[modules] Removed GPS_PORT_ID, added comments, and compile warnings if GPS_PORT_ID is defined.

closes #653
closes #647

conf/airframes/CDW/tiny2_chimu_spi_pt.xml

@@ -160,9 +160,7 @@
       <define name="CHIMU_BIG_ENDIAN" />
     </load>
     <load name="cam_point.xml" />
-    <load name="gps_ubx_ucenter.xml">
-      <define name="GPS_PORT_ID" value="GPS_PORT_UART2" />
-    </load>
+    <load name="gps_ubx_ucenter.xml"/>
   </modules>
 
   <firmware name="fixedwing">

conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml

@@ -169,7 +169,6 @@ ap.CFLAGS += -DMODEM_BAUD=B57600
 
 ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"subsystems/radio_control/spektrum_dx7eu.h\"
 ap.CFLAGS += -DGPS_USE_LATLONG
-ap.CFLAGS += -DGPS_PORT_ID=GPS_PORT_UART1
 
 include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile

conf/modules/gps_i2c.xml

@@ -16,7 +16,6 @@
   <makefile target="ap">
     <file name="gps_i2c.c"/>
     <define name="GPS_CONFIGURE" />
-    <define name="GPS_PORT_ID" value="GPS_PORT_DDC"/>
   </makefile>
 </module>
 

conf/modules/gps_ubx_ucenter.xml

@@ -10,14 +10,12 @@ 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
-1. Which paparazzi uart you use
-2. Inside the ublox gps there are also many ports.
-   The tiny/ppzgps use ublox_internal_port1 (UART1) but if for instance you use a LS-SAM
-   or I2C device you need to set this by defining GPS_PORT_ID.
+Warning: you still need to tell the driver, which paparazzi port you use.
     </description>
-    <define name="GPS_PORT_ID" value="GPS_PORT_UART1" description="Port inside the Ublox GPS (GPS_PORT_DDC, GPS_PORT_UART1, GPS_PORT_UART2, GPS_PORT_USB, GPS_PORT_SPI)"/>
     <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>
   <header>

conf/ubx.xml

@@ -114,6 +114,9 @@
       </block>
     </message>
 
+    <message name="PRT_POLL" ID="0x00" length="0">
+    </message>
+
     <message name="MSG" ID="0x01" length="3">
     	<field name="Class" format="U1"/>
         <field name="MsgId" format="U1"/>
@@ -207,6 +210,14 @@
 
   <class name="RXM" ID="0x02">
 
+<!-- 
+Only available with raw data product variant.
+This message contains all information needed to be able to generate a RINEX observation
+file.
+This message outputs pseudorange, doppler and carrier phase measurements for GPS
+satellites once signals have been synchronised. No other GNSS types are currently
+supported.
+-->
     <message name="RAW" ID="0x10">
       <field name="iTOW" format="I4" unit="ms"/>
       <field name="week" format="I2" unit="weeks"/>

sw/airborne/modules/gps/gps_ubx_ucenter.h

@@ -39,8 +39,8 @@ struct gps_ubx_ucenter_struct
   uint8_t reply;
   uint8_t cnt;
 
-  uint32_t baud_init;
-  uint32_t baud_run;
+  uint32_t baud_init; // Initial baudrate of the ublox module
+  uint32_t baud_run;  // Current baudrate of the ublox module
 
   uint8_t sw_ver_h;
   uint8_t sw_ver_l;
@@ -48,6 +48,9 @@ struct gps_ubx_ucenter_struct
   uint16_t hw_ver_h;
   uint16_t hw_ver_l;
 
+  /// Port identifier number
+  uint8_t port_id;
+
   char replies[GPS_UBX_UCENTER_CONFIG_STEPS];
 };
 

sw/airborne/modules/gps_i2c/gps_i2c.h

@@ -25,6 +25,7 @@
 
 #include "std.h"
 
+/// Default address for u-blox (and others?)
 #define GPS_I2C_SLAVE_ADDR (0x42 << 1)
 
 #define GPS_I2C_BUF_SIZE 256