Tools: rename GPS_ to GPS1_

2024-03-15 15:54:39 +11:00 · 2024-03-15 15:54:39 +11:00 · 0e4b41baa6
parent 94d5d92917
commit 0e4b41baa6
16 changed files with 34 additions and 34 deletions
--- a/Tools/Frame_params/amovlab-p200.param
+++ b/Tools/Frame_params/amovlab-p200.param
@ -22,7 +22,7 @@ BATT_MONITOR,4
 BRD_SAFETY_DEFLT,0
 FRAME_CLASS,1
 FRAME_TYPE,1
-GPS_TYPE,2
+GPS1_TYPE,2
 INS_GYRO_FILTER,40
 MOT_BAT_VOLT_MAX,12.6
 MOT_BAT_VOLT_MIN,9.9
--- a/Tools/Frame_params/eLAB_VEK_AI_Rover.param
+++ b/Tools/Frame_params/eLAB_VEK_AI_Rover.param
@ -8,7 +8,7 @@ BATT_VOLT_PIN,-1
 CRUISE_SPEED,1.0
 EK2_ENABLE,0
 EK3_ENABLE,1
-GPS_TYPE,2
+GPS1_TYPE,2
 MIS_RESTART,1
 MODE_CH,5
 MODE1,10
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@ -2680,7 +2680,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
        '''fly mission which tests normal operation alongside CAN GPS'''
        self.set_parameters({
            "CAN_P1_DRIVER": 1,
-            "GPS_TYPE": 9,
+            "GPS1_TYPE": 9,
            "GPS2_TYPE": 9,
            # disable simulated GPS, so only via DroneCAN
            "SIM_GPS_DISABLE": 1,
@ -2729,7 +2729,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
        for case in GPS_Order_Tests:
            self.progress("############################### Trying Case: " + str(case))
            self.set_parameters({
-                "GPS_CAN_OVRIDE": case[0],
+                "GPS1_CAN_OVRIDE": case[0],
                "GPS2_CAN_OVRIDE": case[1],
            })
            self.drain_mav()
@ -3137,7 +3137,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
                    "EK3_SRC1_VELZ": 6,
                })
            self.set_parameters({
-                "GPS_TYPE": 0,
+                "GPS1_TYPE": 0,
                "VISO_TYPE": 1,
                "SERIAL5_PROTOCOL": 1,
            })
@ -3233,7 +3233,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
            "EK3_SRC1_VELXY": 6,
            "EK3_SRC1_POSZ": 6,
            "EK3_SRC1_VELZ": 6,
-            "GPS_TYPE": 0,
+            "GPS1_TYPE": 0,
            "VISO_TYPE": 1,
            "SERIAL5_PROTOCOL": 1,
            "SIM_VICON_TMASK": 8,  # send VISION_POSITION_DELTA
@ -3410,7 +3410,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):

            # switch to vicon, disable GPS and wait 10sec to ensure vehicle remains in Loiter
            self.set_rc(8, 1500)
-            self.set_parameter("GPS_TYPE", 0)
+            self.set_parameter("GPS1_TYPE", 0)

