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Code Issues Releases Activity

OP-1739 Add (untested) BeiDou support to flight side.

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This commit is contained in:
Erik Gustavsson 2015-03-01 17:28:43 +01:00
parent 60736ea82d
commit 0610262cc3
4 changed files with 25 additions and 2 deletions
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14
flight/modules/GPS/GPS.c
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@ -548,18 +548,32 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
case GPSSETTINGS_UBXGNSSMODE_GPSGLONASS:
newconfig.enableGPS = true;
newconfig.enableGLONASS = true;
newconfig.enableBeiDou = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GLONASS:
newconfig.enableGPS = false;
newconfig.enableGLONASS = true;
newconfig.enableBeiDou = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GPS:
newconfig.enableGPS = true;
newconfig.enableGLONASS = false;
newconfig.enableBeiDou = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GPSBEIDOU:
newconfig.enableGPS = true;
newconfig.enableGLONASS = false;
newconfig.enableBeiDou = true;
break;
case GPSSETTINGS_UBXGNSSMODE_GLONASSBEIDOU:
newconfig.enableGPS = false;
newconfig.enableGLONASS = true;
newconfig.enableBeiDou = true;
break;
default:
newconfig.enableGPS = false;
newconfig.enableGLONASS = false;
newconfig.enableBeiDou = false;
break;
}

2
flight/modules/GPS/inc/ubx_autoconfig.h
View File

@ -91,6 +91,7 @@ typedef struct {
bool enableGPS;
bool enableGLONASS;
bool enableBeiDou;
} ubx_autoconfig_settings_t;
// Mask for "all supported devices": battery backed RAM, Flash, EEPROM, SPI Flash
@ -181,6 +182,7 @@ typedef enum {
#define UBX_CFG_GNSS_FLAGS_ENABLED 0x01
#define UBX_CFG_GNSS_FLAGS_GPS_L1CA 0x010000
#define UBX_CFG_GNSS_FLAGS_SBAS_L1CA 0x010000
#define UBX_CFG_GNSS_FLAGS_BEIDOU_B1I 0x010000
#define UBX_CFG_GNSS_FLAGS_QZSS_L1CA 0x010000
#define UBX_CFG_GNSS_FLAGS_QZSS_L1SAIF 0x040000
#define UBX_CFG_GNSS_FLAGS_GLONASS_L1OF 0x010000

7
flight/modules/GPS/ubx_autoconfig.c
View File

@ -266,6 +266,13 @@ void config_gnss(uint16_t *bytes_to_send)
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 8;
}
break;
case UBX_GNSS_ID_BEIDOU:
if (status->currentSettings.enableBeiDou) {
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_BEIDOU_B1I;
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = 14;
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 8;
}
break;
default:
break;
}

4
shared/uavobjectdefinition/gpssettings.xml
View File

@ -16,8 +16,8 @@
<field name="UbxSBASMode" units="" type="enum" elements="1" options="Disabled,Ranging,Correction,Integrity,Ranging+Correction,Ranging+Integrity,Ranging+Correction+Integrity,Correction+Integrity" defaultvalue="Ranging" />
<field name="UbxSBASChannelsUsed" units="" type="uint8" elements="1" defaultvalue="3"/>
<field name="UbxSBASSats" units="" type="enum" elements="1" options="AutoScan,WAAS,EGNOS,MSAS,GAGAN,SDCM" defaultvalue="Auto-Scan" />
<!-- Ubx GNSS configuration, only applies to Ublox generation 7+ and GPS+GLONASS only to generation 8 -->
<field name="UbxGNSSMode" units="" type="enum" elements="1" options="Default,GPS,GLONASS,GPS+GLONASS" defaultvalue="Default" />
<!-- Ubx GNSS configuration, only applies to Ublox generation 7+ and concurrent GNSS only to generation 8 -->
<field name="UbxGNSSMode" units="" type="enum" elements="1" options="Default,GPS,GLONASS,GPS+GLONASS,GPS+BeiDou,GLONASS+BeiDou" defaultvalue="Default" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>