<!DOCTYPE module SYSTEM "module.dtd">

<module name="gps_ubx" dir="gps">
  <doc>
    <description>
Ublox GPS autoconfiguration.

Automatically configure any Ublox GPS for paparazzi.

- configures all the messages, and the rates
- automatic baudrate detection

Warning: you still need to tell the driver, which paparazzi port you use.
    </description>
    <define name="GPS_UBX_UCENTER_RATE" value="250" description="Data output rate in ms"/>
    <define name="GPS_UBX_NAV5_DYNAMICS"
            value="NAV5_DYN_PORTABLE|NAV5_DYN_FIXED|NAV5_DYN_STATIONARY|NAV5_DYN_PEDESTRIAN|NAV5_DYN_AUTOMOTIVE|NAV5_DYN_SEA|NAV5_DYN_AIRBORNE_1G|NAV5_DYN_AIRBORNE_2G|NAV5_DYN_AIRBORNE_4G"
            description="Dynamic model used by ublox GPS filter. Default:NAV5_DYN_AIRBORNE_2G"/>
    <define name="USE_GPS_UBX_RXM_RAW" description="Activate raw measurments (only available on U-Blox T versions)"/>
  </doc>
  <settings>
    <dl_settings NAME="ublox">
      <dl_settings name="ucenter">
        <dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.sw_ver_h" shortname="sw_h"/>
        <dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.sw_ver_l" shortname="sw_l"/>
        <dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.hw_ver_h" shortname="hw_h"/>
        <dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.hw_ver_l" shortname="hw_l"/>
        <dl_setting MAX="115200" MIN="4800" STEP="100" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.baud_init" shortname="inibaud"/>
        <dl_setting MAX="115200" MIN="4800" STEP="100" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.baud_run" shortname="baud"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="gps_ubx_ucenter.h"/>
  </header>
  <init fun="gps_ubx_ucenter_init()"/>
  <periodic fun="gps_ubx_ucenter_periodic()" start="gps_ubx_ucenter_init()" freq="4." autorun="TRUE"/>
  <makefile target="ap">
    <file name="gps_ubx_ucenter.c"/>
    <define name="GPS_UBX_UCENTER"/>
  </makefile>
</module>


