mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-01 02:55:07 +08:00
refactor(drivers/gps): convert params.c to module.yaml
Convert 1 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
Jacob Dahl
@@ -53,6 +53,7 @@ px4_add_module(
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devices/src/crc.cpp
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devices/src/crc.cpp
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MODULE_CONFIG
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MODULE_CONFIG
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module.yaml
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module.yaml
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params.yaml
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DEPENDS
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DEPENDS
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git_gps_devices
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git_gps_devices
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gnss
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gnss
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@@ -1,383 +0,0 @@
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/****************************************************************************
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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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* u-blox GPS DGNSS timeout
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*
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* When set to 0 (default), default DGNSS timeout set by u-blox will be used.
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*
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* @min 0
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* @max 255
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* @unit s
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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_DGNSS_TO, 0);
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/**
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* u-blox GPS minimum satellite signal level for navigation
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*
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* When set to 0 (default), default minimum satellite signal level set by u-blox wll be used.
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*
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* @min 0
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* @max 255
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* @unit dBHz
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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_MIN_CNO, 0);
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/**
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* u-blox GPS minimum elevation for a GNSS satellite to be used in navigation
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*
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* When set to 0 (default), default minimum elevation set by u-blox will be used.
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*
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* @min 0
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* @max 127
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* @unit deg
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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_MIN_ELEV, 0);
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/**
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* u-blox GPS output rate
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*
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* Configure the output rate of u-blox GPS receivers (protocol v27+).
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* When set to 0, automatic rate selection is used based on the receiver model.
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* Default rates: M9N=8Hz, F9P L1L2=5Hz, F9P L1L5=5Hz, Others=10Hz.
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*
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* Note: Higher rates reduce satellite count (e.g., >8Hz limits to 16 SVs on M9N).
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* Max rates vary by model and RTK mode: F9P L1L2=5-7Hz, F9P L1L5=7-8Hz, X20=25Hz.
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* High rates at 115200 baud may cause dropouts.
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*
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* @min 0
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* @max 25
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* @unit Hz
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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_RATE, 0);
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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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* Mode 6 is intended for use with a ground control station (not necessarily an RTK correction base).
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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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* @value 6 Ground Control Station (UART2 outputs NMEA)
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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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* Enable MSM7 message output for PPK workflow.
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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_UBX_PPK, 0);
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/**
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* u-blox GPS jamming detection high sensitivity mode
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*
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* Enables or disables the high sensitivity mode for the u-blox jamming detection
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* (CFG-SEC-JAMDET_SENSITIVITY_HI). When enabled, the receiver uses a
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* more sensitive algorithm to detect jamming. Disabling this may reduce false
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* positives in electrically noisy environments.
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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_UBX_JAM_DET, 1);
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/**
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* Wipes the flash config of UBX modules.
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*
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* Some UBX modules have a FLASH that allows to store persistent configuration that will be loaded on start.
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* PX4 does override all configuration parameters it needs in RAM, which takes precedence over the values in FLASH.
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* However, configuration parameters that are not overriden by PX4 can still cause unexpected problems during flight.
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* To avoid these kind of problems a clean config can be reached by wiping the FLASH on boot.
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*
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* Note: Currently only supported on UBX.
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*
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* @reboot_required true
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* @group GPS
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* @boolean
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*/
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PARAM_DEFINE_INT32(GPS_CFG_WIPE, 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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|
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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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*
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|
||||||
* @reboot_required true
|
|
||||||
* @group GPS
|
|
||||||
*/
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|
||||||
PARAM_DEFINE_INT32(GPS_1_PROTOCOL, 1);
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|
||||||
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|
||||||
/**
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|
||||||
* Protocol for Secondary GPS
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|
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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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|
||||||
* @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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|
||||||
PARAM_DEFINE_INT32(GPS_2_PROTOCOL, 1);
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|
||||||
|
|
||||||
/**
|
|
||||||
* GNSS Systems for Primary GPS (integer bitmask)
|
|
||||||
*
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|
||||||
* 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
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|
||||||
* 3 : Use BeiDou
|
|
||||||
* 4 : Use GLONASS
|
|
||||||
* 5 : Use NAVIC
|
|
||||||
*
|
|
||||||
* @min 0
|
|
||||||
* @max 63
|
|
||||||
* @bit 0 GPS (with QZSS)
|
|
||||||
* @bit 1 SBAS
|
|
||||||
* @bit 2 Galileo
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|
||||||
* @bit 3 BeiDou
|
|
||||||
* @bit 4 GLONASS
|
|
||||||
* @bit 5 NAVIC
|
|
||||||
*
|
|
||||||
* @reboot_required true
|
|
||||||
* @group GPS
|
|
||||||
*/
|
|
||||||
PARAM_DEFINE_INT32(GPS_1_GNSS, 0);
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|
||||||
|
|
||||||
/**
|
|
||||||
* 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
|
|
||||||
* 5 : Use NAVIC
|
|
||||||
*
|
|
||||||
* @min 0
|
|
||||||
* @max 63
|
|
||||||
* @bit 0 GPS (with QZSS)
|
|
||||||
* @bit 1 SBAS
|
|
||||||
* @bit 2 Galileo
|
|
||||||
* @bit 3 BeiDou
|
|
||||||
* @bit 4 GLONASS
|
|
||||||
* @bit 5 NAVIC
|
|
||||||
*
|
|
||||||
* @reboot_required true
|
|
||||||
* @group GPS
|
|
||||||
*/
|
|
||||||
PARAM_DEFINE_INT32(GPS_2_GNSS, 0);
|
|
||||||
@@ -0,0 +1,311 @@
|
|||||||
|
module_name: gps
|
||||||
|
parameters:
|
||||||
|
- group: GPS
|
||||||
|
definitions:
|
||||||
|
GPS_DUMP_COMM:
|
||||||
|
description:
|
||||||
|
short: Log GPS communication data
|
||||||
|
long: |-
|
||||||
|
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.
