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[modules] Support dual ublox GPS modules (#3267)

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* [modules] Support dual ublox GPS modules

* Fix UCenter

* Fix make test_modules

* Fix: tell ins_ekf2 when no YAW is available

---------

Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
This commit is contained in:
Freek van Tienen
2024-05-24 09:55:16 +02:00
committed by GitHub
parent d748af1afb
commit 58caa662cd
12 changed files with 418 additions and 444 deletions
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conf/modules/gps_ublox.xml
+34 -16
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@@ -19,7 +19,7 @@
<settings>
<dl_settings>
<dl_settings name="gps_ublox">
<dl_setting MIN="1" MAX="3" STEP="1" values="Hotstart|Warmstart|Coldstart" module="gps/gps_ubx" VAR="gps_ubx.reset" shortname="reset"/>
<dl_setting MIN="1" MAX="3" STEP="1" values="Hotstart|Warmstart|Coldstart" module="gps/gps_ubx" VAR="gps_ubx_reset" shortname="reset"/>
</dl_settings>
</dl_settings>
</settings>
@@ -36,33 +36,51 @@
<event fun="gps_ubx_event()"/>
<datalink message="HITL_UBX" fun="gps_ubx_parse_HITL_UBX(buf)"/>
<makefile target="ap|fbw">
<configure name="UBX_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
<configure name="UBX_GPS_BAUD" default="$(GPS_BAUD)"/>
<file name="gps_ubx.c"/>
<!-- GPS Ublox 1 -->
<configure name="UBX_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
<configure name="UBX_GPS_BAUD" default="$(GPS_BAUD)"/>
<define name="USE_$(UBX_GPS_PORT_UPPER)"/>
<define name="UBX_GPS_LINK" value="$(UBX_GPS_PORT_LOWER)"/>
<define name="UBX_GPS_PORT" value="$(UBX_GPS_PORT_LOWER)"/>
<define name="$(UBX_GPS_PORT_UPPER)_BAUD" value="$(UBX_GPS_BAUD)"/>
<!-- GPS Ublox 2 -->
<configure name="UBX2_GPS_PORT" default="$(GPS2_PORT)" case="upper|lower"/>
<configure name="UBX2_GPS_BAUD" default="$(GPS2_BAUD)"/>
<define name="USE_$(UBX2_GPS_PORT_UPPER)" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>
<define name="UBX2_GPS_PORT" value="$(UBX2_GPS_PORT_LOWER)" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>
<define name="$(UBX2_GPS_PORT_UPPER)_BAUD" value="$(UBX2_GPS_BAUD)" cond="ifneq ($(UBX2_GPS_BAUD)$(SECONDARY_GPS),)"/>
<define name="GPS_UBX_NB" value="2" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>
<raw>
ifdef SECONDARY_GPS
ifneq (,$(findstring $(SECONDARY_GPS), ublox))
# this is the secondary GPS
$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX
ifneq (,$(findstring ublox2, $(SECONDARY_GPS)))
# this is the secondary GPS
$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX2
else ifneq (,$(findstring ublox, $(SECONDARY_GPS)))
# this is the secondary GPS
$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX
endif
ifneq (,$(findstring ublox2, $(PRIMARY_GPS)))
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX2
else ifneq (,$(findstring ublox, $(PRIMARY_GPS)))
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX
endif
else
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX
endif
else
# plain old single GPS usage
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
# plain old single GPS usage
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
endif
</raw>
<test>
<define name="PRIMARY_GPS" value="GPS_UBX"/>
<define name="USE_UART2"/>
<define name="UBX_GPS_LINK" value="uart2"/>
<define name="UBX_GPS_PORT" value="uart2"/>
</test>
</makefile>
</module>