Merge pull request #1532 from flixr/multigps_ms

support for multiple GPS

To e.g. use piksi as a secondary GPS:
```
<subsystem name="gps" type="ubx">
  <configure name="UBX_GPS_PORT" value="UART2"/>
</subsystem>
<subsystem name="gps" type="piksi">
  <configure name="PIKSI_GPS_PORT" value="UART3"/>
  <configure name="SECONDARY_GPS" value="piksi"/>
</subsystem>
 ```

conf/airframes/examples/quadrotor_lisa_mx.xml

@@ -21,7 +21,6 @@
 
     <subsystem name="radio_control" type="spektrum">
       <define name="RADIO_MODE" value="RADIO_AUX1"/>
-      <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
     </subsystem>
 
     <subsystem name="motor_mixing"/>
@@ -32,6 +31,10 @@
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="imu"           type="lisa_mx_v2.1"/>
     <subsystem name="gps"           type="ublox"/>
+    <subsystem name="gps" type="piksi">
+      <configure name="PIKSI_GPS_PORT" value="UART5"/>
+      <configure name="SECONDARY_GPS" value="piksi"/>
+    </subsystem>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="stabilization" type="rate"/>
     <subsystem name="ahrs"          type="float_mlkf">

conf/firmwares/subsystems/rotorcraft/gps_ardrone2.makefile

@@ -11,11 +11,10 @@ ifneq ($(GPS_LED),none)
 endif
 
 ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ardrone2.h\"
-ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_ardrone2.c
-
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_ardrone2.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 nps.CFLAGS += -DUSE_GPS
-nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
+nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
 nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
-
+nps.srcs += $(SRC_SUBSYSTEMS)/gps.c

conf/firmwares/subsystems/rotorcraft/gps_datalink.makefile

@@ -2,17 +2,30 @@
 
 GPS_LED ?= none
 
-ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
-ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
-ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_datalink.c
-
-ap.CFLAGS += -DUSE_GPS -DGPS_DATALINK
-
 ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), datalink))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_datalink.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_datalink
+else
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
+ap.CFLAGS += -DPRIMARY_GPS=gps_datalink
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
+endif
+
+ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_datalink.c
+
+ap.CFLAGS += -DUSE_GPS -DGPS_DATALINK
+
 nps.CFLAGS += -DUSE_GPS
-nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
 nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
 nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
+nps.srcs += $(SRC_SUBSYSTEMS)/gps.c

conf/firmwares/subsystems/rotorcraft/gps_piksi.makefile

@@ -1,29 +0,0 @@
-# Hey Emacs, this is a -*- makefile -*-
-
-# Swift-Nav Piksi RTK module
-
-GPS_LED ?= none
-
-GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
-
-ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DUSE_$(GPS_PORT) -D$(GPS_PORT)_BAUD=B115200
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT_LOWER)
-
-ifneq ($(GPS_LED),none)
-  ap.CFLAGS += -DGPS_LED=$(GPS_LED)
-endif
-
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
-
-ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
-ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_piksi.c
-
-# libsbp
-ap.CFLAGS += -I$(PAPARAZZI_SRC)/sw/ext/libsbp/c/include
-ap.srcs		+= $(PAPARAZZI_SRC)/sw/ext/libsbp/c/src/sbp.c $(PAPARAZZI_SRC)/sw/ext/libsbp/c/src/edc.c
-
-nps.CFLAGS += -DUSE_GPS
-nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
-nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
-

conf/firmwares/subsystems/rotorcraft/gps_sim_hitl.makefile

@@ -1,9 +1,10 @@
 # Hey Emacs, this is a -*- makefile -*-
 
-ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
-ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_hitl.h\"
-ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_hitl.c
 ap.CFLAGS += -DUSE_GPS -DHITL
+ap.CFLAGS += -DGPS_TYPE=\"subsystems/gps/gps_sim_hitl.h\"
+ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_hitl.c
+
+ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
@@ -11,5 +12,5 @@ endif
 
 nps.CFLAGS += -DUSE_GPS
 nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
-nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
+nps.CFLAGS += -DGPS_TYPE=\"subsystems/gps/gps_sim_nps.h\"
 nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c