|
||||||
|
type: enum
|
||||||
|
values:
|
||||||
|
0: Disable
|
||||||
|
1: Full communication
|
||||||
|
2: RTCM output (PPK)
|
||||||
|
default: 0
|
||||||
|
min: 0
|
||||||
|
max: 2
|
||||||
|
GPS_UBX_DYNMODEL:
|
||||||
|
description:
|
||||||
|
short: u-blox GPS dynamic platform model
|
||||||
|
long: |-
|
||||||
|
u-blox receivers support different dynamic platform models to adjust the navigation engine to
|
||||||
|
the expected application environment.
|
||||||
|
type: enum
|
||||||
|
values:
|
||||||
|
2: stationary
|
||||||
|
4: automotive
|
||||||
|
6: airborne with <1g acceleration
|
||||||
|
7: airborne with <2g acceleration
|
||||||
|
8: airborne with <4g acceleration
|
||||||
|
default: 7
|
||||||
|
min: 0
|
||||||
|
max: 9
|
||||||
|
reboot_required: true
|
||||||
|
GPS_UBX_DGNSS_TO:
|
||||||
|
description:
|
||||||
|
short: u-blox GPS DGNSS timeout
|
||||||
|
long: When set to 0 (default), default DGNSS timeout set by u-blox will be
|
||||||
|
used.
|
||||||
|
type: int32
|
||||||
|
default: 0
|
||||||
|
min: 0
|
||||||
|
max: 255
|
||||||
|
unit: s
|
||||||
|
reboot_required: true
|
||||||
|
GPS_UBX_MIN_CNO:
|
||||||
|
description:
|
||||||
|
short: u-blox GPS minimum satellite signal level for navigation
|
||||||
|
long: When set to 0 (default), default minimum satellite signal level set
|
||||||
|
by u-blox wll be used.
|
||||||
|
type: int32
|
||||||
|
default: 0
|
||||||
|
min: 0
|
||||||
|
max: 255
|
||||||
|
unit: dBHz
|
||||||
|
reboot_required: true
|
||||||
|
GPS_UBX_MIN_ELEV:
|
||||||
|
description:
|
||||||
|
short: u-blox GPS minimum satellite elevation angle
|
||||||
|
long: |-
|
||||||
|
u-blox GPS minimum elevation for a GNSS satellite to be used in navigation
|
||||||
|
|
||||||
|
When set to 0 (default), default minimum elevation set by u-blox will be used.
|
||||||
|
type: int32
|
||||||
|
default: 0
|
||||||
|
min: 0
|
||||||
|
max: 127
|
||||||
|
unit: deg
|
||||||
|
reboot_required: true
|
||||||
|
GPS_UBX_RATE:
|
||||||
|
description:
|
||||||
|
short: u-blox GPS output rate
|
||||||
|
long: |-
|
||||||
|
Configure the output rate of u-blox GPS receivers (protocol v27+).
|
||||||
|
When set to 0, automatic rate selection is used based on the receiver model.
|
||||||
|
Default rates: M9N=8Hz, F9P L1L2=5Hz, F9P L1L5=5Hz, Others=10Hz.
|
||||||
|
|
||||||
|
Note: Higher rates reduce satellite count (e.g., >8Hz limits to 16 SVs on M9N).
|
||||||
|
Max rates vary by model and RTK mode: F9P L1L2=5-7Hz, F9P L1L5=7-8Hz, X20=25Hz.
|
||||||
|
High rates at 115200 baud may cause dropouts.
