mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 14:18:00 +08:00
Gautier Hattenberger
4ae40567ed
- old way (based on ins_vectornav) is not supported anymore - directly send sensor data and receive commands with a dedicated link - examples with USB link for better results - update sphinx documentation - compilation in a single build
70 lines
2.4 KiB
XML
70 lines
2.4 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="gps_ublox" dir="gps" task="sensors">
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<doc>
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<description>
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U-blox GPS (UART)
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Driver for u-blox GPS modules parsing the binary UBX protocol.
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The reset variable allows us to manually restart the u-blox GPS. There are three modes:
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- Hotstart (GPS_UBX_BOOTRESET = 1)
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- Warmstart (GPS_UBX_BOOTRESET = 2)
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- Coldstart (GPS_UBX_BOOTRESET = 3)
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</description>
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<configure name="UBX_GPS_PORT" value="UARTx" description="UART where the GPS is connected to (UART1, UART2, etc"/>
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<configure name="UBX_GPS_BAUD" value="B38400" description="UART baud rate"/>
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<configure name="GPS_UBX_BOOTRESET" value="0" description="Force a hot, warm or cold reset when the system boot up"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings name="gps_ublox">
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<dl_setting MIN="1" MAX="3" STEP="1" values="Hotstart|Warmstart|Coldstart" module="gps/gps_ubx" VAR="gps_ubx.reset" shortname="reset"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<depends>uart,gps</depends>
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<provides>gps</provides>
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</dep>
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<header>
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<file name="gps.h"/>
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</header>
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<init fun="gps_ubx_init()"/>
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<periodic fun="gps_ubx_periodic_check()" freq="1." autorun="TRUE"/>
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<event fun="gps_ubx_event()"/>
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<datalink message="HITL_UBX" fun="gps_ubx_parse_HITL_UBX(buf)"/>
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<makefile target="ap|fbw">
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<configure name="UBX_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
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<configure name="UBX_GPS_BAUD" default="$(GPS_BAUD)"/>
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<file name="gps_ubx.c"/>
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<define name="USE_$(UBX_GPS_PORT_UPPER)"/>
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<define name="UBX_GPS_LINK" value="$(UBX_GPS_PORT_LOWER)"/>
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<define name="$(UBX_GPS_PORT_UPPER)_BAUD" value="$(UBX_GPS_BAUD)"/>
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<raw>
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ifdef SECONDARY_GPS
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ifneq (,$(findstring $(SECONDARY_GPS), ublox))
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# this is the secondary GPS
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$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
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$(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX
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else
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$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
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$(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX
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endif
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else
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# plain old single GPS usage
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$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
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endif
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</raw>
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<test>
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<define name="PRIMARY_GPS" value="GPS_UBX"/>
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<define name="USE_UART2"/>
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<define name="UBX_GPS_LINK" value="uart2"/>
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</test>
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</makefile>
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</module>
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