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Merge pull request #1532 from flixr/multigps_ms

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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>
 ```
This commit is contained in:
Felix Ruess
2016-02-12 18:44:09 +01:00
parent 6e75ed84e2 49b215f908
commit 2d2349f421
59 changed files with 1329 additions and 764 deletions
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conf/airframes/examples/quadrotor_lisa_mx.xml
+4 -1
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@@ -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">