|
||||||
|
type: int32
|
||||||
|
default: 0
|
||||||
|
min: 0
|
||||||
|
max: 25
|
||||||
|
unit: Hz
|
||||||
|
reboot_required: true
|
||||||
|
GPS_SAT_INFO:
|
||||||
|
description:
|
||||||
|
short: Enable sat info (if available)
|
||||||
|
long: |-
|
||||||
|
Enable publication of satellite info (ORB_ID(satellite_info)) if possible.
|
||||||
|
Not available on MTK.
|
||||||
|
type: boolean
|
||||||
|
default: 0
|
||||||
|
reboot_required: true
|
||||||
|
GPS_UBX_MODE:
|
||||||
|
description:
|
||||||
|
short: u-blox GPS Mode
|
||||||
|
long: |-
|
||||||
|
Select the u-blox configuration setup. Most setups will use the default, including RTK and
|
||||||
|
dual GPS without heading.
|
||||||
|
|
||||||
|
If rover has RTCM corrections from a static base (or other static correction source) coming in on UART2, then select Mode 5.
|
||||||
|
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.
|
||||||
|
Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the
|
||||||
|
F9P units are connected to each other.
|
||||||
|
Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required.
|
||||||
|
RTK is still possible with this setup.
|
||||||
|
Mode 6 is intended for use with a ground control station (not necessarily an RTK correction base).
|
||||||
|
type: enum
|
||||||
|
values:
|
||||||
|
0: Default
|
||||||
|
1: Heading (Rover With Moving Base UART1 Connected To Autopilot, UART2 Connected
|
||||||
|
To Moving Base)
|
||||||
|
2: Moving Base (UART1 Connected To Autopilot, UART2 Connected To Rover)
|
||||||
|
3: Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node
|
||||||
|
At 921600)
|
||||||
|
4: Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
|
||||||
|
5: Rover with Static Base on UART2 (similar to Default, except coming in on
|
||||||
|
UART2)
|
||||||
|
6: Ground Control Station (UART2 outputs NMEA)
|
||||||
|
default: 0
|
||||||
|
min: 0
|
||||||
|
max: 1
|
||||||
|
reboot_required: true
|
||||||
|
GPS_UBX_BAUD2:
|
||||||
|
description:
|
||||||
|
short: u-blox F9P UART2 Baudrate
|
||||||
|
long: |-
|
||||||
|
Select a baudrate for the F9P's UART2 port.
|
||||||
|
In GPS_UBX_MODE 1, 2, and 3, the F9P's UART2 port is configured to send/receive RTCM corrections.
|
||||||
|
Set this to 57600 if you want to attach a telemetry radio on UART2.
|
||||||
|
type: int32
|
||||||
|
default: 230400
|
||||||
|
min: 0
|
||||||
|
unit: B/s
|
||||||
|
reboot_required: true
|
||||||
|
GPS_UBX_CFG_INTF:
|
||||||
|
description:
|
||||||
|
short: u-blox protocol configuration for interfaces
|
||||||
|
type: bitmask
|
||||||
|
bit:
|
||||||
|
0: Enable I2C input protocol UBX
|
||||||
|
1: Enable I2C input protocol NMEA
|
||||||
|
2: Enable I2C input protocol RTCM3X
|
||||||
|
3: Enable I2C output protocol UBX
|
||||||
|
4: Enable I2C output protocol NMEA
|
||||||
|
5: Enable I2C output protocol RTCM3X
|
||||||
|
default: 0
|
||||||
|
min: 0
|
||||||
|
max: 32
|
||||||
|
reboot_required: true
|
||||||
|
GPS_UBX_PPK:
|
||||||
|
description:
|
||||||
|
short: Enable MSM7 message output for PPK workflow
|
||||||
|
type: boolean
|
||||||
|
default: 0
|
||||||
|
reboot_required: true
|
||||||
|
GPS_UBX_JAM_DET:
|
||||||
|
description:
|
||||||
|
short: u-blox GPS jamming detection high sensitivity mode
|
||||||
|
long: |-
|
||||||
|
Enables or disables the high sensitivity mode for the u-blox jamming detection
|
||||||
|
(CFG-SEC-JAMDET_SENSITIVITY_HI). When enabled, the receiver uses a
|
||||||
|
more sensitive algorithm to detect jamming. Disabling this may reduce false
|
||||||
|
positives in electrically noisy environments.
|
||||||
|
type: boolean
|
||||||
|
default: 1
|
||||||
|
reboot_required: true
|
||||||
|
GPS_CFG_WIPE:
|
||||||
|
description:
|
||||||
|
short: Wipes the flash config of UBX modules
|
||||||
|
long: |-
|
||||||
|
Some UBX modules have a FLASH that allows to store persistent configuration that will be loaded on start.
|
||||||
|
PX4 does override all configuration parameters it needs in RAM, which takes precedence over the values in FLASH.
