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Code Issues Releases Activity

LP-452 Added Galileo as a GNSS configuration option to the GCS.

Browse Source 
System -> Settings -> GPSSettings -> UbxGNSSMode

The options GPS+Galileo and GPS+GLONASS+Galileo have been added.

Also corrected PRN mask for EGNOS SBAS information. Active PRN: 120 & 136 , 123
Ref: https://egnos-user-support.essp-sas.eu/new_egnos_ops/index.php
This commit is contained in:
Jan NIJS 2016-12-17 00:04:44 +01:00
parent 58e15feb08
commit e5ca71052a
5 changed files with 30 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
flight/modules/GPS/GPS.c
View File

@ -727,31 +727,49 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
newconfig.enableGPS = true;
newconfig.enableGLONASS = true;
newconfig.enableBeiDou = false;
newconfig.enableGalileo = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GLONASS:
newconfig.enableGPS = false;
newconfig.enableGLONASS = true;
newconfig.enableBeiDou = false;
newconfig.enableGalileo = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GPS:
newconfig.enableGPS = true;
newconfig.enableGLONASS = false;
newconfig.enableBeiDou = false;
newconfig.enableGalileo = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GPSBEIDOU:
newconfig.enableGPS = true;
newconfig.enableGLONASS = false;
newconfig.enableBeiDou = true;
newconfig.enableGalileo = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GLONASSBEIDOU:
newconfig.enableGPS = false;
newconfig.enableGLONASS = true;
newconfig.enableBeiDou = true;
newconfig.enableGalileo = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GPSGALILEO:
newconfig.enableGPS = true;
newconfig.enableGLONASS = false;
newconfig.enableBeiDou = false;
newconfig.enableGalileo = true;
break;
case GPSSETTINGS_UBXGNSSMODE_GPSGLONASSGALILEO:
newconfig.enableGPS = true;
newconfig.enableGLONASS = true;
newconfig.enableBeiDou = false;
newconfig.enableGalileo = true;
break;
default:
newconfig.enableGPS = false;
newconfig.enableGLONASS = false;
newconfig.enableBeiDou = false;
newconfig.enableGalileo = false;
break;
}

5
flight/modules/GPS/inc/UBX.h
View File

@ -460,8 +460,8 @@ struct UBX_CFG_CFG {
// ------------------------------------10987654321098765432109876543210
// WAAS 122, 133, 134, 135, 138---------|---------|---------|---------|
#define UBX_CFG_SBAS_SCANMODE1_WAAS 0b00000000000001001110000000000100
// EGNOS 120, 124, 126, 131-------------|---------|---------|---------|
#define UBX_CFG_SBAS_SCANMODE1_EGNOS 0b00000000000000000000100001010001
// EGNOS 120, 123, 136------------------|---------|---------|---------|
#define UBX_CFG_SBAS_SCANMODE1_EGNOS 0b00000000000000010000000000001001
// MSAS 129, 137------------------------|---------|---------|---------|
#define UBX_CFG_SBAS_SCANMODE1_MSAS 0b00000000000000100000001000000000
// GAGAN 127, 128-----------------------|---------|---------|---------|
@ -485,6 +485,7 @@ struct UBX_CFG_SBAS {
#define UBX_CFG_GNSS_FLAGS_QZSS_L1CA 0x010000
#define UBX_CFG_GNSS_FLAGS_QZSS_L1SAIF 0x040000
#define UBX_CFG_GNSS_FLAGS_GLONASS_L1OF 0x010000
#define UBX_CFG_GNSS_FLAGS_GALILEO_E1 0x010000
#define UBX_CFG_GNSS_NUMCH_VER7 22
#define UBX_CFG_GNSS_NUMCH_VER8 32

1
flight/modules/GPS/inc/ubx_autoconfig.h
View File

@ -102,6 +102,7 @@ typedef struct {
bool enableGPS;
bool enableGLONASS;
bool enableBeiDou;
bool enableGalileo;
} ubx_autoconfig_settings_t;
// Sent messages for configuration support

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

@ -397,6 +397,13 @@ static void config_gnss(uint16_t *bytes_to_send)
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 8;
}
break;
case UBX_GNSS_ID_GALILEO:
if (status->currentSettings.enableGalileo) {
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_GALILEO_E1;
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = 10;
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 8;
}
break;
default:
break;
}

2
shared/uavobjectdefinition/gpssettings.xml
View File

@ -18,7 +18,7 @@
<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="AutoScan" />
<!-- 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" />
<field name="UbxGNSSMode" units="" type="enum" elements="1" options="Default,GPS,GLONASS,GPS+GLONASS,GPS+BeiDou,GLONASS+BeiDou,GPS+GALILEO,GPS+GLONASS+GALILEO" defaultvalue="Default" />
<field name="UbxAssistNowAutonomous" units="" type="enum" elements="1" options="False,True" defaultvalue="True"
description="Enable or disable the AssistNow Autonomous feature"/>
<access gcs="readwrite" flight="readwrite"/>