            # ensure vehicle remain in Loiter for 15 seconds
            tstart = self.get_sim_time()
@ -6935,7 +6935,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
        self.progress("Ensure we can't enter LOITER without position")
        self.context_push()
        self.set_parameters({
-            "GPS_TYPE": 2,
+            "GPS1_TYPE": 2,
            "SIM_GPS_DISABLE": 1,
        })
        # if there is no GPS at all then we must direct EK3 to not use
@ -7469,7 +7469,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
                "BCN_ALT": SITL_START_LOCATION.alt,
                "BCN_ORIENT_YAW": 0,
                "AVOID_ENABLE": 4,
-                "GPS_TYPE": 0,
+                "GPS1_TYPE": 0,
                "EK3_ENABLE": 1,
                "EK3_SRC1_POSXY": 4, # Beacon
                "EK3_SRC1_POSZ": 1,  # Baro
@ -8641,9 +8641,9 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
            "AHRS_TRIM_X": 0.01,
            "AHRS_TRIM_Y": -0.03,
            "GPS2_TYPE": 1,
-            "GPS_POS_X": 0.1,
-            "GPS_POS_Y": 0.2,
-            "GPS_POS_Z": 0.3,
+            "GPS1_POS_X": 0.1,
+            "GPS1_POS_Y": 0.2,
+            "GPS1_POS_Z": 0.3,
            "GPS2_POS_X": -0.1,
            "GPS2_POS_Y": -0.02,
            "GPS2_POS_Z": -0.31,
@ -9010,7 +9010,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
        self.progress("fly 50m North (or whatever)")
        old_pos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
        self.fly_guided_move_global_relative_alt(50, 0, 20)
-        self.set_parameter('GPS_TYPE', 0)
+        self.set_parameter('GPS1_TYPE', 0)
        self.drain_mav()
        tstart = self.get_sim_time()
        while True:
@ -9289,7 +9289,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
        self.progress("fly 50m North (or whatever)")
        old_pos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
        self.fly_guided_move_global_relative_alt(50, 0, 50)
-        self.set_parameter('GPS_TYPE', 0)
+        self.set_parameter('GPS1_TYPE', 0)
        self.drain_mav()
        tstart = self.get_sim_time()
        while True:
@ -9301,7 +9301,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
            self.progress("Distance: %f" % pos_delta)
            if pos_delta < 5:
                raise NotAchievedException("Bug reproduced - returned to near origin")
-        self.set_parameter('GPS_TYPE', 1)
+        self.set_parameter('GPS1_TYPE', 1)
        self.do_RTL()

    def GPSForYaw(self):
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@ -3176,7 +3176,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
            "EAHRS_TYPE": eahrs_type,
            "SERIAL4_PROTOCOL": 36,
            "SERIAL4_BAUD": 230400,
-            "GPS_TYPE": 21,
+            "GPS1_TYPE": 21,
            "AHRS_EKF_TYPE": 11,
            "INS_GYR_CAL": 1,
        })
--- a/Tools/autotest/default_params/copter-beacon.parm
+++ b/Tools/autotest/default_params/copter-beacon.parm
@ -2,4 +2,4 @@ BCN_TYPE 10
 BCN_ALT 584.900024
 BCN_LATITUDE -35.363262
 BCN_LONGITUDE 149.165237
-GPS_TYPE 0
+GPS1_TYPE 0
--- a/Tools/autotest/default_params/copter-gps-for-yaw-nmea.parm
+++ b/Tools/autotest/default_params/copter-gps-for-yaw-nmea.parm
@ -1,5 +1,5 @@
 # SITL GPS-for-yaw using a single simulated NMEA GPS
 EK3_SRC1_YAW 2
-GPS_TYPE 5
+GPS1_TYPE 5
 SIM_GPS_TYPE 5
 SIM_GPS_HDG 1
--- a/Tools/autotest/default_params/copter-gps-for-yaw.parm
+++ b/Tools/autotest/default_params/copter-gps-for-yaw.parm
@ -1,9 +1,9 @@
 # SITL GPS-for-yaw using two simulated UBlox GPSs
 EK3_SRC1_YAW 2
 GPS_AUTO_CONFIG 0
-GPS_TYPE 17
+GPS1_TYPE 17
 GPS2_TYPE 18
-GPS_POS_Y -0.2
+GPS1_POS_Y -0.2
 GPS2_POS_Y 0.2
 SIM_GPS_POS_Y -0.2
 SIM_GPS2_POS_Y 0.2
--- a/Tools/autotest/default_params/periph.parm
+++ b/Tools/autotest/default_params/periph.parm
@ -1,6 +1,6 @@
 # parameters for SITL peripheral

