mirror of https://github.com/ArduPilot/ardupilot
AP_GPS: copy GPS metadata in for pre-per-instance-parameters
allows to not break older firmware in terms of available metadata
This commit is contained in:
Peter Barker
Randy Mackay
parent
0e6bca92f7
commit
b03b8309ef
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@ -1987,6 +1987,155 @@ bool AP_GPS::gps_yaw_deg(uint8_t instance, float &yaw_deg, float &accuracy_deg,
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return true;
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}
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/*
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* Old parameter metadata. Until we have versioned parameters, keeping
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* old parameters around for a while can help with an adjustment
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* period.
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*/
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// @Param: _TYPE
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// @DisplayName: 1st GPS type
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// @Description: GPS type of 1st GPS
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// @Values: 0:None,1:AUTO,2:uBlox,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:DroneCAN,10:SBF,11:GSOF,13:ERB,14:MAV,15:NOVA,16:HemisphereNMEA,17:uBlox-MovingBaseline-Base,18:uBlox-MovingBaseline-Rover,19:MSP,20:AllyStar,21:ExternalAHRS,22:DroneCAN-MovingBaseline-Base,23:DroneCAN-MovingBaseline-Rover,24:UnicoreNMEA,25:UnicoreMovingBaselineNMEA,26:SBF-DualAntenna
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// @RebootRequired: True
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// @User: Advanced
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// @Param: _TYPE2
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// @CopyFieldsFrom: GPS_TYPE
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// @DisplayName: 2nd GPS type
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// @Description: GPS type of 2nd GPS
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// @Param: _GNSS_MODE
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// @DisplayName: GNSS system configuration
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// @Description: Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)
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// @Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS
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// @User: Advanced
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// @Param: _GNSS_MODE2
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// @DisplayName: GNSS system configuration
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// @Description: Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)
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// @Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS
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// @User: Advanced
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// @Param: _RATE_MS
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// @DisplayName: GPS update rate in milliseconds
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// @Description: Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
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// @Units: ms
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// @Values: 100:10Hz,125:8Hz,200:5Hz
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// @Range: 50 200
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// @User: Advanced
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// @Param: _RATE_MS2
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// @DisplayName: GPS 2 update rate in milliseconds
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// @Description: Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
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// @Units: ms
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// @Values: 100:10Hz,125:8Hz,200:5Hz
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// @Range: 50 200
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// @User: Advanced
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// @Param: _POS1_X
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// @DisplayName: Antenna X position offset
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// @Description: X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
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// @Units: m
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// @Range: -5 5
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// @Increment: 0.01
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// @User: Advanced
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// @Param: _POS1_Y
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// @DisplayName: Antenna Y position offset
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// @Description: Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
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// @Units: m
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// @Range: -5 5
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// @Increment: 0.01
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// @User: Advanced
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// @Param: _POS1_Z
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// @DisplayName: Antenna Z position offset
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// @Description: Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
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// @Units: m
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// @Range: -5 5
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// @Increment: 0.01
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// @User: Advanced
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// @Param: _POS2_X
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// @DisplayName: Antenna X position offset
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// @Description: X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
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// @Units: m
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// @Range: -5 5
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// @Increment: 0.01
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// @User: Advanced
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// @Param: _POS2_Y
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// @DisplayName: Antenna Y position offset
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// @Description: Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
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// @Units: m
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// @Range: -5 5
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// @Increment: 0.01
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// @User: Advanced
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// @Param: _POS2_Z
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// @DisplayName: Antenna Z position offset
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// @Description: Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
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// @Units: m
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// @Range: -5 5
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// @Increment: 0.01
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// @User: Advanced
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// @Param: _DELAY_MS
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// @DisplayName: GPS delay in milliseconds
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// @Description: Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
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// @Units: ms
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// @Range: 0 250
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// @User: Advanced
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// @RebootRequired: True
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// @Param: _DELAY_MS2
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// @DisplayName: GPS 2 delay in milliseconds
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// @Description: Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
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// @Units: ms
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// @Range: 0 250
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// @User: Advanced
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// @RebootRequired: True
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// @Param: _COM_PORT
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// @DisplayName: GPS physical COM port
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// @Description: The physical COM port on the connected device, currently only applies to SBF and GSOF GPS
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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// @Values: 0:COM1(RS232) on GSOF, 1:COM2(TTL) on GSOF
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// @RebootRequired: True
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// @Param: _COM_PORT2
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// @DisplayName: GPS physical COM port
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// @Description: The physical COM port on the connected device, currently only applies to SBF and GSOF GPS
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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// @RebootRequired: True
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// @Group: _MB1_
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// @Path: MovingBase.cpp
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// @Group: _MB2_
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// @Path: MovingBase.cpp
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// @Param: _CAN_NODEID1
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// @DisplayName: GPS Node ID 1
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// @Description: GPS Node id for first-discovered GPS.
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// @ReadOnly: True
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// @User: Advanced
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// @Param: _CAN_NODEID2
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// @DisplayName: GPS Node ID 2
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// @Description: GPS Node id for second-discovered GPS.
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// @ReadOnly: True
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// @User: Advanced
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/*
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* end old parameter metadata
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*/
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namespace AP {
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AP_GPS &gps()
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