|
||||||
|
However, configuration parameters that are not overriden by PX4 can still cause unexpected problems during flight.
|
||||||
|
To avoid these kind of problems a clean config can be reached by wiping the FLASH on boot.
|
||||||
|
|
||||||
|
Note: Currently only supported on UBX.
|
||||||
|
type: boolean
|
||||||
|
default: 0
|
||||||
|
reboot_required: true
|
||||||
|
GPS_YAW_OFFSET:
|
||||||
|
description:
|
||||||
|
short: Heading/Yaw offset for dual antenna GPS
|
||||||
|
long: |-
|
||||||
|
Heading offset angle for dual antenna GPS setups that support heading estimation.
|
||||||
|
|
||||||
|
Set this to 0 if the antennas are parallel to the forward-facing direction
|
||||||
|
of the vehicle and the rover (or Unicore primary) antenna is in front.
|
||||||
|
|
||||||
|
The offset angle increases clockwise.
|
||||||
|
|
||||||
|
Set this to 90 if the rover (or Unicore primary, or Septentrio Mosaic Aux)
|
||||||
|
antenna is placed on the right side of the vehicle and the moving base
|
||||||
|
antenna is on the left side.
|
||||||
|
|
||||||
|
(Note: the Unicore primary antenna is the one connected on the right as seen
|
||||||
|
from the top).
|
||||||
|
type: float
|
||||||
|
default: 0.0
|
||||||
|
min: 0
|
||||||
|
max: 360
|
||||||
|
unit: deg
|
||||||
|
reboot_required: true
|
||||||
|
decimal: 3
|
||||||
|
GPS_1_PROTOCOL:
|
||||||
|
description:
|
||||||
|
short: Protocol for Main GPS
|
||||||
|
long: |-
|
||||||
|
Select the GPS protocol over serial.
|
||||||
|
|
||||||
|
Auto-detection will probe all protocols, and thus is a bit slower.
|
||||||
|
type: enum
|
||||||
|
values:
|
||||||
|
0: Auto detect
|
||||||
|
1: u-blox
|
||||||
|
2: MTK
|
||||||
|
3: Ashtech / Trimble
|
||||||
|
4: Emlid Reach
|
||||||
|
5: Femtomes
|
||||||
|
6: NMEA (generic)
|
||||||
|
default: 1
|
||||||
|
min: 0
|
||||||
|
max: 7
|
||||||
|
reboot_required: true
|
||||||
|
GPS_2_PROTOCOL:
|
||||||
|
description:
|
||||||
|
short: Protocol for Secondary GPS
|
||||||
|
long: |-
|
||||||
|
Select the GPS protocol over serial.
|
||||||
|
|
||||||
|
Auto-detection will probe all protocols, and thus is a bit slower.
|
||||||
|
type: enum
|
||||||
|
values:
|
||||||
|
0: Auto detect
|
||||||
|
1: u-blox
|
||||||
|
2: MTK
|
||||||
|
3: Ashtech / Trimble
|
||||||
|
4: Emlid Reach
|
||||||
|
5: Femtomes
|
||||||
|
6: NMEA (generic)
|
||||||
|
default: 1
|
||||||
|
min: 0
|
||||||
|
max: 6
|
||||||
|
reboot_required: true
|
||||||
|
GPS_1_GNSS:
|
||||||
|
description:
|
||||||
|
short: GNSS Systems for Primary GPS (integer bitmask)
|
||||||
|
long: |-
|
||||||
|
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
|
||||||
|
5 : Use NAVIC
|
||||||
|
type: bitmask
|
||||||
|
bit:
|
||||||
|
0: GPS (with QZSS)
|
||||||
|
1: SBAS
|
||||||
|
2: Galileo
|
||||||
|
3: BeiDou
|
||||||
|
4: GLONASS
|
||||||
|
5: NAVIC
|
||||||
|
default: 0
|
||||||
|
min: 0
|
||||||
|
max: 63
|
||||||
|
reboot_required: true
|
||||||
|
GPS_2_GNSS:
|
||||||
|
description:
|
||||||
|
short: GNSS Systems for Secondary GPS (integer bitmask)
|
||||||
|
long: |-
|
||||||
|
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
|
||||||
|
5 : Use NAVIC
|
||||||
|
type: bitmask
|
||||||
|
bit:
|
||||||
|
0: GPS (with QZSS)
|
||||||
|
1: SBAS
|
||||||
|
2: Galileo
|
||||||
|
3: BeiDou
|
||||||
|
4: GLONASS
|
||||||
|
5: NAVIC
|
||||||
|
default: 0
|
||||||
|
min: 0
|
||||||
|
max: 63
|
||||||
|
reboot_required: true
|
||||||
Reference in New Issue
Block a user