-GPS_TYPE 1
+GPS1_TYPE 1
 COMPASS_ENABLE 1
 BARO_ENABLE 1
 ARSPD_TYPE 100
--- a/Tools/autotest/default_params/quad-can.parm
+++ b/Tools/autotest/default_params/quad-can.parm
@ -2,7 +2,7 @@ CAN_P1_DRIVER 1
 CAN_D1_UC_ESC_BM 0x0F
 SIM_CAN_SRV_MSK 0xFf
 SIM_VIB_MOT_MAX 270
-GPS_TYPE 9
+GPS1_TYPE 9
 RNGFND1_TYPE 24
 RNGFND1_MAX_CM 11000
 BATT_MONITOR 8
--- a/Tools/autotest/default_params/quadplane-can.parm
+++ b/Tools/autotest/default_params/quadplane-can.parm
@ -5,7 +5,7 @@ CAN_D1_UC_SRV_BM 0x0F
 CAN_D1_UC_OPTION 16
 SIM_CAN_SRV_MSK 0xfff
 SIM_VIB_MOT_MAX 270
-GPS_TYPE 9
+GPS1_TYPE 9
 ARSPD_TYPE 8
 RNGFND1_TYPE 24
 RNGFND1_MAX_CM 11000
--- a/Tools/autotest/default_params/tracker-gps-for-yaw.parm
+++ b/Tools/autotest/default_params/tracker-gps-for-yaw.parm
@ -1,9 +1,9 @@
 # SITL GPS-for-yaw using two simulated UBlox GPSs
 EK3_SRC1_YAW 2
 GPS_AUTO_CONFIG 0
-GPS_TYPE 17
+GPS1_TYPE 17
 GPS2_TYPE 18
-GPS_POS_Y -0.2
+GPS1_POS_Y -0.2
 GPS2_POS_Y 0.2
 SIM_GPS_POS_Y -0.2
 SIM_GPS2_POS_Y 0.2
--- a/Tools/autotest/default_params/vee-gull_005.param
+++ b/Tools/autotest/default_params/vee-gull_005.param
@ -224,14 +224,14 @@ GPS_BLEND_MASK,5
 GPS_BLEND_TC,10
 GPS_DELAY_MS,0
 GPS_DELAY_MS2,0
-GPS_GNSS_MODE,0
+GPS1_GNSS_MODE,0
 GPS2_GNSS_MODE,0
 GPS_INJECT_TO,127
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
-GPS_POS_X,0
-GPS_POS_Y,0
-GPS_POS_Z,0
+GPS1_POS_X,0
+GPS1_POS_Y,0
+GPS1_POS_Z,0
 GPS2_POS_X,0
 GPS2_POS_Y,0
 GPS2_POS_Z,0
@ -241,7 +241,7 @@ GPS_RAW_DATA,0
 GPS_SAVE_CFG,0
 GPS_SBAS_MODE,2
 GPS_SBP_LOGMASK,-32768
-GPS_TYPE,1
+GPS1_TYPE,1
 GPS2_TYPE,0
 GROUND_STEER_ALT,0
 GROUND_STEER_DPS,90
--- a/Tools/autotest/test_param_upgrade.py
+++ b/Tools/autotest/test_param_upgrade.py
@ -3,7 +3,7 @@
 '''
 Test parameter upgrade, master vs branch