conf/firmwares/subsystems/rotorcraft/gps_sirf.makefile

@@ -3,23 +3,38 @@
 # Sirf GPS unit
 
 GPS_LED ?= none
-SIRF_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
+SIRF_GPS_PORT ?= $(GPS_PORT)
+SIRF_GPS_BAUD ?= $(GPS_BAUD)
+
+SIRF_GPS_PORT_LOWER=$(shell echo $(SIRF_GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_LINK=$(SIRF_GPS_PORT_LOWER)
-ap.CFLAGS += -DUSE_$(GPS_PORT)
-ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
+ap.CFLAGS += -DSIRF_GPS_LINK=$(SIRF_GPS_PORT_LOWER)
+ap.CFLAGS += -DUSE_$(SIRF_GPS_PORT)
+ap.CFLAGS += -D$(SIRF_GPS_PORT)_BAUD=$(SIRF_GPS_BAUD)
 
 ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), sirf))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_sirf.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_sirf
+else
 ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sirf.h\"
-ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_sirf.c
+ap.CFLAGS += -DPRIMARY_GPS=gps_sirf
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sirf.h\"
+endif
 
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sirf.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 nps.CFLAGS += -DUSE_GPS
 nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
 nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
-
+nps.srcs += $(SRC_SUBSYSTEMS)/gps.c

conf/firmwares/subsystems/rotorcraft/gps_udp.makefile

@@ -2,16 +2,28 @@
 
 GPS_LED ?= none
 
-ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
-ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_udp.h\"
-ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_udp.c
-
-ap.CFLAGS += -DUSE_GPS
-
 ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), udp))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_udp.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_udp
+else
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_udp.h\"
+ap.CFLAGS += -DPRIMARY_GPS=gps_udp
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_udp.h\"
+endif
+
+ap.CFLAGS += -DUSE_GPS
+ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_udp.c
+
 nps.CFLAGS += -DUSE_GPS
 nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
 nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"

conf/firmwares/subsystems/shared/gps_furuno.makefile

@@ -3,28 +3,46 @@
 # Furuno NMEA GPS unit
 
 GPS_LED ?= none
-FURUNO_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
+FURUNO_GPS_PORT ?= $(GPS_PORT)
+FURUNO_GPS_BAUD ?= $(GPS_BAUD)
+
+FURUNO_GPS_PORT_LOWER=$(shell echo $(FURUNO_GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_LINK=$(FURUNO_GPS_PORT_LOWER)
-ap.CFLAGS += -DUSE_$(GPS_PORT)
-ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
+ap.CFLAGS += -DNMEA_GPS_LINK=$(FURUNO_GPS_PORT_LOWER)
+ap.CFLAGS += -DUSE_$(FURUNO_GPS_PORT)
+ap.CFLAGS += -D$(FURUNO_GPS_PORT)_BAUD=$(FURUNO_GPS_BAUD)
 ap.CFLAGS += -DNMEA_PARSE_PROP
 
 ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), nmea furono))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_nmea
+else
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+ap.CFLAGS += -DPRIMARY_GPS=gps_nmea
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+endif
+
 ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
 ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c $(SRC_SUBSYSTEMS)/gps/gps_furuno.c
-
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 sim.CFLAGS += -DUSE_GPS
 sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
 sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
+sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 nps.CFLAGS += -DUSE_GPS
 nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
 nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
 nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
+nps.srcs += $(SRC_SUBSYSTEMS)/gps.c

conf/firmwares/subsystems/shared/gps_mediatek_diy.makefile

@@ -3,26 +3,43 @@
 # Mediatek MT3329, DIYDrones V1.4/1.6 protocol
 
 GPS_LED ?= none
-MTK_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
+MTK_GPS_PORT ?= $(GPS_PORT)
+MTK_GPS_BAUD ?= $(GPS_BAUD)
+
+MTK_GPS_PORT_LOWER=$(shell echo $(MTK_GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS -DGPS_CONFIGURE
-ap.CFLAGS += -DGPS_LINK=$(MTK_GPS_PORT_LOWER)
-ap.CFLAGS += -DUSE_$(GPS_PORT)
-ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
+ap.CFLAGS += -DMTK_GPS_LINK=$(MTK_GPS_PORT_LOWER)
+ap.CFLAGS += -DUSE_$(MTK_GPS_PORT)
+ap.CFLAGS += -D$(MTK_GPS_PORT)_BAUD=$(MTK_GPS_BAUD)
 
 ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), mtk mediatek))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_mtk.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_mtk
+else
 ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_mtk.h\"
-ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_mtk.c
+ap.CFLAGS += -DPRIMARY_GPS=gps_mtk
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_mtk.h\"
+endif
 
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
+ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_mtk.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 sim.CFLAGS += -DUSE_GPS
 sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
 sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
+sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 nps.CFLAGS += -DUSE_GPS
 nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
 nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
+nps.srcs += $(SRC_SUBSYSTEMS)/gps.c

conf/firmwares/subsystems/shared/gps_nmea.makefile

@@ -3,26 +3,43 @@
 # NMEA GPS unit
 
 GPS_LED ?= none
-NMEA_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
+NMEA_GPS_PORT ?= $(GPS_PORT)
+NMEA_GPS_BAUD ?= $(GPS_BAUD)
+
+NMEA_GPS_PORT_LOWER=$(shell echo $(NMEA_GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_LINK=$(NMEA_GPS_PORT_LOWER)
-ap.CFLAGS += -DUSE_$(GPS_PORT)
-ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
+ap.CFLAGS += -DNMEA_GPS_LINK=$(NMEA_GPS_PORT_LOWER)
+ap.CFLAGS += -DUSE_$(NMEA_GPS_PORT)
+ap.CFLAGS += -D$(NMEA_GPS_PORT)_BAUD=$(NMEA_GPS_BAUD)
 
 ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), nmea))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_nmea
+else
 ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
-ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c
+ap.CFLAGS += -DPRIMARY_GPS=gps_nmea
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+endif
 
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 sim.CFLAGS += -DUSE_GPS
 sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
 sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
+sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 nps.CFLAGS += -DUSE_GPS
 nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
 nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
+nps.srcs += $(SRC_SUBSYSTEMS)/gps.c

conf/firmwares/subsystems/shared/gps_piksi.makefile

@@ -3,21 +3,35 @@
 # Swift-Nav Piksi RTK module
 
 GPS_LED ?= none
+PIKSI_GPS_PORT ?= $(GPS_PORT)
+PIKSI_GPS_BAUD ?= $(GPS_BAUD)
 
-GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
+PIKSI_GPS_PORT_LOWER=$(shell echo $(PIKSI_GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DUSE_$(GPS_PORT) -D$(GPS_PORT)_BAUD=B115200
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT_LOWER)
+ap.CFLAGS += -DUSE_$(PIKSI_GPS_PORT) -D$(PIKSI_GPS_PORT)_BAUD=B115200
+ap.CFLAGS += -DPIKSI_GPS_LINK=$(PIKSI_GPS_PORT_LOWER)
 
 ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
-
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), piksi))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_piksi.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_piksi
+else
 ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
-ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_piksi.c
+ap.CFLAGS += -DPRIMARY_GPS=gps_piksi
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
+endif
+
+ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_piksi.c
 
 # libsbp
 ap.CFLAGS += -I$(PAPARAZZI_SRC)/sw/ext/libsbp/c/include
@@ -26,8 +40,9 @@ ap.srcs		+= $(PAPARAZZI_SRC)/sw/ext/libsbp/c/src/sbp.c $(PAPARAZZI_SRC)/sw/ext/l
 sim.CFLAGS += -DUSE_GPS
 sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
 sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
+sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 nps.CFLAGS += -DUSE_GPS
 nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
 nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
-
+nps.srcs += $(SRC_SUBSYSTEMS)/gps.c

conf/firmwares/subsystems/shared/gps_skytraq.makefile

@@ -1,27 +1,43 @@
 # Hey Emacs, this is a -*- makefile -*-
 
 GPS_LED ?= none
-SKYTRAQ_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
+SKYTRAQ_GPS_PORT ?= $(GPS_PORT)
+SKYTRAQ_GPS_BAUD ?= $(GPS_BAUD)
+
+SKYTRAQ_GPS_PORT_LOWER=$(shell echo $(SKYTRAQ_GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_LINK=$(SKYTRAQ_GPS_PORT_LOWER)
-ap.CFLAGS += -DUSE_$(GPS_PORT)
-ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
+ap.CFLAGS += -DSKYTRAQ_GPS_LINK=$(SKYTRAQ_SKYTRAQ_GPS_PORT_LOWER)
+ap.CFLAGS += -DUSE_$(SKYTRAQ_GPS_PORT)
+ap.CFLAGS += -D$(SKYTRAQ_GPS_PORT)_BAUD=$(SKYTRAQ_GPS_BAUD)
 
 ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), skytraq))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_skytraq
+else
 ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
-ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_skytraq.c
+ap.CFLAGS += -DPRIMARY_GPS=gps_skytraq
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
+endif
 
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_skytraq.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 sim.CFLAGS += -DUSE_GPS
 sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
 sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
+sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 nps.CFLAGS += -DUSE_GPS
-nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
 nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
 nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
+nps.srcs += $(SRC_SUBSYSTEMS)/gps.c

conf/firmwares/subsystems/shared/gps_ublox.makefile

@@ -2,26 +2,43 @@
 # UBlox LEA
 
 GPS_LED ?= none
-UBX_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
+UBX_GPS_PORT ?= $(GPS_PORT)
+UBX_GPS_BAUD ?= $(GPS_BAUD)
+
+UBX_GPS_PORT_LOWER=$(shell echo $(UBX_GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS -DUBX
-ap.CFLAGS += -DGPS_LINK=$(UBX_GPS_PORT_LOWER)
-ap.CFLAGS += -DUSE_$(GPS_PORT)
-ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
+ap.CFLAGS += -DUBX_GPS_LINK=$(UBX_GPS_PORT_LOWER)
+ap.CFLAGS += -DUSE_$(UBX_GPS_PORT)
+ap.CFLAGS += -D$(UBX_GPS_PORT)_BAUD=$(UBX_GPS_BAUD)
 
 ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)
 endif
 
+ifdef SECONDARY_GPS
+ifneq (,$(findstring $(SECONDARY_GPS), ublox))
+# this is the secondary GPS
+ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_ubx.h\"
+ap.CFLAGS += -DSECONDARY_GPS=gps_ubx
+else
 ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
-ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_ubx.c
+ap.CFLAGS += -DPRIMARY_GPS=gps_ubx
+endif
+else
+# plain old single GPS usage
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
+endif
 
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_ubx.c
+ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 sim.CFLAGS += -DUSE_GPS
 sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
 sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
+sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
 
 nps.CFLAGS += -DUSE_GPS
 nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
 nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
+nps.srcs += $(SRC_SUBSYSTEMS)/gps.c

conf/settings/rotorcraft_basic_multi.xml

@@ -0,0 +1,22 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings target="ap|nps">
+  <dl_settings>
+
+    <dl_settings NAME="System">
+      <dl_setting var="autopilot_mode_auto2" min="0" step="1" max="19" module="autopilot" shortname="auto2" values="KILL|Fail|HOME|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav|RC_D|CareFree|Forward|Module|Flip|Guided"/>
+      <dl_setting var="kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
+      <dl_setting var="autopilot_power_switch" min="0" step="1" max="1" module="autopilot" values="OFF|ON" handler="SetPowerSwitch">
+        <strip_button name="POWER ON" icon="on.png" value="1" group="power_switch"/>
+        <strip_button name="POWER OFF" icon="off.png" value="0" group="power_switch"/>
+      </dl_setting>
+      <dl_setting var="autopilot_mode" min="0" step="1" max="2" module="autopilot" shortname="mode" values="KILL|Fail|HOME" handler="set_mode"/>
+      <dl_setting var="multi_gps_mode" min="0" step="1" max="2" module="subsystems/gps" shortname="gpsmode" values="PRIMARY|SECONDARY|AUTO">
+        <strip_button name="AUTO" icon="gps.png" value="2" group="gps_mode"/>
+        <strip_button name="PRIMARY" icon="gps1.png" value="0" group="gps_mode_setting"/>
+        <strip_button name="SECONDARY" icon="gps2.png" value="1" group="gps_mode_setting"/>
+      </dl_setting>
+    </dl_settings>
+
+  </dl_settings>
+</settings>