diff --git a/libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef.dat index dfafb629c4f..5a540fa27d6 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef.dat @@ -112,7 +112,7 @@ define AP_GPS_BACKEND_DEFAULT_ENABLED 0 define AP_GPS_NMEA_ENABLED 1 define AP_GPS_NMEA_UNICORE_ENABLED 1 -define HAL_GPS_TYPE_DEFAULT 25 +define HAL_GPS1_TYPE_DEFAULT 25 # custom config once sensor is found define AP_GPS_NMEA_CUSTOM_CONFIG_STRING "CONFIG COM1 230400 8 N 1" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/defaults.parm index 127840bf7f4..9ee2103690b 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/defaults.parm +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/defaults.parm @@ -72,7 +72,7 @@ FS_GCS_ENABLE,0 FS_THR_VALUE,950 GPS_HDOP_GOOD,200 GPS_NAVFILTER,6 -GPS_TYPE,1 +GPS1_TYPE,1 INS_ACC_BODYFIX,3 INS_FAST_SAMPLE,3 INS_GYR_FILTER,40 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-ODID/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-ODID/defaults.parm index c0f236ce6f0..911b2f03eca 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-ODID/defaults.parm +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-ODID/defaults.parm @@ -21,7 +21,7 @@ DID_OPTIONS 5 @READONLY DID_MAVPORT 1 @READONLY DID_CANDRIVER 0 @READONLY AHRS_EKF_TYPE 3 @READONLY -GPS_TYPE 1 +GPS1_TYPE 1 GPS2_TYPE 0 EK2_PRIMARY 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-SimOnHardWare/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-SimOnHardWare/defaults.parm index 705dee7dc48..b6a7989b19a 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-SimOnHardWare/defaults.parm +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-SimOnHardWare/defaults.parm @@ -28,7 +28,7 @@ FLTMODE4 3 FLTMODE5 5 FLTMODE6 0 -GPS_TYPE 100 +GPS1_TYPE 100 INS_ACCOFFS_X 0.001 INS_ACCOFFS_Y 0.001 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/defaults.parm index 165c45b5bf7..c7f16a36c2b 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/defaults.parm +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/defaults.parm @@ -32,7 +32,7 @@ FRAME_CLASS 1 @READONLY FS_OPTIONS 0 @READONLY FS_THR_ENABLE 3 @READONLY FS_THR_VALUE 950 @READONLY -GPS_TYPE 9 @READONLY +GPS1_TYPE 9 @READONLY INS_GYRO_FILTER 100 MOT_THST_HOVER 0.4028862 NTF_LED_TYPES 231 @READONLY diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/defaults.parm index 0130fe56f90..014be025e83 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/defaults.parm +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/defaults.parm @@ -73,7 +73,7 @@ FS_GCS_ENABLE,0 FS_THR_VALUE,950 GPS_HDOP_GOOD,200 GPS_NAVFILTER,6 -GPS_TYPE,1 +GPS1_TYPE,1 INS_ACC_BODYFIX,3 INS_FAST_SAMPLE,3 INS_GYR_FILTER,40 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat index fccfde74a80..39c899e5837 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat @@ -153,7 +153,7 @@ define HAL_PERIPH_ENABLE_MAG define HAL_PERIPH_ENABLE_BARO # septentrio on com 3 -define HAL_GPS_TYPE_DEFAULT 10 +define HAL_GPS1_TYPE_DEFAULT 10 define HAL_GPS_COM_PORT_DEFAULT 3 define GPS_SBF_STREAM_NUMBER 3 define GPS_SBF_EXTRA_CONFIG "sdfa, DSK1, DeleteOldest", "sfn, DSK1, Incremental, Mosaic", "sfno, off" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-ODID/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-ODID/defaults.parm index 9816b56d343..3ec1b4e343a 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-ODID/defaults.parm +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-ODID/defaults.parm @@ -5,6 +5,6 @@ DID_OPTIONS 1 @READONLY DID_MAVPORT -1 @READONLY DID_CANDRIVER 1 @READONLY AHRS_EKF_TYPE 3 @READONLY -GPS_TYPE 1 +GPS1_TYPE 1 GPS2_TYPE 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekAirspeed/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekAirspeed/hwdef.dat index 7633eb0fee7..8f341849894 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekAirspeed/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekAirspeed/hwdef.dat @@ -14,4 +14,4 @@ define HAL_AIRSPEED_TYPE_DEFAULT 9 # A user may change this by using a tool to edit the CAN device parameters such as the DroneCAN GUI Tool define AP_COMPASS_ENABLE_DEFAULT 0 define AP_PERIPH_BARO_ENABLE_DEFAULT 0 -define HAL_GPS_TYPE_DEFAULT 0 +define HAL_GPS1_TYPE_DEFAULT 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm index f350e212537..2d55d4cf6c7 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm +++ b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm @@ -83,10 +83,10 @@ FS_VIBE_ENABLE,0 FENCE_ENABLE,1 GND_EFFECT_COMP,0 GPS_AUTO_SWITCH,0 -GPS_GNSS_MODE,0 -GPS_RATE_MS,140 -GPS_SBAS_MODE,0 -GPS_TYPE,2 +GPS1_GNSS_MODE,0 +GPS1_RATE_MS,140 +GPS1_SBAS_MODE,0 +GPS1_TYPE,2 GPS_MIN_ELEV,15 INS_ACC_BODYFIX,1 INS_ACCEL_FILTER,10 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/defaults.parm index 403b90d4ebe..8d59dc3697b 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/defaults.parm +++ b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/defaults.parm @@ -359,7 +359,7 @@ RTL_SPEED 600 # GPS GPS_NAVFILTER 6 GPS_SAVE_CFG 2 -GPS_TYPE 2 +GPS1_TYPE 2 GPS_HDOP_GOOD 160 # throw mode diff --git a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/defaults.parm index 85c94afc93a..8d4831d89e0 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/defaults.parm +++ b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/defaults.parm @@ -235,7 +235,7 @@ RTL_SPEED 600 # GPS GPS_NAVFILTER 6 GPS_SAVE_CFG 2 -GPS_TYPE 2 +GPS1_TYPE 2 GPS_HDOP_GOOD 160 # throw mode