-./Tools/autotest/test_param_upgrade.py --vehicle=arduplane --param GPS_TYPE=17 --param "GPS_TYPE2=37->GPS2_TYPE=37" --param GPS_GNSS_MODE=21 --param "GPS_GNSS_MODE2=45->GPS2_GNSS_MODE=45" --param GPS_RATE_MS=186 --param "GPS_RATE_MS2=123->GPS2_RATE_MS=123" --param "GPS_POS1_X=3.75->GPS_POS_X=3.75" --param "GPS_POS2_X=6.9->GPS2_POS_X=6.9"  --param "GPS_POS1_Y=2.75->GPS_POS_Y=2.75" --param "GPS_POS2_Y=5.9->GPS2_POS_Y=5.9"  --param "GPS_POS1_Z=12.1->GPS_POS_Z=12.1" --param "GPS_POS2_Z=-6.9->GPS2_POS_Z=-6.9" --param "GPS_DELAY_MS=987" --param "GPS_DELAY_MS2=2345->GPS2_DELAY_MS=2345" --param "GPS_COM_PORT=19" --param "GPS_COM_PORT2=100->GPS2_COM_PORT=100" --param "GPS_CAN_NODEID1=109->GPS_CAN_NODEID=109" --param "GPS_CAN_NODEID2=102->GPS2_CAN_NODEID=102" --param "GPS1_CAN_OVRIDE=34->GPS_CAN_OVRIDE=34" --param "GPS2_CAN_OVRIDE=67" --param "GPS_MB1_TYPE=1->GPS_MB_TYPE=1" --param "GPS_MB1_OFS_X=3.14->GPS_MB_OFS_X=3.14"  --param "GPS_MB1_OFS_Y=2.18->GPS_MB_OFS_Y=2.18"  --param "GPS_MB1_OFS_Z=17.6->GPS_MB_OFS_Z=17.6"  --param "GPS_MB2_TYPE=13->GPS2_MB_TYPE=13" --param "GPS_MB2_OFS_X=17.14->GPS2_MB_OFS_X=17.14"  --param "GPS_MB2_OFS_Y=12.18->GPS2_MB_OFS_Y=12.18"  --param "GPS_MB2_OFS_Z=27.6->GPS2_MB_OFS_Z=27.6"  # noqa
+./Tools/autotest/test_param_upgrade.py --vehicle=arduplane --param "GPS_TYPE=17->GPS1_TYPE=17" --param "GPS_TYPE2=37->GPS2_TYPE=37" --param "GPS_GNSS_MODE=21->GPS1_GNSS_MODE=21" --param "GPS_GNSS_MODE2=45->GPS2_GNSS_MODE=45" --param "GPS_RATE_MS=186->GPS1_RATE_MS=186" --param "GPS_RATE_MS2=123->GPS2_RATE_MS=123" --param "GPS_POS1_X=3.75->GPS1_POS_X=3.75" --param "GPS_POS2_X=6.9->GPS2_POS_X=6.9"  --param "GPS_POS1_Y=2.75->GPS1_POS_Y=2.75" --param "GPS_POS2_Y=5.9->GPS2_POS_Y=5.9"  --param "GPS_POS1_Z=12.1->GPS1_POS_Z=12.1" --param "GPS_POS2_Z=-6.9->GPS2_POS_Z=-6.9" --param "GPS_DELAY_MS=987->GPS1_DELAY_MS=987" --param "GPS_DELAY_MS2=2345->GPS2_DELAY_MS=2345" --param "GPS_COM_PORT=19->GPS1_COM_PORT=19" --param "GPS_COM_PORT2=100->GPS2_COM_PORT=100" --param "GPS_CAN_NODEID1=109->GPS1_CAN_NODEID=109" --param "GPS_CAN_NODEID2=102->GPS2_CAN_NODEID=102" --param "GPS1_CAN_OVRIDE=34->GPS1_CAN_OVRIDE=34" --param "GPS2_CAN_OVRIDE=67" --param "GPS_MB1_TYPE=1->GPS1_MB_TYPE=1" --param "GPS_MB1_OFS_X=3.14->GPS1_MB_OFS_X=3.14"  --param "GPS_MB1_OFS_Y=2.18->GPS1_MB_OFS_Y=2.18"  --param "GPS_MB1_OFS_Z=17.6->GPS1_MB_OFS_Z=17.6"  --param "GPS_MB2_TYPE=13->GPS2_MB_TYPE=13" --param "GPS_MB2_OFS_X=17.14->GPS2_MB_OFS_X=17.14"  --param "GPS_MB2_OFS_Y=12.18->GPS2_MB_OFS_Y=12.18"  --param "GPS_MB2_OFS_Z=27.6->GPS2_MB_OFS_Z=27.6"  # noqa

 AP_FLAKE8_CLEAN
 '''
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@ -13633,7 +13633,7 @@ switch value'''
            self.set_parameter("SERIAL3_PROTOCOL", serial_protocol)
            if gps_type is None:
                gps_type = 1  # auto-detect
-            self.set_parameter("GPS_TYPE", gps_type)
+            self.set_parameter("GPS1_TYPE", gps_type)
            self.context_clear_collection('STATUSTEXT')
            self.reboot_sitl()
            if detect_prefix == "probing":
--- a/Tools/scripts/sitl-on-hardware/default.param
+++ b/Tools/scripts/sitl-on-hardware/default.param
@ -1,6 +1,6 @@
 AHRS_EKF_TYPE 10

-GPS_TYPE 100
+GPS1_TYPE 100

 INS_ACCOFFS_X   0.001
 INS_ACCOFFS_Y   0.001
--- a/Tools/scripts/sitl-on-hardware/plane-default.param
+++ b/Tools/scripts/sitl-on-hardware/plane-default.param
@ -1,6 +1,6 @@
 AHRS_EKF_TYPE 10

-GPS_TYPE 100
+GPS1_TYPE 100

 INS_ACCOFFS_X   0.001
 INS_ACCOFFS_Y   0.001