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AP_GPS: setup ublox moving baseline at 230400 when using uart2 

this avoids issues with needing DMA on the UARTs when using UART2 to
transport RTCMv3 data
This commit is contained in:
Andrew Tridgell 2021-02-08 11:51:19 +11:00 committed by Randy Mackay
parent fc7e242bae
commit 02feaaffcd
2 changed files with 15 additions and 8 deletions
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13
libraries/AP_GPS/AP_GPS.cpp
View File

@ -643,8 +643,13 @@ void AP_GPS::detect_instance(uint8_t instance)
if (_auto_config == GPS_AUTO_CONFIG_ENABLE && new_gps == nullptr) {
if (_type[instance] == GPS_TYPE_HEMI) {
send_blob_start(instance, AP_GPS_NMEA_HEMISPHERE_INIT_STRING, strlen(AP_GPS_NMEA_HEMISPHERE_INIT_STRING));
} else if (_type[instance] == GPS_TYPE_UBLOX_RTK_BASE ||
_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) {
} else if ((_type[instance] == GPS_TYPE_UBLOX_RTK_BASE ||
_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) &&
((_driver_options.get() & AP_GPS_Backend::DriverOptions::UBX_MBUseUart2) == 0)) {
// we use 460800 when doing moving baseline as we need
// more bandwidth. We don't do this if using UART2, as
// in that case the RTCMv3 data doesn't go over the
// link to the flight controller
static const char blob[] = UBLOX_SET_BINARY_460800;
send_blob_start(instance, blob, sizeof(blob));
} else {
@ -667,6 +672,7 @@ void AP_GPS::detect_instance(uint8_t instance)
the uBlox into 230400 no matter what rate it is configured
for.
*/
if ((_type[instance] == GPS_TYPE_AUTO ||
_type[instance] == GPS_TYPE_UBLOX) &&
((!_auto_config && _baudrates[dstate->current_baud] >= 38400) ||
@ -675,9 +681,10 @@ void AP_GPS::detect_instance(uint8_t instance)
new_gps = new AP_GPS_UBLOX(*this, state[instance], _port[instance], GPS_ROLE_NORMAL);
}
const uint32_t ublox_mb_required_baud = (_driver_options.get() & AP_GPS_Backend::DriverOptions::UBX_MBUseUart2)?230400:460800;
if ((_type[instance] == GPS_TYPE_UBLOX_RTK_BASE ||
_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) &&
_baudrates[dstate->current_baud] == 460800 &&
_baudrates[dstate->current_baud] == ublox_mb_required_baud &&
AP_GPS_UBLOX::_detect(dstate->ublox_detect_state, data)) {
GPS_Role role;
if (_type[instance] == GPS_TYPE_UBLOX_RTK_BASE) {

10
libraries/AP_GPS/GPS_Backend.h
View File

@ -84,6 +84,11 @@ public:
return _last_itow;
}
enum DriverOptions : int16_t {
UBX_MBUseUart2 = (1 << 0U),
SBF_UseBaseForYaw = (1 << 1U),
};
protected:
AP_HAL::UARTDriver *port; ///< UART we are attached to
AP_GPS &gps; ///< access to frontend (for parameters)
@ -116,11 +121,6 @@ protected:
void check_new_itow(uint32_t itow, uint32_t msg_length);
enum DriverOptions : int16_t {
UBX_MBUseUart2 = (1 << 0U),
SBF_UseBaseForYaw = (1 << 1U),
};
/*
access to driver option bits
*/