From 0df1dd6999592a8b8193c1847d8ecace36b8df8b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 8 Mar 2022 16:27:11 +1100 Subject: [PATCH] hwdef: enable GPS_MOVING_BASELINE on FreeflyRTK and f303-GPS this allows for F9P based dual-GPS yaw on DroneCAN peripherals with auto-config --- libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat | 1 + libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat | 3 +++ libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat | 3 +++ 3 files changed, 7 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat index 5a889940e8..54d9928d96 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat @@ -130,6 +130,7 @@ define AP_PARAM_MAX_EMBEDDED_PARAM 256 # disable dual GPS and GPS blending to save flash space define GPS_MAX_RECEIVERS 1 define GPS_MAX_INSTANCES 1 +define GPS_MOVING_BASELINE 1 define HAL_COMPASS_MAX_SENSORS 1 # GPS+MAG+BARO+Buzzer+NeoPixels diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat index bfe5edf0a4..67e512fa46 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat @@ -14,3 +14,6 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_PERIPH_ENABLE_GPS define HAL_PERIPH_ENABLE_MAG define HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY + +# allow for F9P GPS modules with moving baseline +define GPS_MOVING_BASELINE 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat index 507a90719f..b9bbb9c0bf 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat @@ -16,6 +16,9 @@ define HAL_PERIPH_ENABLE_ADSB define HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY define HAL_PERIPH_ENABLE_RANGEFINDER +# allow for F9P GPS modules with moving baseline +define GPS_MOVING_BASELINE 1 + define HAL_PERIPH_ADSB_PORT_DEFAULT 3 define HAL_AIRSPEED_BUS_DEFAULT 0