diff --git a/Tools/Frame_params/amovlab-p200.param b/Tools/Frame_params/amovlab-p200.param index 30b1f85e47..819157bb53 100644 --- 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 diff --git a/Tools/Frame_params/eLAB_VEK_AI_Rover.param b/Tools/Frame_params/eLAB_VEK_AI_Rover.param index 2e1c48c44d..ee8f17cd19 100644 --- 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 diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index dbd2b37210..ba1daa6dcc 100644 --- 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): diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index 1e5c43e4a7..2787be2021 100644 --- 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, }) diff --git a/Tools/autotest/default_params/copter-beacon.parm b/Tools/autotest/default_params/copter-beacon.parm index e5d4bddff9..969a3c9ac3 100644 --- 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 diff --git a/Tools/autotest/default_params/copter-gps-for-yaw-nmea.parm b/Tools/autotest/default_params/copter-gps-for-yaw-nmea.parm index c0ae6d4b52..41af6fa868 100644 --- 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 diff --git a/Tools/autotest/default_params/copter-gps-for-yaw.parm b/Tools/autotest/default_params/copter-gps-for-yaw.parm index 9af8af516a..231fb84e8e 100644 --- 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 diff --git a/Tools/autotest/default_params/periph.parm b/Tools/autotest/default_params/periph.parm index 506d302c66..d1674bb220 100644 --- 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 diff --git a/Tools/autotest/default_params/quad-can.parm b/Tools/autotest/default_params/quad-can.parm index 0fe872319e..2f6df0c33b 100644 --- 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 diff --git a/Tools/autotest/default_params/quadplane-can.parm b/Tools/autotest/default_params/quadplane-can.parm index 3971389f99..8bb2195a7f 100644 --- 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 diff --git a/Tools/autotest/default_params/tracker-gps-for-yaw.parm b/Tools/autotest/default_params/tracker-gps-for-yaw.parm index 9af8af516a..231fb84e8e 100644 --- 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 diff --git a/Tools/autotest/default_params/vee-gull_005.param b/Tools/autotest/default_params/vee-gull_005.param index 7c97ea8791..7a2e5bf484 100644 --- 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 diff --git a/Tools/autotest/test_param_upgrade.py b/Tools/autotest/test_param_upgrade.py index 5516598f6b..4728e84856 100755 --- 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 ''' diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py index fd76f2947b..c5f7628575 100644 --- 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": diff --git a/Tools/scripts/sitl-on-hardware/default.param b/Tools/scripts/sitl-on-hardware/default.param index 6e8288127c..d2efd2bebe 100644 --- 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 diff --git a/Tools/scripts/sitl-on-hardware/plane-default.param b/Tools/scripts/sitl-on-hardware/plane-default.param index 38693da247..39076006ca 100644 --- 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