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AP_GPS: added GPS_SBAS_MODE parameter

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allows SBAS to be enabled/disabled
This commit is contained in:
Andrew Tridgell 2014-09-04 14:27:05 +10:00
parent 21e4144b29
commit 840a4dee1e
4 changed files with 38 additions and 0 deletions
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7
libraries/AP_GPS/AP_GPS.cpp
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@ -64,6 +64,13 @@ const AP_Param::GroupInfo AP_GPS::var_info[] PROGMEM = {
AP_GROUPINFO("MIN_DGPS", 4, AP_GPS, _min_dgps, 100), AP_GROUPINFO("MIN_DGPS", 4, AP_GPS, _min_dgps, 100),
#endif #endif
// @Param: SBAS_MODE
// @DisplayName: SBAS Mode
// @Description: This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.
// @Values: 0:Disabled,1:Enabled,2:NoChange
// @User: Advanced
AP_GROUPINFO("SBAS_MODE", 5, AP_GPS, _sbas_mode, 2),
AP_GROUPEND AP_GROUPEND
}; };

1
libraries/AP_GPS/AP_GPS.h
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@ -293,6 +293,7 @@ public:
AP_Int8 _auto_switch; AP_Int8 _auto_switch;
AP_Int8 _min_dgps; AP_Int8 _min_dgps;
#endif #endif
AP_Int8 _sbas_mode;
// handle sending of initialisation strings to the GPS // handle sending of initialisation strings to the GPS
void send_blob_start(uint8_t instance, const prog_char *_blob, uint16_t size); void send_blob_start(uint8_t instance, const prog_char *_blob, uint16_t size);

20
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -325,6 +325,21 @@ AP_GPS_UBLOX::_parse_gps(void)
return false; return false;
} }
if (_class == CLASS_CFG && _msg_id == MSG_CFG_SBAS && gps._sbas_mode != 2) {
Debug("Got SBAS settings %u %u %u 0x%x 0x%x\n",
(unsigned)_buffer.sbas.mode,
(unsigned)_buffer.sbas.usage,
(unsigned)_buffer.sbas.maxSBAS,
(unsigned)_buffer.sbas.scanmode2,
(unsigned)_buffer.sbas.scanmode1);
if (_buffer.sbas.mode != gps._sbas_mode) {
_buffer.sbas.mode = gps._sbas_mode;
_send_message(CLASS_CFG, MSG_CFG_SBAS,
&_buffer.sbas,
sizeof(_buffer.sbas));
}
}
#if UBLOX_HW_LOGGING #if UBLOX_HW_LOGGING
if (_class == CLASS_MON) { if (_class == CLASS_MON) {
if (_msg_id == MSG_MON_HW) { if (_msg_id == MSG_MON_HW) {
@ -458,6 +473,11 @@ AP_GPS_UBLOX::_parse_gps(void)
_last_5hz_time = hal.scheduler->millis(); _last_5hz_time = hal.scheduler->millis();
} }
if (_fix_count == 50 && gps._sbas_mode != 2) {
// ask for SBAS settings every 20 seconds
Debug("Asking for SBAS setting\n");
_send_message(CLASS_CFG, MSG_CFG_SBAS, NULL, 0);
}
if (_fix_count == 100) { if (_fix_count == 100) {
// ask for nav settings every 20 seconds // ask for nav settings every 20 seconds
Debug("Asking for engine setting\n"); Debug("Asking for engine setting\n");

10
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -86,6 +86,13 @@ private:
uint32_t res3; uint32_t res3;
uint32_t res4; uint32_t res4;
}; };
struct PACKED ubx_cfg_sbas {
uint8_t mode;
uint8_t usage;
uint8_t maxSBAS;
uint8_t scanmode2;
uint32_t scanmode1;
};
struct PACKED ubx_nav_posllh { struct PACKED ubx_nav_posllh {
uint32_t time; // GPS msToW uint32_t time; // GPS msToW
@ -197,6 +204,7 @@ private:
ubx_mon_hw_60 mon_hw_60; ubx_mon_hw_60 mon_hw_60;
ubx_mon_hw_68 mon_hw_68; ubx_mon_hw_68 mon_hw_68;
ubx_mon_hw2 mon_hw2; ubx_mon_hw2 mon_hw2;
ubx_cfg_sbas sbas;
uint8_t bytes[]; uint8_t bytes[];
} _buffer; } _buffer;
@ -217,6 +225,7 @@ private:
MSG_CFG_RATE = 0x08, MSG_CFG_RATE = 0x08,
MSG_CFG_SET_RATE = 0x01, MSG_CFG_SET_RATE = 0x01,
MSG_CFG_NAV_SETTINGS = 0x24, MSG_CFG_NAV_SETTINGS = 0x24,
MSG_CFG_SBAS = 0x16,
MSG_MON_HW = 0x09, MSG_MON_HW = 0x09,
MSG_MON_HW2 = 0x0B MSG_MON_HW2 = 0x0B
}; };
@ -271,6 +280,7 @@ private:
void _configure_navigation_rate(uint16_t rate_ms); void _configure_navigation_rate(uint16_t rate_ms);
void _configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate); void _configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate);
void _configure_gps(void); void _configure_gps(void);
void _configure_sbas(bool enable);
void _update_checksum(uint8_t *data, uint8_t len, uint8_t &ck_a, uint8_t &ck_b); void _update_checksum(uint8_t *data, uint8_t len, uint8_t &ck_a, uint8_t &ck_b);
void _send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size); void _send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size);
void send_next_rate_update(void); void send_next_rate_update(void);