mirror of https://github.com/ArduPilot/ardupilot
125 lines
4.9 KiB
C++
125 lines
4.9 KiB
C++
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_GPS_config.h"
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#if AP_GPS_ENABLED
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#include "AP_GPS.h"
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// table of user settable parameters
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const AP_Param::GroupInfo AP_GPS::Params::var_info[] = {
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// @Param: TYPE
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// @DisplayName: GPS type
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// @Description: GPS type
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// @Values: 0:None,1:AUTO,2:uBlox,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:DroneCAN,10:SBF,11:GSOF,13:ERB,14:MAV,15:NOVA,16:HemisphereNMEA,17:uBlox-MovingBaseline-Base,18:uBlox-MovingBaseline-Rover,19:MSP,20:AllyStar,21:ExternalAHRS,22:DroneCAN-MovingBaseline-Base,23:DroneCAN-MovingBaseline-Rover,24:UnicoreNMEA,25:UnicoreMovingBaselineNMEA,26:SBF-DualAntenna
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// @RebootRequired: True
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// @User: Advanced
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AP_GROUPINFO_FLAGS("TYPE", 1, AP_GPS::Params, type, 0, AP_PARAM_FLAG_ENABLE),
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// @Param: GNSS_MODE
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// @DisplayName: GNSS system configuration
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// @Description: Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)
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// @Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS
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// @User: Advanced
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AP_GROUPINFO("GNSS_MODE", 2, AP_GPS::Params, gnss_mode, 0),
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// @Param: RATE_MS
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// @DisplayName: GPS update rate in milliseconds
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// @Description: Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
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// @Units: ms
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// @Values: 100:10Hz,125:8Hz,200:5Hz
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// @Range: 50 200
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// @User: Advanced
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AP_GROUPINFO("RATE_MS", 3, AP_GPS::Params, rate_ms, 200),
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// @Param: POS_X
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// @DisplayName: Antenna X position offset
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// @Description: X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
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// @Units: m
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// @Range: -5 5
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// @Increment: 0.01
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// @User: Advanced
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// @Param: POS_Y
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// @DisplayName: Antenna Y position offset
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// @Description: Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
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// @Units: m
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// @Range: -5 5
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// @Increment: 0.01
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// @User: Advanced
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// @Param: POS_Z
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// @DisplayName: Antenna Z position offset
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// @Description: Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
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// @Units: m
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// @Range: -5 5
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// @Increment: 0.01
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// @User: Advanced
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AP_GROUPINFO("POS", 4, AP_GPS::Params, antenna_offset, 0.0f),
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// @Param: DELAY_MS
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// @DisplayName: GPS delay in milliseconds
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// @Description: Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
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// @Units: ms
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// @Range: 0 250
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("DELAY_MS", 5, AP_GPS::Params, delay_ms, 0),
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#if AP_GPS_SBF_ENABLED
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// @Param: COM_PORT
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// @DisplayName: GPS physical COM port
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// @Description: The physical COM port on the connected device, currently only applies to SBF and GSOF GPS
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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// @Values: 0:COM1(RS232) on GSOF, 1:COM2(TTL) on GSOF
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// @RebootRequired: True
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AP_GROUPINFO("COM_PORT", 6, AP_GPS::Params, com_port, HAL_GPS_COM_PORT_DEFAULT),
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#endif
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#if GPS_MOVING_BASELINE
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// @Group: MB_
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// @Path: MovingBase.cpp
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AP_SUBGROUPINFO(mb_params, "MB_", 7, AP_GPS::Params, MovingBase),
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#endif
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#if HAL_ENABLE_DRONECAN_DRIVERS
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// @Param: CAN_NODEID
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// @DisplayName: Detected CAN Node ID for GPS
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// @Description: GPS Node id for GPS. Detected node unless CAN_OVRIDE is set
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// @ReadOnly: True
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// @User: Advanced
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AP_GROUPINFO("CAN_NODEID", 8, AP_GPS::Params, node_id, 0),
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// @Param: CAN_OVRIDE
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// @DisplayName: DroneCAN GPS NODE ID
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// @Description: GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.
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// @User: Advanced
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AP_GROUPINFO("CAN_OVRIDE", 9, AP_GPS::Params, override_node_id, 0),
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#endif
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AP_GROUPEND
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};
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AP_GPS::Params::Params(void)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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#endif // AP_GPS_ENABLED
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