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AP_GPS: enable GNSS modules handled by PX4 firmware via GPS_TYPE 

GNSS modules handled by PX4 drivers are not auto-detectable, some are not even
connected to a UART port. The activation is therefore controlled by GPS_TYPE
only. Baud rate and port settings (if applicable) have to be handled by the PX4
firmware.
This commit is contained in:
Holger Steinhaus 2014-11-03 13:37:06 +01:00 committed by Andrew Tridgell
parent 442aafbd1e
commit abad58874c
2 changed files with 10 additions and 2 deletions
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8
libraries/AP_GPS/AP_GPS.cpp
View File

@ -146,7 +146,13 @@ AP_GPS::detect_instance(uint8_t instance)
AP_HAL::UARTDriver *port = instance==0?hal.uartB:hal.uartE;
struct detect_state *dstate = &detect_state[instance];
if (port == NULL) {
if (_type[instance] == GPS_TYPE_PX4) {
// check for explicitely chosen PX4 GPS beforehand
// it is not possible to autodetect it, nor does it require a real UART
hal.console->print_P(PSTR(" PX4 "));
new_gps = new AP_GPS_PX4(*this, state[instance], port);
}
else if (port == NULL) {
// UART not available
return;
}

4
libraries/AP_GPS/AP_GPS.h
View File

@ -91,7 +91,8 @@ public:
GPS_TYPE_NMEA = 5,
GPS_TYPE_SIRF = 6,
GPS_TYPE_HIL = 7,
GPS_TYPE_SBP = 8
GPS_TYPE_SBP = 8,
GPS_TYPE_PX4 = 9
};
/// GPS status codes
@ -413,5 +414,6 @@ private:
#include <AP_GPS_NMEA.h>
#include <AP_GPS_SIRF.h>
#include <AP_GPS_SBP.h>
#include <AP_GPS_PX4.h>
#endif // __AP_GPS_H__