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AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200 

this may help with some GPS modules
This commit is contained in:
Andrew Tridgell 2020-12-08 09:19:24 +11:00
parent d1d0ab41d6
commit 1479566921
2 changed files with 7 additions and 2 deletions
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4
libraries/AP_GPS/AP_GPS.cpp
View File

@ -650,6 +650,9 @@ void AP_GPS::detect_instance(uint8_t instance)
// link to the flight controller
static const char blob[] = UBLOX_SET_BINARY_460800;
send_blob_start(instance, blob, sizeof(blob));
} else if (_type[instance] == GPS_TYPE_UBLOX && (_driver_options & AP_GPS_Backend::DriverOptions::UBX_Use115200)) {
static const char blob[] = UBLOX_SET_BINARY_115200;
send_blob_start(instance, blob, sizeof(blob));
} else {
send_blob_start(instance, _initialisation_blob, sizeof(_initialisation_blob));
}
@ -674,6 +677,7 @@ void AP_GPS::detect_instance(uint8_t instance)
if ((_type[instance] == GPS_TYPE_AUTO ||
_type[instance] == GPS_TYPE_UBLOX) &&
((!_auto_config && _baudrates[dstate->current_baud] >= 38400) ||
(_baudrates[dstate->current_baud] >= 115200 && (_driver_options & AP_GPS_Backend::DriverOptions::UBX_Use115200)) ||
_baudrates[dstate->current_baud] == 230400) &&
AP_GPS_UBLOX::_detect(dstate->ublox_detect_state, data)) {
new_gps = new AP_GPS_UBLOX(*this, state[instance], _port[instance], GPS_ROLE_NORMAL);

5
libraries/AP_GPS/GPS_Backend.h
View File

@ -85,8 +85,9 @@ public:
}
enum DriverOptions : int16_t {
UBX_MBUseUart2 = (1 << 0U),
SBF_UseBaseForYaw = (1 << 1U),
UBX_MBUseUart2 = (1U << 0U),
SBF_UseBaseForYaw = (1U << 1U),
UBX_Use115200 = (1U << 2U),
};
protected: