication of satellite info (ORB_ID(satellite_info)) if possible.
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type: boolean
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default: 0
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reboot_required: true
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SEP_PITCH_OFFS:
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description:
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short: Pitch offset for dual antenna GPS
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long: |
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Vertical offsets can be compensated for by adjusting the Pitch offset.
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Note that this can be interpreted as the "roll" angle in case the antennas are aligned along the perpendicular axis.
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This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame.
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Since pitch is defined as the right-handed rotation about the vehicle Y axis,
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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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type: float
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decimal: 3
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default: 0
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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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SEP_DUMP_COMM:
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description:
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short: Log GPS communication data
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long: |
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Log raw communication between the driver and connected receivers.
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For example, "To receiver" will log all commands and corrections sent by the driver to the receiver.
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type: enum
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default: 0
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min: 0
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max: 3
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values:
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0: Disabled
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1: From receiver
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2: To receiver
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3: Both
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SEP_AUTO_CONFIG:
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description:
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short: Toggle automatic receiver configuration
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long: |
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By default, the receiver is automatically configured. Sometimes it may be used for multiple purposes.
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If the offered parameters aren't sufficient, this parameter can be disabled to have full control of the receiver configuration.
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A good way to use this is to enable automatic configuration, let the receiver be configured, and then disable it to make manual adjustments.
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type: boolean
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default: true
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reboot_required: true
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SEP_CONST_USAGE:
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description:
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short: Usage of different constellations
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long: |
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Choice of which constellations the receiver should use for PVT computation.
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When this is 0, the constellation usage isn't changed.
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type: bitmask
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bit:
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0: GPS
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1: GLONASS
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2: Galileo
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3: SBAS
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4: BeiDou
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default: 0
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min: 0
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max: 63
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reboot_required: true
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SEP_LOG_HZ:
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description:
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short: Logging frequency for the receiver
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long: |
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Select the frequency at which the connected receiver should log data to its internal storage.
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type: enum
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default: 0
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min: 0
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max: 10
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values:
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0: Disabled
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1: 0.1 Hz
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2: 0.2 Hz
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3: 0.5 Hz
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4: 1 Hz
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5: 2 Hz
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6: 5 Hz
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7: 10 Hz
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8: 20 Hz
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9: 25 Hz
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10: 50 Hz
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reboot_required: true
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SEP_LOG_LEVEL:
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description:
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short: Logging level for the receiver
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long: |
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Select the level of detail that needs to be logged by the receiver.
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type: enum
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default: 2
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min: 0
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max: 3
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values:
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0: Lite
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1: Basic
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2: Default
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3: Full
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reboot_required: true
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SEP_LOG_FORCE:
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description:
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short: Whether to overwrite or add to existing logging
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long: |
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When the receiver is already set up to log data, this decides whether extra logged data should be added or overwrite existing data.
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type: boolean
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default: false
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reboot_required: true
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SEP_HARDW_SETUP:
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description:
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short: Setup and expected use of the hardware
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long: |
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Setup and expected use of the hardware.
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- Default: Use two receivers as completely separate instances.
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- Moving base: Use two receivers in a rover & moving base setup for heading.
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type: enum
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default: 0
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min: 0
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max: 1
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values:
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0: Default
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1: Moving base
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reboot_required: true
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